--- Step 0 ---
qpos:
[ 2.33207833e-04,-5.62747240e-05, 2.05422237e-05, 8.23287068e-04,
  8.95880342e-05, 2.86541100e-05,-3.30119019e-04, 5.74216178e-04,
  2.57021341e-04, 5.90885091e-05,-2.17148925e-04, 5.22712733e-04,
  1.99172533e-03,-4.02577081e-05, 1.12845729e-03, 1.00158358e-03,
  9.49951938e-02,-7.00095731e-02, 1.30009795e-01, 4.99981696e-01,
  5.00012460e-01, 4.99949141e-01, 5.00056697e-01]

qacc:
[ 2.05467810e+03, 1.55995875e+03,-9.15151909e+03, 2.34138863e+04,
  7.77937314e+02, 2.14207221e+03,-1.00083979e+04, 2.04536370e+04,
  2.25461027e+03, 1.75749226e+03,-8.36653257e+03, 1.77231347e+04,
  6.67957506e+02,-4.25352155e+02,-1.36628054e+03, 7.20009649e+03,
 -1.20155543e+00,-2.39328488e+00, 2.44867842e+00,-1.91979133e+01,
  2.92079439e+00, 3.45798916e+01]

qfrc_actuator:
[ 0.01198779,-0.00115545, 0.00250109, 0.04198623, 0.00460898,-0.00262226,
 -0.01837292, 0.028485  , 0.01323887, 0.00439465,-0.01035853, 0.02644791,
  0.1219882 ,-0.00240106, 0.0871951 , 0.06165256, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 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:
[ 1.19989927e-02,-1.08241938e-03, 2.57412456e-03, 4.20244663e-02,
  4.60898109e-03,-2.54894595e-03,-1.82996002e-02, 2.85233851e-02,
  1.32276720e-02, 4.46768567e-03,-1.02854896e-02, 2.64861464e-02,
  1.22477136e-01,-2.40468702e-03, 1.08306412e-01, 6.64823904e-02,
  0.00000000e+00, 0.00000000e+00,-1.21644000e+00,-4.89845949e-04,
  0.00000000e+00,-5.51107589e-04]


--- Step 1 ---
qpos:
[ 4.69105149e-04,-1.02949632e-04, 5.96834063e-05, 1.64469323e-03,
  1.80376527e-04, 2.83664248e-05,-6.68094866e-04, 1.13798299e-03,
  5.16255628e-04, 1.28150268e-04,-4.26902933e-04, 1.04027296e-03,
  5.63666231e-03,-8.36759385e-05, 2.83466246e-03, 2.17260370e-03,
  9.49858802e-02,-7.00281237e-02, 1.30026299e-01, 4.99946227e-01,
  5.00036591e-01, 4.99850599e-01, 5.00166529e-01]

qacc:
[  24.09193158, -43.22980624, 180.38809108,-249.61820498,  10.80923998,
  -37.83879008, 123.48448541,-270.41608208,  19.53602151, -18.14174055,
  105.48424774,-213.72439662, 554.87516177, -24.73249788, 341.5292041 ,
   45.02203652,  -1.12684543,  -2.2443564 ,   1.67747572, -17.99561976,
    2.73592184,  32.41339723]

qfrc_actuator:
[ 0.01178818,-0.00109856, 0.00243875, 0.04116244, 0.00453983,-0.00266717,
 -0.01800772, 0.02791398, 0.01297659, 0.00435297,-0.01016984, 0.0259266 ,
  0.12180323,-0.00230576, 0.08708877, 0.0606306 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001548103202541229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17150525e-14,  1.79287631e-14,  1.00000000e+00, -1.28576219e-27,
        1.00000000e+00, -1.79287631e-14, -1.00000000e+00,  0.00000000e+00,
        7.17150525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985559, -0.03465237,  0.06195593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38984608e-04, 1.78736439e-03, 1.48299711e-03, 3.45203188e-05,
  6.04235894e-05,-4.02502254e-03,-1.42619427e-03,-7.59059521e-04,
  1.14386544e-04, 1.47159984e-03, 7.61587220e-04,-1.71561385e-04,
  2.27176517e-02,-2.94299815e-04, 5.17798329e-02, 1.53820209e-02,
  1.38791657e-07, 1.02154617e-07,-1.21644097e+00,-4.90028218e-04,
 -6.10665439e-07,-5.51432876e-04]


--- Step 2 ---
qpos:
[ 7.01232398e-04,-1.39370765e-04, 1.02613197e-04, 2.45167242e-03,
  2.69663630e-04, 8.97253572e-06,-1.00755170e-03, 1.68879840e-03,
  7.70114745e-04, 2.03066326e-04,-6.29797184e-04, 1.54819898e-03,
  1.06401345e-02,-1.30339490e-04, 4.79709150e-03, 3.40054984e-03,
  9.49723050e-02,-7.00551608e-02, 1.30046950e-01, 4.99894532e-01,
  5.00071736e-01, 4.99706983e-01, 5.00326540e-01]

qacc:
[ -33.2469424 , -26.68905046, 175.82504638,-439.20166611, -12.93993508,
  -47.76953264, 188.39069096,-396.13122667, -47.19945827, -31.19184316,
  163.25776224,-345.41164603, 455.99681879, -40.74669476, 206.70686764,
 -173.27254544,  -1.06540221,  -2.12162115,   1.03640381, -17.00321294,
    2.5798068 ,  30.62381584]

qfrc_actuator:
[ 0.0115902 ,-0.00106927, 0.00239229, 0.04037624, 0.0044613 ,-0.00267663,
 -0.01770195, 0.02735212, 0.01269644, 0.00427659,-0.00997716, 0.02540988,
  0.12146642,-0.00226483, 0.0869643 , 0.05955388, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001519647826195042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73967183e-14,  1.82644789e-14,  1.00000000e+00, -5.00386783e-28,
        1.00000000e+00, -1.82644789e-14, -1.00000000e+00,  0.00000000e+00,
        2.73967183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10986187, -0.03463801,  0.06195674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93527441e-04, 1.33531429e-03, 5.04598601e-04,-6.59499409e-04,
 -7.81284719e-05,-2.58468216e-03,-7.24875629e-04,-7.98949796e-04,
 -2.76299700e-04, 8.96181942e-04, 5.85276484e-04,-4.31444362e-04,
 -6.02615152e-02,-9.18141852e-05, 2.27699267e-02, 5.83361784e-03,
  5.21386625e-07, 3.84439647e-07,-1.21644365e+00,-4.90628406e-04,
 -2.38187838e-06,-5.52150628e-04]


--- Step 3 ---
qpos:
[ 9.28840561e-04,-1.69029763e-04, 1.47591010e-04, 3.24350984e-03,
  3.56619448e-04,-2.24402125e-05,-1.34544438e-03, 2.22742308e-03,
  1.01864939e-03, 2.81192361e-04,-8.26899159e-04, 2.04639393e-03,
  1.67449345e-02,-1.79145517e-04, 6.87122437e-03, 4.63856195e-03,
  9.49546694e-02,-7.00902812e-02, 1.30069619e-01, 4.99827376e-01,
  5.00117348e-01, 4.99520428e-01, 5.00534289e-01]

qacc:
[ -39.83437515, -27.8982051 , 176.48306923,-446.90857751, -20.26885453,
  -45.33284804, 190.10721896,-394.79486187, -46.74161697, -31.90361866,
  161.13380842,-341.31410258, 369.70946635, -39.96889267, 134.84960582,
 -232.03097665,  -1.0150852 ,  -2.0208608 ,   0.50490436, -16.18717815,
    2.44778829,  29.15082801]

qfrc_actuator:
[ 0.01136307,-0.00106104, 0.00236272, 0.03959038, 0.00434386,-0.00262758,
 -0.01736406, 0.02680245, 0.01243003, 0.00419729,-0.00978451, 0.02490246,
  0.12101085,-0.00221965, 0.08677851, 0.0583115 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014815722036502499
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87338663e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87338663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10987027, -0.0346188 ,  0.06195781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32243146e-04, 8.29146571e-04, 2.83484230e-04,-7.25868185e-04,
 -1.20495761e-04,-1.57686840e-03,-3.09961912e-04,-7.01476806e-04,
 -2.73816988e-04, 5.23495373e-04, 4.35561515e-04,-4.57953089e-04,
 -1.28615462e-01, 1.18937120e-04, 9.77167699e-03, 1.74374780e-03,
  1.10830100e-06, 8.19450752e-07,-1.21644774e+00,-4.91563348e-04,
 -5.10977262e-06,-5.53217904e-04]


--- Step 4 ---
qpos:
[ 1.15195565e-03,-1.94019815e-04, 1.93454623e-04, 4.01940331e-03,
  4.41486971e-04,-6.14786673e-05,-1.67954724e-03, 2.75451495e-03,
  1.26240601e-03, 3.61279121e-04,-1.01914103e-03, 2.53484958e-03,
  2.37272387e-02,-2.29199106e-04, 8.99244812e-03, 5.86381793e-03,
  9.49331375e-02,-7.01331558e-02, 1.30092551e-01, 4.99745383e-01,
  5.00172972e-01, 4.99292669e-01, 5.00787760e-01]

qacc:
[-3.96063991e+01,-2.90689746e+01, 1.80031406e+02,-4.60946240e+02,
 -1.81347256e+01,-4.43967680e+01, 1.92409923e+02,-3.92496652e+02,
 -4.19402246e+01,-3.09753417e+01, 1.55448549e+02,-3.33348112e+02,
  2.94623766e+02,-3.70425621e+01, 1.08391919e+02,-2.78135560e+02,
 -9.74095461e-01,-1.93851981e+00, 6.55462116e-02,-1.55195016e+01,
  2.33590128e+00, 2.79439859e+01]

qfrc_actuator:
[ 0.01113845,-0.00103054, 0.00232575, 0.03877571, 0.00424002,-0.00259613,
 -0.01700936, 0.02626452, 0.01219172, 0.00416979,-0.00959355, 0.02440457,
  0.12046892,-0.00218949, 0.0865384 , 0.0568873 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014362525496526835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86499932e-14,  3.86499932e-14,  1.00000000e+00, -1.49382197e-27,
        1.00000000e+00, -3.86499932e-14, -1.00000000e+00,  0.00000000e+00,
        3.86499932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10988028, -0.03459592,  0.06195909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31007506e-04, 5.19605028e-04, 1.41943207e-04,-7.85294983e-04,
 -1.07777242e-04,-9.40571572e-04,-3.03386483e-05,-6.30255801e-04,
 -2.45759567e-04, 3.34648687e-04, 3.37437170e-04,-4.70088992e-04,
 -1.84187612e-01, 2.59093857e-04, 3.94109605e-03,-1.86430200e-04,
  1.87177178e-06, 1.38903468e-06,-1.21645306e+00,-4.92773225e-04,
 -8.64937172e-06,-5.54602454e-04]


--- Step 5 ---
qpos:
[ 1.37029647e-03,-2.15679057e-04, 2.39459055e-04, 4.77969159e-03,
  5.24791755e-04,-1.05632937e-04,-2.00888504e-03, 3.27029898e-03,
  1.50106873e-03, 4.41854122e-04,-1.20639559e-03, 3.01370766e-03,
  3.13928865e-02,-2.79952067e-04, 1.11317470e-02, 7.07202398e-03,
  9.49078419e-02,-7.01835168e-02, 1.30114298e-01, 4.99649056e-01,
  5.00238231e-01, 4.99025104e-01, 5.01085301e-01]

qacc:
[-4.20811868e+01,-2.80526863e+01, 1.72422569e+02,-4.45313912e+02,
 -1.35212669e+01,-4.33509434e+01, 1.92529541e+02,-3.92114463e+02,
 -4.46911108e+01,-3.29802940e+01, 1.59185441e+02,-3.33764491e+02,
  2.29487062e+02,-3.40343006e+01, 7.84534472e+01,-2.35681273e+02,
 -9.40920168e-01,-1.87160039e+00,-2.96444170e-01,-1.49767182e+01,
  2.24077058e+00, 2.69610108e+01]

qfrc_actuator:
[ 0.01089938,-0.00098729, 0.0022847 , 0.03798612, 0.00416277,-0.00262808,
 -0.01668293, 0.02572009, 0.01193635, 0.00408457,-0.00938725, 0.0239163 ,
  0.11984501,-0.00218613, 0.08634739, 0.0557101 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013856461094719635
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00153912e-14,  4.00615647e-14,  1.00000000e+00,  4.01232241e-28,
        1.00000000e+00, -4.00615647e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00153912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10989147, -0.03457034,  0.06196051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45543293e-04, 3.27340258e-04, 5.43966847e-05,-7.79511846e-04,
 -8.06113727e-05,-5.87074596e-04, 1.09806233e-04,-5.98391190e-04,
 -2.62079262e-04, 1.50427176e-04, 3.01209822e-04,-4.72189776e-04,
 -2.28645019e-01, 3.27331791e-04, 1.38656852e-03,-7.29791139e-04,
  2.79269080e-06, 2.08186939e-06,-1.21645945e+00,-4.94215329e-04,
 -1.28991059e-05,-5.56280119e-04]


--- Step 6 ---
qpos:
[ 1.58407148e-03,-2.35186214e-04, 2.85290051e-04, 5.52543431e-03,
  6.06520347e-04,-1.52770305e-04,-2.33337711e-03, 3.77524849e-03,
  1.73447260e-03, 5.21872084e-04,-1.38845016e-03, 3.48309594e-03,
  3.95741759e-02,-3.30146537e-04, 1.32772870e-02, 8.25973306e-03,
  9.48788779e-02,-7.02356450e-02, 1.30142070e-01, 4.99557645e-01,
  5.00297035e-01, 4.98739378e-01, 5.01402102e-01]

qacc:
[ -40.23544511, -26.55337991, 160.33907513,-413.52010732, -13.67306128,
  -39.78188672, 181.89770375,-374.99390994, -46.11830565, -34.69078587,
  162.74605773,-334.69231445, 173.17294692, -19.90920271,  71.38441778,
 -236.34640223,  -0.91708625,  -0.4418145 ,   1.50660737, -12.19804299,
    0.67082679,   6.51208628]

qfrc_actuator:
[ 0.01067147,-0.00097243, 0.00224158, 0.03725312, 0.00408404,-0.00260877,
 -0.01637594, 0.0251939 , 0.01167296, 0.00398317,-0.00915605, 0.02343755,
  0.11915248,-0.00216339, 0.08620272, 0.05454849, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013315107909848056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58381986e-14, -3.50115701e-07,  1.00000000e+00,  1.95498300e-20,
        1.00000000e+00,  3.50115701e-07, -1.00000000e+00,  3.00926554e-36,
        5.58381986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10589187, -0.06263506,  0.06196204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34871688e-04, 1.73523380e-04, 2.03378900e-06,-7.34048169e-04,
 -8.12081269e-05,-3.07653735e-04, 1.81767365e-04,-5.59506214e-04,
 -2.70612440e-04, 2.35702106e-05, 2.83466306e-04,-4.71844230e-04,
 -2.63459161e-01, 3.87276055e-04, 3.26385200e-04,-1.04381321e-03,
  3.85837546e-06, 2.89174428e-06,-1.21646682e+00,-4.95859493e-04,
 -1.77894889e-05,-5.58232888e-04]


--- Step 7 ---
qpos:
[ 1.79379402e-03,-2.52969399e-04, 3.30308007e-04, 6.25631165e-03,
  6.87012687e-04,-2.01033706e-04,-2.65308013e-03, 4.26971401e-03,
  1.96290663e-03, 6.01274951e-04,-1.56607993e-03, 3.94314230e-03,
  4.81269335e-02,-3.77827949e-04, 1.54234047e-02, 9.42548496e-03,
  9.48472066e-02,-7.02824772e-02, 1.30177922e-01, 4.99494973e-01,
  5.00330501e-01, 4.98462755e-01, 5.01706132e-01]

qacc:
[ -35.73021302, -25.99886571, 158.87766857,-416.24403999, -10.71464118,
  -36.45208663, 172.09789812,-360.39557771, -43.59813287, -32.34176888,
  153.71225786,-322.15709667, 124.66554773,   4.39328857,  67.43077625,
 -234.66162103,  -0.67682359,   1.32400825,   2.01965143,  -8.05071868,
   -1.73490677, -18.99033102]

qfrc_actuator:
[ 0.0104697 ,-0.00093925, 0.00217973, 0.03650599, 0.0040228 ,-0.00252327,
 -0.01608261, 0.02468271, 0.01142473, 0.00392616,-0.00894763, 0.02296823,
  0.11842523,-0.00207675, 0.08602236, 0.05338873, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013155473567364878
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.10981197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.10981197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203297, -0.08969718,  0.0619625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08478361e-04, 9.69332522e-05,-5.33359003e-05,-7.55659094e-04,
 -6.36318134e-05,-6.86160289e-05, 2.36039812e-04,-5.29270280e-04,
 -2.55748537e-04,-6.66438713e-06, 2.32272756e-04,-4.68450954e-04,
 -2.89920611e-01, 4.48032540e-04,-1.79502011e-04,-1.18414841e-03,
  4.15924932e-06, 2.71085127e-06,-1.21646993e+00,-4.95806336e-04,
 -2.04155194e-05,-5.59905954e-04]


--- Step 8 ---
qpos:
[ 1.99911889e-03,-2.69406607e-04, 3.74743328e-04, 6.97185722e-03,
  7.66143874e-04,-2.49460641e-04,-2.96772044e-03, 4.75370586e-03,
  2.18659100e-03, 6.79838472e-04,-1.73963417e-03, 4.39436875e-03,
  5.69272031e-02,-4.23459932e-04, 1.75676382e-02, 1.05684053e-02,
  9.48129977e-02,-7.03242845e-02, 1.30219616e-01, 4.99459759e-01,
  5.00339555e-01, 4.98194709e-01, 5.01998317e-01]

qacc:
[ -38.75451426, -28.09767225, 167.61636724,-433.15872445, -11.82122275,
  -35.92137662, 172.01252165,-361.28423319, -41.6672333 , -30.59030831,
  144.82849623,-303.51179488,  83.05779065,   4.15388768,  66.43073453,
 -236.43958852,  -0.63442568,   1.25623102,   1.46069396,  -7.86258851,
   -1.54115731, -18.07642868]

qfrc_actuator:
[ 0.01024943,-0.00089551, 0.00214285, 0.03573878, 0.00395461,-0.002452  ,
 -0.01579936, 0.02416674, 0.01118739, 0.00386056,-0.00875418, 0.02252597,
  0.11765561,-0.0020427 , 0.08584218, 0.052222  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012895647291524537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30464249e-14,  3.22848187e-14,  1.00000000e+00, -1.38974602e-27,
        1.00000000e+00, -3.22848187e-14, -1.00000000e+00,  0.00000000e+00,
        4.30464249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203831, -0.08970501,  0.06196325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26257748e-04, 5.23007050e-05,-5.17246302e-05,-7.81334006e-04,
 -7.00144505e-05, 6.33608852e-05, 2.83051288e-04,-5.21318381e-04,
 -2.44430754e-04,-4.26082314e-05, 2.04838691e-04,-4.44372654e-04,
 -3.09214773e-01, 3.58290288e-04,-4.02711205e-04,-1.25859214e-03,
  3.24141820e-06, 1.39137036e-06,-1.21646693e+00,-4.93261596e-04,
 -1.90433791e-05,-5.60812409e-04]


--- Step 9 ---
qpos:
[ 2.20020381e-03,-2.85014468e-04, 4.18908523e-04, 7.67230674e-03,
  8.43496689e-04,-2.97606515e-04,-3.27688685e-03, 5.22799855e-03,
  2.40569349e-03, 7.57362669e-04,-1.90991037e-03, 4.83719652e-03,
  6.58694757e-02,-4.66622049e-04, 1.97088786e-02, 1.16872843e-02,
  9.47763861e-02,-7.03612894e-02, 1.30265306e-01, 4.99450947e-01,
  5.00324965e-01, 4.97934805e-01, 5.02279415e-01]

qacc:
[ -37.34720954, -29.17171058, 169.45642777,-431.03651388, -15.48617098,
  -34.88042637, 165.8973109 ,-342.76482148, -40.21213395, -27.76014297,
  132.57207932,-282.54019234,  47.5535018 ,  14.97778315,  68.45496634,
 -245.88737069,  -0.60065236,   1.20058667,   0.99911115,  -7.7037762 ,
   -1.38222875, -17.32222119]

qfrc_actuator:
[ 0.01003778,-0.00088125, 0.00212105, 0.03498368, 0.0038651 ,-0.00238976,
 -0.01550659, 0.02368761, 0.01095837, 0.00377252,-0.00860664, 0.02210317,
  0.11686365,-0.00200525, 0.08565166, 0.05100748, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012560311630714222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41956799e-14, -8.83913598e-14,  1.00000000e+00,  3.90651624e-27,
        1.00000000e+00,  8.83913598e-14, -1.00000000e+00,  0.00000000e+00,
        4.41956799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102044  , -0.08971492,  0.06196421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18161509e-04,-2.90743109e-06,-4.65245179e-05,-7.71543621e-04,
 -9.14623589e-05, 1.38141399e-04, 3.25862539e-04,-4.77043438e-04,
 -2.35812100e-04,-8.97872825e-05, 1.48935860e-04,-4.26926594e-04,
 -3.22332484e-01, 2.94984253e-04,-5.12889571e-04,-1.33690589e-03,
  2.32492794e-06, 3.42091404e-07,-1.21646459e+00,-4.90974071e-04,
 -1.74417747e-05,-5.61587211e-04]


--- Step 10 ---
qpos:
[ 2.39718465e-03,-2.99850358e-04, 4.61945700e-04, 8.35829101e-03,
  9.19174781e-04,-3.45479588e-04,-3.57963866e-03, 5.69278621e-03,
  2.62069435e-03, 8.33463352e-04,-2.07684099e-03, 5.27119765e-03,
  7.48643962e-02,-5.06697149e-04, 2.18458178e-02, 1.27882716e-02,
  9.47374788e-02,-7.03936739e-02, 1.30313474e-01, 4.99467664e-01,
  5.00287364e-01, 4.97682687e-01, 5.02550047e-01]

qacc:
[ -36.17693191, -25.55204988, 153.77513762,-403.0235006 , -14.54362369,
  -37.12313407, 173.05581467,-348.06010775, -35.97656854, -29.34671663,
  139.28518345,-296.47150296,  17.41759528,  28.76954268,  47.87975183,
 -176.70969147,  -0.573941  ,   1.1551124 ,   0.6193893 ,  -7.57248099,
   -1.25073835, -16.70169785]

qfrc_actuator:
[ 0.0098329 ,-0.00086695, 0.00205496, 0.0342595 , 0.00378152,-0.00235109,
 -0.01517504, 0.02321623, 0.01075381, 0.00367157,-0.00845197, 0.02165965,
  0.11605889,-0.00194925, 0.08546575, 0.05012968, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001216863017944228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.56182417e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.56182417e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204994, -0.08972636,  0.06196533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11179569e-04,-3.22220202e-05,-1.01208294e-04,-7.42588686e-04,
 -8.61211579e-05, 1.67082844e-04, 3.86849252e-04,-4.63728632e-04,
 -2.11113193e-04,-1.39889095e-04, 1.40023395e-04,-4.51255552e-04,
 -3.30187579e-01, 2.29066104e-04,-5.61987113e-04,-1.01755828e-03,
  1.40042358e-06,-4.71512928e-07,-1.21646284e+00,-4.88886883e-04,
 -1.56262733e-05,-5.62236974e-04]


--- Step 11 ---
qpos:
[ 2.58982972e-03,-3.14184991e-04, 5.03356145e-04, 9.03064188e-03,
  9.93262049e-04,-3.92936129e-04,-3.87605988e-03, 6.14794326e-03,
  2.83191873e-03, 9.07693758e-04,-2.23981621e-03, 5.69650789e-03,
  8.38363602e-02,-5.44366001e-04, 2.39787712e-02, 1.38694522e-02,
  9.46963594e-02,-7.04215858e-02, 1.30362876e-01, 4.99509196e-01,
  5.00227264e-01, 4.97438059e-01, 5.02810725e-01]

qacc:
[-3.82261926e+01,-2.27981725e+01, 1.39933389e+02,-3.73798461e+02,
 -1.38100231e+01,-3.69580565e+01, 1.73271317e+02,-3.50419520e+02,
 -3.30878270e+01,-3.13681951e+01, 1.45053593e+02,-3.00527303e+02,
 -7.99494265e+00, 2.90741709e+01, 5.41470363e+01,-1.97940317e+02,
 -5.53017383e-01, 1.11815419e+00, 3.08392755e-01,-7.46664135e+00,
 -1.14083229e+00,-1.61931543e+01]

qfrc_actuator:
[ 0.00961589,-0.00087065, 0.00196327, 0.03357703, 0.00370211,-0.00232665,
 -0.01485886, 0.02273543, 0.01056529, 0.00356365,-0.0082589 , 0.02122523,
  0.11524405,-0.00193697, 0.08526685, 0.04913784, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011736362702038233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72984285e-14,  4.72984285e-14,  1.00000000e+00, -2.23714134e-27,
        1.00000000e+00, -4.72984285e-14, -1.00000000e+00,  0.00000000e+00,
        4.72984285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205604, -0.08973889,  0.06196656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23118705e-04,-7.66394237e-05,-1.38564775e-04,-7.03429251e-04,
 -8.17978469e-05, 1.82135176e-04, 3.85374711e-04,-4.69525453e-04,
 -1.94395702e-04,-1.77717578e-04, 1.66129401e-04,-4.45065706e-04,
 -3.33585581e-01, 8.84403792e-05,-5.57078444e-04,-1.11909381e-03,
  4.60565619e-07,-1.07586961e-06,-1.21646162e+00,-4.86957162e-04,
 -1.36076722e-05,-5.62766822e-04]


--- Step 12 ---
qpos:
[ 2.77906225e-03,-3.28347381e-04, 5.43696132e-04, 9.68955433e-03,
  1.06616551e-03,-4.39403850e-04,-4.16683528e-03, 6.59341931e-03,
  3.03889799e-03, 9.80258315e-04,-2.39925360e-03, 6.11363615e-03,
  9.27227224e-02,-5.78729140e-04, 2.61074629e-02, 1.49297118e-02,
  9.46530926e-02,-7.04451444e-02, 1.30412498e-01, 4.99574959e-01,
  5.00145077e-01, 4.97200678e-01, 5.03061873e-01]

qacc:
[-3.00773992e+01,-2.44027844e+01, 1.44173664e+02,-3.75283584e+02,
 -1.02599666e+01,-3.43977087e+01, 1.65441677e+02,-3.42777897e+02,
 -3.72292868e+01,-2.88740417e+01, 1.34419170e+02,-2.80584944e+02,
 -2.92550184e+01, 4.68193737e+01, 5.71211215e+01,-2.08915264e+02,
 -5.36841504e-01, 1.08831884e+00, 5.50045571e-02,-7.38408256e+00,
 -1.04786626e+00,-1.57784546e+01]

qfrc_actuator:
[ 0.00944673,-0.00086743, 0.00191041, 0.03290679, 0.00364354,-0.00225774,
 -0.01457213, 0.02225292, 0.01035221, 0.00348809,-0.00808024, 0.02081742,
  0.11444404,-0.00188048, 0.08503899, 0.04808664, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011276410343471488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92276793e-14,  4.92276793e-14,  1.00000000e+00, -2.42336441e-27,
        1.00000000e+00, -4.92276793e-14, -1.00000000e+00,  0.00000000e+00,
        4.92276793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206223, -0.08975215,  0.06196787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75617415e-04,-1.00562727e-04,-1.12094694e-04,-6.93600826e-04,
 -6.08321856e-05, 2.34395292e-04, 3.58588981e-04,-4.70757851e-04,
 -2.18507786e-04,-1.60830845e-04, 1.47323700e-04,-4.19039046e-04,
 -3.33189182e-01, 2.59428029e-05,-5.94933882e-04,-1.18348200e-03,
 -5.00568009e-07,-1.49115176e-06,-1.21646085e+00,-4.85152343e-04,
 -1.13929814e-05,-5.63180738e-04]


--- Step 13 ---
qpos:
[ 2.96444717e-03,-3.42525457e-04, 5.83681039e-04, 1.03349045e-02,
  1.13814443e-03,-4.84859599e-04,-4.45161554e-03, 7.02926788e-03,
  3.24102568e-03, 1.05143780e-03,-2.55538805e-03, 6.52225161e-03,
  1.01471439e-01,-6.09619786e-04, 2.82321805e-02, 1.59657631e-02,
  9.46077276e-02,-7.04644452e-02, 1.30461519e-01, 4.99664481e-01,
  5.00041127e-01, 4.96970345e-01, 5.03303838e-01]

qacc:
[-3.38802132e+01,-2.68990789e+01, 1.53249930e+02,-3.87523888e+02,
 -7.96784053e+00,-3.52376577e+01, 1.68247954e+02,-3.45226813e+02,
 -4.25794420e+01,-2.85171952e+01, 1.35100597e+02,-2.86844218e+02,
 -4.68972670e+01, 5.66197725e+01, 6.75117135e+01,-2.44624249e+02,
 -5.24563744e-01, 1.06443345e+00,-1.50178983e-01,-7.32262071e+00,
 -9.68153848e-01,-1.54424283e+01]

qfrc_actuator:
[ 0.00925384,-0.00085995, 0.00189871, 0.03223139, 0.00359769,-0.00219841,
 -0.01426942, 0.02177328, 0.0101086 , 0.00343247,-0.00791139, 0.02039304,
  0.11364875,-0.00181707, 0.08482054, 0.04686685, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010799276771345095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14026563e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.14026563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206845, -0.08976586,  0.06196923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98009519e-04,-1.03711994e-04,-7.22414246e-05,-6.98645584e-04,
 -4.74854251e-05, 2.48393568e-04, 3.81970087e-04,-4.66592555e-04,
 -2.49705039e-04,-1.34189085e-04, 1.39577690e-04,-4.35016827e-04,
 -3.29657320e-01,-7.47411572e-05,-6.07412574e-04,-1.35992552e-03,
 -1.48789277e-06,-1.73269072e-06,-1.21646052e+00,-4.83447473e-04,
 -8.98621129e-06,-5.63481838e-04]


--- Step 14 ---
qpos:
[ 3.14469546e-03,-3.56644267e-04, 6.23124297e-04, 1.09674561e-02,
  1.20866917e-03,-5.29574194e-04,-4.73039689e-03, 7.45635139e-03,
  3.43900872e-03, 1.12121492e-03,-2.70854961e-03, 6.92261289e-03,
  1.10039761e-01,-6.37369055e-04, 3.03536313e-02, 1.69743225e-02,
  9.45603006e-02,-7.04795640e-02, 1.30509279e-01, 4.99777385e-01,
  4.99915660e-01, 4.96746894e-01, 5.03536912e-01]

qacc:
[-4.52306426e+01,-2.46832570e+01, 1.42308351e+02,-3.63165795e+02,
 -1.26216762e+01,-3.38203742e+01, 1.59051037e+02,-3.20929198e+02,
 -3.63674464e+01,-2.70966499e+01, 1.28890363e+02,-2.75596414e+02,
 -6.13668866e+01, 6.08338222e+01, 7.85099462e+01,-2.81558531e+02,
 -5.15489376e-01, 1.04551131e+00,-3.15107768e-01,-7.28013389e+00,
 -8.98767872e-01,-1.51723755e+01]

qfrc_actuator:
[ 0.00899524,-0.00084977, 0.00187591, 0.0315939 , 0.0035242 ,-0.00218074,
 -0.01397748, 0.02133468, 0.00990225, 0.00335371,-0.00776736, 0.01998008,
  0.11286406,-0.00176875, 0.08465048, 0.04548653, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001031345803832448
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38239948e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.38239948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207465, -0.08977978,  0.06197062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64343779e-04,-9.47328372e-05,-7.92193866e-05,-6.59556968e-04,
 -7.47544308e-05, 2.19484665e-04, 3.77054968e-04,-4.24050659e-04,
 -2.13329990e-04,-1.44719410e-04, 1.18747119e-04,-4.23025754e-04,
 -3.23514256e-01,-1.98979524e-04,-5.83622414e-04,-1.53167543e-03,
 -2.50560092e-06,-1.81206194e-06,-1.21646058e+00,-4.81823234e-04,
 -6.38900188e-06,-5.63672570e-04]


--- Step 15 ---
qpos:
[ 3.32043913e-03,-3.70265548e-04, 6.61450994e-04, 1.15877437e-02,
  1.27776440e-03,-5.73327744e-04,-5.00380773e-03, 7.87521127e-03,
  3.63367022e-03, 1.18984904e-03,-2.85946217e-03, 7.31491339e-03,
  1.18393233e-01,-6.62269361e-04, 3.24713752e-02, 1.79610225e-02,
  9.45108375e-02,-7.04905600e-02, 1.30555253e-01, 4.99913369e-01,
  4.99768858e-01, 4.96530187e-01, 5.03761338e-01]

qacc:
[ -39.69349138, -21.40611052, 129.18907649,-340.17828509, -12.4273523 ,
  -30.65783448, 145.91116263,-297.57681226, -29.14965073, -24.34566978,
  118.73904992,-261.10671373, -73.06398541,  65.02322554,  60.78929355,
 -220.49782094,  -0.50904155,   1.03070554,  -0.4466515 ,  -7.25448998,
   -0.83737172, -14.95741801]

qfrc_actuator:
[ 0.00877107,-0.00080255, 0.00182903, 0.03098382, 0.00345276,-0.00213494,
 -0.01371216, 0.0209237 , 0.00973724, 0.00329714,-0.00765697, 0.01957711,
  0.11209985,-0.00173054, 0.08450953, 0.04441344, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009825772011765876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12990921e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12990921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208079, -0.08979372,  0.06197201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31804194e-04,-5.24048160e-05,-1.00913980e-04,-6.31212227e-04,
 -7.34801566e-05, 2.32164425e-04, 3.45275594e-04,-3.97009272e-04,
 -1.70964644e-04,-1.32175518e-04, 8.07798517e-05,-4.13957273e-04,
 -3.15214838e-01,-3.16883461e-04,-5.63849426e-04,-1.23120564e-03,
 -3.55735801e-06,-1.73792450e-06,-1.21646103e+00,-4.80264483e-04,
 -3.60112338e-06,-5.63754874e-04]


--- Step 16 ---
qpos:
[ 3.49316039e-03,-3.83537576e-04, 6.98899522e-04, 1.21958655e-02,
  1.34581078e-03,-6.16222124e-04,-5.27157046e-03, 8.28656608e-03,
  3.82484181e-03, 1.25746867e-03,-3.00826802e-03, 7.69931206e-03,
  1.26504277e-01,-6.85258876e-04, 3.45850939e-02, 1.89314270e-02,
  9.44593557e-02,-7.04974794e-02, 1.30599018e-01, 5.00072196e-01,
  4.99600848e-01, 4.96320111e-01, 5.03977319e-01]

qacc:
[ -26.63900294, -22.09181077, 130.89098735,-340.40490225,  -9.06746578,
  -30.09476006, 140.66390045,-280.25114287, -30.63848597, -23.44756569,
  115.11781161,-254.60813684, -82.3479756 ,  61.80996815,  43.45574026,
 -160.53055583,  -0.50466557,   1.01913473,  -0.5521073 ,  -7.24254058,
   -0.7820008 , -14.78609408]

qfrc_actuator:
[ 0.00862223,-0.00078682, 0.00178623, 0.03037701, 0.00340087,-0.00209054,
 -0.01342907, 0.02055001, 0.00956237, 0.00325418,-0.00754947, 0.01918324,
  0.11134155,-0.00173487, 0.08435424, 0.0436188 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.55823472, -3.64965233,  7.74102186, -3.64965233, 19.69055725,
        5.24854569,  7.74102186,  5.24854569, 11.03276165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009341642921267546
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.94233281e-14,  5.94233281e-14,  1.00000000e+00,  3.53113192e-27,
        1.00000000e+00, -5.94233281e-14, -1.00000000e+00,  0.00000000e+00,
       -5.94233281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208683, -0.08980754,  0.06197338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55531249e-04,-6.34449116e-05,-8.97303035e-05,-6.26292530e-04,
 -5.38932691e-05, 2.32376382e-04, 3.62624781e-04,-3.59747874e-04,
 -1.79626085e-04,-1.18963589e-04, 7.61143569e-05,-4.05438886e-04,
 -3.05188513e-01,-4.62776687e-04,-5.34271070e-04,-9.33131450e-04,
 -4.64642150e-06,-1.51667782e-06,-1.21646183e+00,-4.78759180e-04,
 -6.20915045e-07,-5.63730302e-04]


--- Step 17 ---
qpos:
[ 3.66275112e-03,-3.96761508e-04, 7.35891769e-04, 1.27923089e-02,
  1.41270592e-03,-6.58516170e-04,-5.53366842e-03, 8.69061416e-03,
  4.01208823e-03, 1.32341333e-03,-3.15413375e-03, 8.07635895e-03,
  1.34352190e-01,-7.05987004e-04, 3.66946738e-02, 1.98848376e-02,
  9.44058659e-02,-7.05003580e-02, 1.30640240e-01, 5.00253679e-01,
  4.99411714e-01, 4.96116570e-01, 5.04185031e-01]

qacc:
[ -27.57144   , -22.66384961, 130.29901817,-331.83541002,  -9.96236458,
  -30.07289103, 139.25583311,-275.25082304, -34.43132956, -25.51017725,
  118.8963644 ,-249.72769327, -89.53831349,  72.07225906,  45.4089623 ,
 -167.58548213,  -0.5019871 ,   1.01023408,  -0.63607664,  -7.24268399,
   -0.73121477, -14.65122345]

qfrc_actuator:
[ 0.00846565,-0.00079003, 0.00176386, 0.02979473, 0.00334315,-0.00208276,
 -0.0131555 , 0.02018351, 0.00936531, 0.00314871,-0.00740896, 0.01881565,
  0.11060234,-0.00171167, 0.08413194, 0.04276364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.40818225, -4.69111804,  6.97788939, -4.69111804, 28.36435733,
       13.4162019 ,  6.97788939, 13.4162019 , 17.42766984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008865403582492687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87846444e-13,  6.26154813e-14,  1.00000000e+00,  1.17620955e-26,
        1.00000000e+00, -6.26154813e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87846444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209274, -0.08982113,  0.06197474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61105798e-04,-8.59824696e-05,-7.00129477e-05,-6.01731260e-04,
 -5.91726468e-05, 2.00977363e-04, 3.56514670e-04,-3.51221245e-04,
 -2.02046344e-04,-1.74671812e-04, 1.11576775e-04,-3.78572521e-04,
 -2.93765752e-01,-5.34283815e-04,-5.53832586e-04,-9.73083280e-04,
 -5.77554839e-06,-1.15304906e-06,-1.21646299e+00,-4.77297612e-04,
  2.55394190e-06,-5.63600176e-04]


--- Step 18 ---
qpos:
[ 3.82914335e-03,-4.09776677e-04, 7.72223429e-04, 1.33774431e-02,
  1.47804400e-03,-7.00323611e-04,-5.79024951e-03, 9.08680151e-03,
  4.19551851e-03, 1.38784253e-03,-3.29718629e-03, 8.44535167e-03,
  1.41921334e-01,-7.24628098e-04, 3.88006042e-02, 2.08185945e-02,
  9.43503732e-02,-7.04992221e-02, 1.30678653e-01, 5.00457676e-01,
  4.99201498e-01, 4.95919481e-01, 5.04384623e-01]

qacc:
[ -28.17809966, -21.11868089, 123.54174778,-318.48368614, -13.53461844,
  -30.94353279, 144.49353298,-289.77087348, -33.47907388, -26.39297491,
  125.3123779 ,-268.21216032, -94.94033484,  76.13484639,  54.19563599,
 -197.2521775 ,  -0.50072895,   1.00359178,  -0.70189295,  -7.25388803,
   -0.6839069 , -14.54764164]

qfrc_actuator:
[ 0.00830575,-0.00076895, 0.00173591, 0.02923154, 0.0032647 ,-0.00207929,
 -0.01288991, 0.01978862, 0.00917454, 0.0030778 ,-0.00726807, 0.01841319,
  0.10989049,-0.00169081, 0.08393348, 0.04177285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000840048583370015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.60808819e-14, -6.60808819e-14,  1.00000000e+00, -4.36668295e-27,
        1.00000000e+00,  6.60808819e-14, -1.00000000e+00,  0.00000000e+00,
       -6.60808819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209849, -0.08983439,  0.06197606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64597583e-04,-6.91233800e-05,-7.69290446e-05,-5.82414492e-04,
 -8.00648178e-05, 1.78141558e-04, 3.41526512e-04,-3.80996833e-04,
 -1.96430738e-04,-1.62756572e-04, 1.05743402e-04,-4.14074649e-04,
 -2.81282586e-01,-6.25739385e-04,-5.42138098e-04,-1.11313024e-03,
 -6.94725253e-06,-6.50509080e-07,-1.21646450e+00,-4.75871705e-04,
  5.92655823e-06,-5.63365614e-04]


--- Step 19 ---
qpos:
[ 3.99335715e-03,-4.22618652e-04, 8.07641167e-04, 1.39512689e-02,
  1.54158824e-03,-7.41276970e-04,-6.04169592e-03, 9.47480316e-03,
  4.37523732e-03, 1.45082326e-03,-3.43746198e-03, 8.80628601e-03,
  1.49200658e-01,-7.41386213e-04, 4.09027976e-02, 2.17338977e-02,
  9.42928779e-02,-7.04940908e-02, 1.30714057e-01, 5.00684082e-01,
  4.98970207e-01, 4.95728776e-01, 5.04576221e-01]

qacc:
[ -19.20865965, -20.47326945, 121.13880093,-315.60305141, -15.63509887,
  -30.05434591, 143.40746905,-293.97737639, -32.55997921, -26.2132491 ,
  124.81507396,-267.77647517, -98.79397938,  79.22879159,  50.43214703,
 -184.25717886,  -0.50066355,   0.99886046,  -0.75238836,  -7.27518227,
   -0.63919292, -14.4709847 ]

qfrc_actuator:
[ 0.00819842,-0.00076897, 0.00168725, 0.02866636, 0.00317467,-0.00202527,
 -0.01263124, 0.01938018, 0.00898899, 0.0030104 ,-0.00712801, 0.01801119,
  0.10920595,-0.00167209, 0.08374945, 0.04085218, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007949558388408579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98292264e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.98292264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210407, -0.08984724,  0.06197734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12106939e-04,-8.13678759e-05,-9.43057248e-05,-5.83522094e-04,
 -9.22370858e-05, 2.11474991e-04, 3.26970427e-04,-3.96624063e-04,
 -1.91040886e-04,-1.55290877e-04, 1.05434240e-04,-4.13974193e-04,
 -2.67992222e-01,-7.10676167e-04,-5.38986932e-04,-1.04955265e-03,
 -8.16392749e-06,-1.15311109e-08,-1.21646635e+00,-4.74474568e-04,
  9.50084381e-06,-5.63027562e-04]


--- Step 20 ---
qpos:
[ 4.15465974e-03,-4.35268053e-04, 8.41874894e-04, 1.45138455e-02,
  1.60321390e-03,-7.81374576e-04,-6.28776939e-03, 9.85486897e-03,
  4.55133646e-03, 1.51199552e-03,-3.57455940e-03, 9.15994579e-03,
  1.56183249e-01,-7.56131232e-04, 4.30008325e-02, 2.26305053e-02,
  9.42333762e-02,-7.04849765e-02, 1.30746301e-01, 5.00932827e-01,
  4.98717815e-01, 4.95544397e-01, 5.04759937e-01]

qacc:
[ -25.66549816, -19.55781789, 117.68375081,-310.72859314, -16.72369475,
  -30.20107438, 142.88324629,-289.51606113, -31.73273017, -26.19834804,
  120.75999449,-250.52988306,-101.32391736,  85.30218301,  50.54527819,
 -185.53917504,  -0.50160298,   0.99574546,  -0.7899861 ,  -7.30565368,
   -0.5963642 , -14.41753622]

qfrc_actuator:
[ 0.0080519 ,-0.00076395, 0.00162669, 0.02810451, 0.00307856,-0.00197699,
 -0.01236079, 0.01898482, 0.008808  , 0.00291013,-0.00697177, 0.01764821,
  0.10855415,-0.00163754, 0.08351562, 0.03990922, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007514643905318225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210946, -0.08985965,  0.06197858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49818480e-04,-8.67560172e-05,-1.10887902e-04,-5.81317866e-04,
 -9.86540325e-05, 2.20622701e-04, 3.43252576e-04,-3.82909506e-04,
 -1.86329947e-04,-1.84014127e-04, 1.23110588e-04,-3.74636668e-04,
 -2.54118595e-01,-7.69610974e-04,-5.79985641e-04,-1.06782862e-03,
 -9.42788139e-06, 7.62203532e-07,-1.21646854e+00,-4.73100178e-04,
  1.32813903e-05,-5.62586828e-04]


--- Step 21 ---
qpos:
[ 4.31191440e-03,-4.47606141e-04, 8.75029684e-04, 1.50645710e-02,
  1.66320785e-03,-8.20560482e-04,-6.52866396e-03, 1.02275860e-02,
  4.72389802e-03, 1.57177765e-03,-3.70831631e-03, 9.50642576e-03,
  1.62865240e-01,-7.69184824e-04, 4.50952880e-02, 2.35048335e-02,
  9.41718609e-02,-7.04718863e-02, 1.30775278e-01, 5.01203868e-01,
  4.98444268e-01, 4.95366295e-01, 5.04935865e-01]

qacc:
[ -35.66702899, -20.9152652 , 125.32707166,-329.08397488, -14.20674703,
  -28.38017321, 134.01159861,-270.20631801, -31.01202733, -25.90500821,
  120.11419219,-248.80957482,-102.72952833,  85.97620141,  62.26176082,
 -225.26563348,  -0.50339112,   0.9939956 ,  -0.8167713 ,  -7.34444511,
   -0.55485127, -14.38411116]

qfrc_actuator:
[ 0.00784795,-0.00073824, 0.00157736, 0.02751361, 0.0029974 ,-0.0019325 ,
 -0.01210331, 0.01861809, 0.00863114, 0.00287984,-0.00678959, 0.01729332,
  0.10792772,-0.00161211, 0.08331066, 0.03878299, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007097219111019959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.8215355e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.8215355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211465, -0.08987157,  0.06197977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08310598e-04,-7.23833420e-05,-1.02682546e-04,-6.11095396e-04,
 -8.38899325e-05, 2.25823857e-04, 3.34591409e-04,-3.53052880e-04,
 -1.82084498e-04,-1.24722161e-04, 1.46654609e-04,-3.66383757e-04,
 -2.39875953e-01,-8.44222689e-04,-5.70012960e-04,-1.25694099e-03,
 -1.07413587e-05, 1.66963836e-06,-1.21647108e+00,-4.71743143e-04,
  1.72733693e-05,-5.62044111e-04]


--- Step 22 ---
qpos:
[ 4.46584406e-03,-4.59638736e-04, 9.07278923e-04, 1.56032011e-02,
  1.72210652e-03,-8.58270867e-04,-6.76561410e-03, 1.05930164e-02,
  4.89299867e-03, 1.63118389e-03,-3.83988642e-03, 9.84623800e-03,
  1.69245628e-01,-7.80833833e-04, 4.71866420e-02, 2.43570869e-02,
  9.41083220e-02,-7.04548224e-02, 1.30800917e-01, 5.01497184e-01,
  4.98149487e-01, 4.95194428e-01, 5.05104089e-01]

qacc:
[ -29.29957103, -21.92346671, 129.92065904,-338.15599007,  -9.5373945 ,
  -24.06471768, 119.42810758,-252.97101281, -30.39093119, -20.28524435,
   99.85842963,-218.59142309,-103.1710931 ,  86.37354872,  62.35032295,
 -224.53585491,  -0.50589769,   0.99339609,  -0.83454535,  -7.39075537,
   -0.51419527, -14.36796701]

qfrc_actuator:
[ 0.00768286,-0.00071807, 0.00153516, 0.02691039, 0.00294343,-0.00185517,
 -0.01190883, 0.01825338, 0.00845812, 0.0029096 ,-0.00666429, 0.01696385,
  0.10733286,-0.00159265, 0.08316574, 0.03768212, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006698300910454452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.28734809e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.28734809e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211963, -0.08988297,  0.0619809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71105649e-04,-6.94421366e-05,-9.25769170e-05,-6.23069165e-04,
 -5.62694665e-05, 2.60985319e-04, 2.72578009e-04,-3.50533612e-04,
 -1.78104375e-04,-2.62837765e-05, 1.05198760e-04,-3.37432619e-04,
 -2.25410382e-01,-9.08744619e-04,-5.28167001e-04,-1.24123387e-03,
 -1.21065531e-05, 2.71020410e-06,-1.21647395e+00,-4.70398514e-04,
  2.14824446e-05,-5.61400030e-04]


--- Step 23 ---
qpos:
[ 4.61659475e-03,-4.71322406e-04, 9.38955729e-04, 1.61300105e-02,
  1.77990017e-03,-8.95010462e-04,-6.99784848e-03, 1.09505492e-02,
  5.05871199e-03, 1.69037922e-03,-3.96965222e-03, 1.01797958e-02,
  1.75325363e-01,-7.91983074e-04, 4.92741518e-02, 2.51915585e-02,
  9.40427470e-02,-7.04337835e-02, 1.30823177e-01, 5.01812779e-01,
  4.97833370e-01, 4.95028760e-01, 5.05264681e-01]

qacc:
[ -28.00433367, -22.2341896 , 129.94779549,-333.98917108,  -9.58981431,
  -28.1460294 , 135.59238764,-280.57313091, -29.75780985, -18.14782291,
   90.80726052,-201.89573864,-102.79432399,  79.57602659,  48.24351294,
 -176.7721755 ,  -0.50901348,   0.99376289,  -0.84486839,  -7.44383995,
   -0.47402556, -14.36673521]

qfrc_actuator:
[ 0.00752423,-0.00068358, 0.00151523, 0.02632251, 0.00288815,-0.00183008,
 -0.01168198, 0.01785725, 0.00828874, 0.00290391,-0.0065733 , 0.016652  ,
  0.10675722,-0.00161266, 0.08298237, 0.03680046, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006318520743875816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.78546633e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.78546633e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212439, -0.08989383,  0.06198198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63586593e-04,-5.18602489e-05,-6.88235923e-05,-6.07456945e-04,
 -5.67860873e-05, 2.15633904e-04, 3.04616030e-04,-3.82540877e-04,
 -1.74312854e-04,-1.40060511e-05, 8.71090127e-05,-3.16460916e-04,
 -2.10877215e-01,-9.98407586e-04,-5.48082196e-04,-1.01635586e-03,
 -1.35256143e-05, 3.88370428e-06,-1.21647718e+00,-4.69061639e-04,
  2.59146951e-05,-5.60655138e-04]


--- Step 24 ---
qpos:
[ 4.76357914e-03,-4.82746957e-04, 9.70347095e-04, 1.66463314e-02,
  1.83658159e-03,-9.30882330e-04,-7.22487914e-03, 1.13001826e-02,
  5.22110863e-03, 1.74847723e-03,-4.09610192e-03, 1.05066734e-02,
  1.81108537e-01,-8.01952457e-04, 5.13571123e-02, 2.60110879e-02,
  9.39751215e-02,-7.04087649e-02, 1.30842040e-01, 5.02150671e-01,
  4.97495793e-01, 4.94869259e-01, 5.05417705e-01]

qacc:
[ -33.16048768, -20.40063339, 117.63013436,-299.02228696,  -9.63574817,
  -29.64961034, 140.76427975,-286.48254998, -29.07319578, -24.42395734,
  113.27995237,-233.49877751,-101.73473587,  89.03580027,  38.60402525,
 -144.55001259,  -0.51264663,   0.99493819,  -0.84909277,  -7.50301176,
   -0.43404206, -14.3783673 ]

qfrc_actuator:
[ 0.00733516,-0.00065843, 0.0015087 , 0.02580165, 0.00283253,-0.00178316,
 -0.0114203 , 0.01746354, 0.00812286, 0.0028237 ,-0.00641462, 0.01631747,
  0.10620387,-0.001585  , 0.08274947, 0.03605486, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005958188948235882
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65839131e-14, -1.86335652e-13,  1.00000000e+00,  8.68024384e-27,
        1.00000000e+00,  1.86335652e-13, -1.00000000e+00,  0.00000000e+00,
        4.65839131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212892, -0.08990416,  0.06198301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93812797e-04,-4.57500621e-05,-4.82971682e-05,-5.38523909e-04,
 -5.71586321e-05, 2.17275868e-04, 3.32865772e-04,-3.81567498e-04,
 -1.70703962e-04,-8.45240075e-05, 1.55819627e-04,-3.38825781e-04,
 -1.96370812e-01,-9.95153206e-04,-5.79963668e-04,-8.69947032e-04,
 -1.50006508e-05, 5.19021936e-06,-1.21648076e+00,-4.67728055e-04,
  3.05765497e-05,-5.59809948e-04]


--- Step 25 ---
qpos:
[ 4.90749660e-03,-4.93893365e-04, 1.00133809e-03, 1.71530634e-02,
  1.89181011e-03,-9.65422230e-04,-7.44776706e-03, 1.16434224e-02,
  5.38094593e-03, 1.80527408e-03,-4.21946691e-03, 1.08266850e-02,
  1.86600628e-01,-8.10312859e-04, 5.34357707e-02, 2.68153348e-02,
  9.39054291e-02,-7.03797591e-02, 1.30857509e-01, 5.02510893e-01,
  4.97136617e-01, 4.94715897e-01, 5.05563217e-01]

qacc:
[ -27.00965743, -18.2135315 , 106.0505951 ,-271.68418246, -12.67122388,
  -22.96265801, 111.46502978,-229.77700511, -22.41123355, -24.44234055,
  113.7170749 ,-236.60910544,-100.14957786,  95.33553545,  40.00393816,
 -148.90435721,  -0.51671972,   0.99678679,  -0.84839019,  -7.56764155,
   -0.39400122, -14.40109182]

qfrc_actuator:
[ 0.00718293,-0.00063892, 0.00149239, 0.02532441, 0.0027594 ,-0.00170567,
 -0.0112111 , 0.01714546, 0.00799587, 0.00273523,-0.00627083, 0.01597226,
  0.10569033,-0.00152962, 0.08252966, 0.03528865, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005617350513859171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94104392e-14,  9.88208784e-14,  1.00000000e+00,  4.88278301e-27,
        1.00000000e+00, -9.88208784e-14, -1.00000000e+00,  0.00000000e+00,
       -4.94104392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213324, -0.08991394,  0.06198397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57822537e-04,-4.07684627e-05,-5.18654384e-05,-4.92572880e-04,
 -7.46784948e-05, 2.54561207e-04, 2.84176749e-04,-3.04869447e-04,
 -1.31741517e-04,-1.18962775e-04, 1.34047202e-04,-3.50578405e-04,
 -1.82031259e-01,-9.98183228e-04,-5.63323404e-04,-8.86082121e-04,
 -1.65337307e-05, 6.63002599e-06,-1.21648470e+00,-4.66393399e-04,
  3.54747318e-05,-5.58864944e-04]


--- Step 26 ---
qpos:
[ 5.04915729e-03,-5.04680504e-04, 1.03154623e-03, 1.76504698e-02,
  1.94573239e-03,-9.98633269e-04,-7.66668799e-03, 1.19805328e-02,
  5.53767513e-03, 1.86035228e-03,-4.34015695e-03, 1.11401421e-02,
  1.91806961e-01,-8.18501945e-04, 5.55106603e-02, 2.76067182e-02,
  9.38336520e-02,-7.03467565e-02, 1.30869603e-01, 5.02893494e-01,
  4.96755685e-01, 4.94568652e-01, 5.05701268e-01]

qacc:
[ -19.89391653, -16.50781043,  98.98757258,-259.48117748, -11.38635079,
  -21.93339136, 106.66934022,-220.11940171, -27.24685209, -23.19720124,
  107.17798147,-223.73229976, -98.10661284,  81.45026791,  33.4619612 ,
 -124.87072888,  -0.52116737,   0.99919303,  -0.8437741 ,  -7.63715755,
   -0.35370489, -14.43337893]

qfrc_actuator:
[ 0.00707137,-0.00062292, 0.0014527 , 0.02485888, 0.0026943 ,-0.00164616,
 -0.01101667, 0.01683891, 0.00783953, 0.00260696,-0.00615481, 0.01564124,
  0.10519489,-0.00154728, 0.08237643, 0.03465842, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005295833359841295
  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([ 0.10213733, -0.08992319,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16129395e-04,-4.02239559e-05,-7.30484842e-05,-4.79857290e-04,
 -6.71318619e-05, 2.50574201e-04, 2.73725598e-04,-2.91935994e-04,
 -1.60003668e-04,-1.83000604e-04, 9.60593590e-05,-3.38825812e-04,
 -1.67949354e-01,-1.09570055e-03,-4.92410621e-04,-7.49244979e-04,
 -1.81268803e-05, 8.20352907e-06,-1.21648900e+00,-4.65053338e-04,
  4.06162132e-05,-5.57820597e-04]


--- Step 27 ---
qpos:
[ 0.00518872,-0.00051533, 0.0010611 , 0.01813877, 0.00199845,-0.00103054,
 -0.0078812 , 0.01231028, 0.00569062, 0.00191374,-0.00445874, 0.01144722,
  0.19673487,-0.00082689, 0.05758224, 0.02838799, 0.09375977,-0.07030975,
  0.13087835, 0.50329853, 0.49635282, 0.4944275 , 0.5058319 ]

qacc:
[ -18.47305296, -16.72178632,  98.39354878,-255.15277803, -10.43860936,
  -25.74926171, 125.44883231,-260.98039354, -33.18594307, -21.20959427,
   99.42125316,-212.08065272, -95.64895866,  78.29517479,  25.79532578,
  -97.06098747,  -0.52593439,   1.00205828,  -0.83611832,  -7.7110448 ,
   -0.31299139, -14.4739113 ]

qfrc_actuator:
[ 0.00696688,-0.00062698, 0.00141727, 0.02440394, 0.00263445,-0.00158022,
 -0.01079707, 0.01647055, 0.00764939, 0.00250899,-0.00605627, 0.01532118,
  0.10473095,-0.00157245, 0.08224729, 0.03416672, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004993290056682642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55857467e-14, -2.22342987e-13,  1.00000000e+00,  1.23591009e-26,
        1.00000000e+00,  2.22342987e-13, -1.00000000e+00,  0.00000000e+00,
        5.55857467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214121, -0.08993191,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07877289e-04,-6.37636751e-05,-7.08156719e-05,-4.69700659e-04,
 -6.16645827e-05, 2.53097879e-04, 2.97181091e-04,-3.54017587e-04,
 -1.94625401e-04,-1.95818882e-04, 6.10707856e-05,-3.31687122e-04,
 -1.54103352e-01,-1.12882628e-03,-4.24104362e-04,-5.94834759e-04,
 -1.97820831e-05, 9.91120429e-06,-1.21649367e+00,-4.63703512e-04,
  4.60081767e-05,-5.56677379e-04]


--- Step 28 ---
qpos:
[ 0.00532595,-0.00052581, 0.00109025, 0.01861777, 0.0020497 ,-0.00106167,
 -0.00809108, 0.0126324 , 0.0058401 , 0.00196625,-0.0045756 , 0.01174798,
  0.20139346,-0.00083473, 0.0596509 , 0.02915214, 0.09368377,-0.07026871,
  0.1308838 , 0.50372607, 0.49592785, 0.49429242, 0.50595516]

qacc:
[-2.06110936e+01,-1.77395444e+01, 1.02906239e+02,-2.63374000e+02,
 -1.28145066e+01,-2.75809569e+01, 1.32034200e+02,-2.71936427e+02,
 -3.04550787e+01,-1.89070188e+01, 9.24959308e+01,-2.03995018e+02,
 -9.29068914e+01, 8.66674931e+01, 4.76387808e+01,-1.72619525e+02,
 -5.31012200e-01, 1.00537158e+00,-8.25548855e-01,-7.78937137e+00,
 -2.71753587e-01,-1.45225429e+01]

qfrc_actuator:
[ 0.00684962,-0.00060748, 0.00140234, 0.02394113, 0.00256043,-0.00158193,
 -0.01058215, 0.01608655, 0.00747639, 0.00251864,-0.00595099, 0.01501014,
  0.10429554,-0.00154856, 0.08203149, 0.03328122, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004709233767254961
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76815871e-13,  5.89386235e-14,  1.00000000e+00, -1.04212840e-26,
        1.00000000e+00, -5.89386235e-14, -1.00000000e+00,  0.00000000e+00,
        1.76815871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214487, -0.08994012,  0.06198655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20420690e-04,-5.24423667e-05,-5.45294149e-05,-4.78294217e-04,
 -7.56904259e-05, 1.88954212e-04, 2.93709663e-04,-3.69943771e-04,
 -1.78471616e-04,-1.02270932e-04, 6.11218222e-05,-3.24274241e-04,
 -1.40596930e-01,-1.09417933e-03,-4.65547063e-04,-9.72072720e-04,
 -2.15012776e-05, 1.17535499e-05,-1.21649873e+00,-4.62339495e-04,
  5.16579870e-05,-5.55435769e-04]


--- Step 29 ---
qpos:
[ 0.00546001,-0.00053592, 0.00111885, 0.0190878 , 0.00209967,-0.00109242,
 -0.00829674, 0.01294715, 0.00598635, 0.00201819,-0.00468999, 0.01204258,
  0.20579217,-0.00084152, 0.06171566, 0.02990061, 0.09360821,-0.07022376,
  0.13088907, 0.5041658 , 0.49548983, 0.49417361, 0.50606237]

qacc:
[-2.78749682e+01,-1.64154107e+01, 9.71974606e+01,-2.51926973e+02,
 -1.11808792e+01,-2.64696081e+01, 1.26306588e+02,-2.61091995e+02,
 -2.83916579e+01,-2.03272583e+01, 9.75505193e+01,-2.08035661e+02,
 -8.99813895e+01, 9.17972210e+01, 4.17967832e+01,-1.54304764e+02,
  1.11245107e-01, 9.79983054e-01,-4.55655701e-02, 1.77177916e+00,
  4.02526650e-01,-1.43807761e+01]

qfrc_actuator:
[ 0.00669027,-0.00057394, 0.00138196, 0.02349517, 0.00249639,-0.00160647,
 -0.01038977, 0.01571412, 0.00731488, 0.00253945,-0.0058066 , 0.014707  ,
  0.10387048,-0.00149593, 0.08180639, 0.03249004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044687804790595476
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10549777e-14,  1.24219911e-13,  1.00000000e+00, -3.85764656e-27,
        1.00000000e+00, -1.24219911e-13, -1.00000000e+00,  0.00000000e+00,
        3.10549777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150738, -0.08803138,  0.06198724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62857415e-04,-2.90531025e-05,-5.58953181e-05,-4.60534090e-04,
 -6.61164331e-05, 1.28786758e-04, 2.56893770e-04,-3.61548008e-04,
 -1.66496614e-04,-3.84418710e-05, 1.19813425e-04,-3.12210110e-04,
 -1.27537346e-01,-1.06864330e-03,-5.36287215e-04,-9.04199538e-04,
 -2.32864832e-05, 1.37311883e-05,-1.21650417e+00,-4.60956785e-04,
  5.75735552e-05,-5.54096228e-04]


--- Step 30 ---
qpos:
[ 0.00559146,-0.00054562, 0.00114695, 0.01954846, 0.00214882,-0.00112279,
 -0.00849846, 0.01325569, 0.00612987, 0.00206938,-0.00480172, 0.01233159,
  0.20994007,-0.00084764, 0.06377654, 0.03063608, 0.09353307,-0.07017491,
  0.13089379, 0.50461765, 0.49503874, 0.49407089, 0.50615376]

qacc:
[-2.29900379e+01,-1.73227681e+01, 1.02231438e+02,-2.64141973e+02,
 -7.01940442e+00,-2.32832893e+01, 1.09965066e+02,-2.23961929e+02,
 -2.39072123e+01,-1.98566223e+01, 9.29697389e+01,-1.93279117e+02,
 -8.69020777e+01, 8.74215945e+01, 3.37226790e+01,-1.25974527e+02,
  1.05786671e-01, 9.75210300e-01,-1.35349753e-01, 1.67990146e+00,
  4.50618761e-01,-1.42701057e+01]

qfrc_actuator:
[ 0.00656069,-0.00054999, 0.00135862, 0.02302721, 0.00245651,-0.00159138,
 -0.01019462, 0.0154047 , 0.00717918, 0.00249599,-0.0056757 , 0.01442874,
  0.10347112,-0.00146226, 0.0816345 , 0.03184962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043232788712621595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.92600869e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.92600869e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150713, -0.08803505,  0.06198765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34287324e-04,-2.50815371e-05,-5.35578755e-05,-4.81212330e-04,
 -4.17123920e-05, 1.27490474e-04, 2.42963274e-04,-3.02225399e-04,
 -1.40338551e-04,-5.43779422e-05, 1.27145454e-04,-2.82324777e-04,
 -1.14925230e-01,-1.08683268e-03,-5.04585989e-04,-7.57966061e-04,
 -2.38338777e-05, 1.53704130e-05,-1.21650644e+00,-4.59360738e-04,
  6.20093569e-05,-5.53005285e-04]


--- Step 31 ---
qpos:
[ 0.00572067,-0.00055466, 0.00117419, 0.01999886, 0.00219746,-0.001153  ,
 -0.00869589, 0.01355882, 0.00627099, 0.00211951,-0.00491114, 0.01261541,
  0.21384606,-0.00085406, 0.06583376, 0.03135915, 0.09345833,-0.07012217,
  0.13089768, 0.50508157, 0.49457452, 0.49398411, 0.50622954]

qacc:
[-1.96924595e+01,-1.78251006e+01, 1.08172178e+02,-2.84868490e+02,
 -4.40263929e+00,-2.29190800e+01, 1.04906488e+02,-2.05654825e+02,
 -2.10020522e+01,-1.85256774e+01, 8.60160969e+01,-1.78828645e+02,
 -8.36753428e+01, 7.67605744e+01, 3.22033064e+01,-1.20215256e+02,
  1.00494022e-01, 9.71930106e-01,-2.08559969e-01, 1.59406994e+00,
  4.97966879e-01,-1.41895322e+01]

qfrc_actuator:
[ 0.00644968,-0.00051424, 0.00131593, 0.02251454, 0.00243116,-0.00158815,
 -0.00998145, 0.01513485, 0.00705973, 0.0024144 ,-0.0055718 , 0.01416727,
  0.10310106,-0.00147552, 0.08145738, 0.03123224, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004171657259094824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32668456e-14,  6.65336913e-14,  1.00000000e+00,  2.21336604e-27,
        1.00000000e+00, -6.65336913e-14, -1.00000000e+00,  0.00000000e+00,
       -3.32668456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150686, -0.08803893,  0.06198808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14901199e-04,-1.14293629e-05,-7.24968882e-05,-5.26051817e-04,
 -2.64897277e-05, 1.14521415e-04, 2.61005936e-04,-2.62024613e-04,
 -1.23338416e-04,-9.86240107e-05, 9.87683574e-05,-2.65365664e-04,
 -1.02738668e-01,-1.13273459e-03,-4.80419844e-04,-7.23066145e-04,
 -2.43804218e-05, 1.70671652e-05,-1.21650900e+00,-4.57746837e-04,
  6.63455410e-05,-5.51841753e-04]


--- Step 32 ---
qpos:
[ 0.0058479 ,-0.00056335, 0.00120077, 0.02043961, 0.00224576,-0.00118271,
 -0.0088896 , 0.01385634, 0.00640959, 0.00216869,-0.0050184 , 0.0128932 ,
  0.21752019,-0.0008608 , 0.06788694, 0.03206739, 0.09338543,-0.07006544,
  0.13090153, 0.5055523 , 0.49410171, 0.4939194 , 0.5062845 ]

qacc:
[-1.75642561e+01,-1.74829746e+01, 1.03817020e+02,-2.70033461e+02,
 -2.86111485e+00,-2.12927372e+01, 1.00555113e+02,-2.03880326e+02,
 -2.21675123e+01,-1.96784459e+01, 9.39145858e+01,-2.01301794e+02,
 -8.03390843e+01, 7.55084714e+01, 3.90373893e+01,-1.44936028e+02,
  4.57262423e-01, 9.97805174e-01,-1.04627057e-02, 6.87528079e+00,
  9.21968920e-01,-1.45548064e+01]

qfrc_actuator:
[ 0.00635047,-0.00050732, 0.00127993, 0.02203293, 0.00241456,-0.00155647,
 -0.0097949 , 0.01485495, 0.00693305, 0.00236377,-0.0054671 , 0.01386447,
  0.10275679,-0.00148073, 0.08120801, 0.0304735 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040433708815940106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37289289e-13,  2.10224223e-13,  1.00000000e+00, -2.88615341e-26,
        1.00000000e+00, -2.10224223e-13, -1.00000000e+00,  0.00000000e+00,
        1.37289289e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602686, -0.08810006,  0.06198845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02532129e-04,-3.84303547e-05,-6.68360956e-05,-4.95909698e-04,
 -1.73164697e-05, 1.41134418e-04, 2.35281946e-04,-2.71234267e-04,
 -1.30106051e-04,-9.75145384e-05, 8.75277611e-05,-3.09242786e-04,
 -9.09723809e-02,-1.12238448e-03,-5.39302814e-04,-8.59764218e-04,
 -2.49281494e-05, 1.88234286e-05,-1.21651184e+00,-4.56110442e-04,
  7.05952204e-05,-5.50605036e-04]


--- Step 33 ---
qpos:
[ 0.00597363,-0.00057205, 0.00122707, 0.02087185, 0.00229314,-0.00121154,
 -0.0090797 , 0.01414815, 0.00654559, 0.00221692,-0.00512353, 0.01316449,
  0.22097265,-0.00086785, 0.0699365 , 0.03275705, 0.09331432,-0.07000473,
  0.13090495, 0.5060298 , 0.49362024, 0.49387654, 0.50631893]

qacc:
[-1.31250880e+01,-1.67854169e+01, 9.57734112e+01,-2.42660133e+02,
 -7.99071483e+00,-2.06426281e+01, 9.94408108e+01,-2.04754161e+02,
 -2.27574171e+01,-2.05140756e+01, 9.88084627e+01,-2.13920226e+02,
 -7.69683126e+01, 7.45699019e+01, 5.09797904e+01,-1.85818682e+02,
  4.48304946e-01, 9.92834618e-01,-1.06918154e-01, 6.73798630e+00,
  9.66195197e-01,-1.44414115e+01]

qfrc_actuator:
[ 0.00627677,-0.00051766, 0.00126586, 0.02160896, 0.00236772,-0.00149038,
 -0.00960773, 0.01457136, 0.00680312, 0.0023143 ,-0.00536266, 0.0135398 ,
  0.10242515,-0.00148096, 0.08099534, 0.02953084, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003934821578683301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41076667e-13,  1.45485313e-13,  1.00000000e+00, -2.05245829e-26,
        1.00000000e+00, -1.45485313e-13, -1.00000000e+00,  0.00000000e+00,
        1.41076667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602582, -0.0881028 ,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.66988550e-05,-6.83094708e-05,-4.87212910e-05,-4.38627493e-04,
 -4.72735854e-05, 1.84675864e-04, 2.37876973e-04,-2.74845263e-04,
 -1.33547721e-04,-9.99306604e-05, 8.45819042e-05,-3.32300752e-04,
 -7.96973733e-02,-1.10559263e-03,-5.42997083e-04,-1.05844701e-03,
 -2.47745339e-05, 2.04173686e-05,-1.21651320e+00,-4.54304004e-04,
  7.36997338e-05,-5.49477347e-04]


--- Step 34 ---
qpos:
[ 0.00609647,-0.00058078, 0.001253  , 0.02129564, 0.00233924,-0.00123943,
 -0.00926555, 0.01443423, 0.00667897, 0.00226387,-0.00522645, 0.01342981,
  0.22421356,-0.00087519, 0.07198284, 0.03343153, 0.09324497,-0.06994007,
  0.13090762, 0.50651408, 0.49313003, 0.49385535, 0.50633305]

qacc:
[-2.55142231e+01,-1.63548082e+01, 9.40637610e+01,-2.39931401e+02,
 -1.10899684e+01,-2.24153800e+01, 1.05936596e+02,-2.12581063e+02,
 -2.29120933e+01,-2.01527475e+01, 9.46894644e+01,-2.00759893e+02,
 -7.35937423e+01, 7.31256211e+01, 4.12780823e+01,-1.51011733e+02,
  4.40262627e-01, 9.89428261e-01,-1.86329776e-01, 6.61659655e+00,
  1.01085495e+00,-1.43588957e+01]

qfrc_actuator:
[ 0.00612988,-0.00052037, 0.00124705, 0.02118678, 0.00230347,-0.00142197,
 -0.00938604, 0.01428791, 0.00667232, 0.00223038,-0.00525922, 0.01324037,
  0.10210853,-0.0014781 , 0.08087936, 0.02878928, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003816797188601756
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90878181e-13, -3.18148011e-14,  1.00000000e+00,  9.25423148e-27,
        1.00000000e+00,  3.18148011e-14, -1.00000000e+00,  0.00000000e+00,
        2.90878181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602469, -0.08810585,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49149948e-04,-7.11504502e-05,-5.53880128e-05,-4.36349894e-04,
 -6.55302192e-05, 2.11651280e-04, 2.81545539e-04,-2.72815594e-04,
 -1.34519429e-04,-1.37305929e-04, 8.19236249e-05,-3.07697451e-04,
 -6.89173504e-02,-1.08687771e-03,-4.71375388e-04,-8.69167125e-04,
 -2.46233684e-05, 2.20499681e-05,-1.21651491e+00,-4.52472590e-04,
  7.65432448e-05,-5.48266710e-04]


--- Step 35 ---
qpos:
[ 0.00621693,-0.00058951, 0.00127847, 0.02171105, 0.00238457,-0.0012664 ,
 -0.009447  , 0.01471537, 0.00680976, 0.00230935,-0.00532724, 0.01368985,
  0.22725203,-0.00088379, 0.07402611, 0.03409279, 0.09317863,-0.06988518,
  0.13091683, 0.50695247, 0.49268885, 0.49380942, 0.50636859]

qacc:
[ -20.89198588, -15.93681987,  92.26221005,-236.57801728,  -6.76951525,
  -21.25623219,  98.45205354,-191.77585906, -22.82581607, -18.75678985,
   86.44043721,-180.33248309, -70.2209245 ,  61.77186261,  35.5661839 ,
 -130.70832278,   0.75381377,  -2.44326244,   1.63198904,  12.17955143,
   -2.06372588,  35.24150831]

qfrc_actuator:
[ 0.00601211,-0.00051848, 0.00122562, 0.02076904, 0.002265  ,-0.00137033,
 -0.00916348, 0.01404234, 0.00654206, 0.00214427,-0.00515731, 0.01297592,
  0.1018133 ,-0.00152652, 0.08074694, 0.02813692, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004122465083371135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34655237e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34655237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260228, -0.03124517,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22097121e-04,-6.94213972e-05,-5.93119048e-05,-4.32203927e-04,
 -4.02657534e-05, 2.18995418e-04, 2.93385333e-04,-2.32218967e-04,
 -1.34030789e-04,-1.59871085e-04, 7.31876900e-05,-2.73921712e-04,
 -5.86237837e-02,-1.11958974e-03,-4.36944024e-04,-7.60941554e-04,
 -2.44750385e-05, 2.37238602e-05,-1.21651698e+00,-4.50611465e-04,
  7.91398977e-05,-5.46972390e-04]


--- Step 36 ---
qpos:
[ 0.00633573,-0.00059787, 0.00130277, 0.02211751, 0.00242907,-0.00129248,
 -0.00962452, 0.01499106, 0.00693762, 0.00235372,-0.00542617, 0.01394465,
  0.23009865,-0.00089307, 0.07606576, 0.03474284, 0.09311517,-0.06983964,
  0.1309306 , 0.50734726, 0.49229455, 0.49373976, 0.50642461]

qacc:
[ -14.66143805, -14.65959056,  90.79048359,-244.09575975,  -7.04767175,
  -20.99836873,  99.60961613,-200.82247893, -25.64753443, -17.36945891,
   81.98415599,-174.75969525, -66.86146982,  65.68696538,  28.67586845,
 -107.79682143,   0.7183385 ,  -2.33506043,   1.14277953,  11.5576288 ,
   -2.07608173,  33.66061398]

qfrc_actuator:
[ 0.00593019,-0.00049612, 0.00116735, 0.02032175, 0.00222425,-0.00134686,
 -0.00897776, 0.01376776, 0.00639539, 0.0021108 ,-0.00505714, 0.01271641,
  0.10152706,-0.00153363, 0.08056213, 0.0275777 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044432678797119707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24933163e-13,  1.24933163e-13,  1.00000000e+00, -1.56082953e-26,
        1.00000000e+00, -1.24933163e-13, -1.00000000e+00,  0.00000000e+00,
        1.24933163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260756, -0.03126255,  0.06198731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.54733332e-05,-4.85587238e-05,-9.61200140e-05,-4.61712084e-04,
 -4.18146678e-05, 1.99051850e-04, 2.60877517e-04,-2.59722467e-04,
 -1.50426496e-04,-1.20168328e-04, 6.68937777e-05,-2.69587054e-04,
 -4.87763649e-02,-1.06339059e-03,-4.63023148e-04,-6.57719552e-04,
 -2.06967478e-05, 1.83230806e-05,-1.21650324e+00,-4.49426328e-04,
  6.66639008e-05,-5.45660114e-04]


--- Step 37 ---
qpos:
[ 0.00645159,-0.00060604, 0.00132591, 0.02251546, 0.00247275,-0.00131759,
 -0.0097989 , 0.01526102, 0.00706238, 0.00239712,-0.0055232 , 0.01419399,
  0.23276532,-0.00090101, 0.07810179, 0.03538183, 0.09305446,-0.06980306,
  0.13094729, 0.50770035, 0.49194535, 0.49364717, 0.50650034]

qacc:
[ -25.93295262, -13.96430352,  86.19482918,-231.97943603,  -7.25482976,
  -19.30526255,  94.91618921,-199.9491883 , -27.17755671, -17.78612224,
   84.74441872,-181.80773073, -63.6246756 ,  84.25689683,  28.20109615,
 -106.14470675,   0.68792483,  -2.24408183,   0.72942656,  11.03484173,
   -2.08802334,  32.33169865]

qfrc_actuator:
[ 0.00578126,-0.00049732, 0.0011056 , 0.01989615, 0.00218249,-0.00132288,
 -0.00883319, 0.01347825, 0.00624025, 0.00207363,-0.00495857, 0.01244417,
  0.1012632 ,-0.00142726, 0.08037802, 0.02702437, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046600571499123833
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261118, -0.03127423,  0.0619867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51435032e-04,-6.92969497e-05,-1.00800292e-04,-4.40946638e-04,
 -4.28804558e-05, 1.80439527e-04, 2.10611965e-04,-2.77167770e-04,
 -1.59358888e-04,-1.02765084e-04, 7.28583062e-05,-2.80740642e-04,
 -3.94382669e-02,-9.21972904e-04,-4.61139862e-04,-6.49012452e-04,
 -1.73885997e-05, 1.38567611e-05,-1.21649182e+00,-4.48144454e-04,
  5.57134100e-05,-5.44545211e-04]


--- Step 38 ---
qpos:
[ 0.00656407,-0.0006142 , 0.00134807, 0.02290588, 0.00251592,-0.00134163,
 -0.00997021, 0.0155254 , 0.00718467, 0.00243946,-0.00561827, 0.01443812,
  0.23527512,-0.00090999, 0.08013447, 0.03601083, 0.09299639,-0.06977516,
  0.13096551, 0.50801335, 0.49163973, 0.49353236, 0.50659513]

qacc:
[ -29.74908458, -12.69870967,  77.15973899,-205.86831889,  -4.27919118,
  -18.63425797,  92.09120743,-194.43004026, -21.78333266, -17.57275587,
   82.65211086,-175.14183997, -54.71427168,  51.78828705,  25.39298154,
  -95.74051939,   0.66185638,  -2.16775074,   0.38051982,  10.59466506,
   -2.10076958,  31.21556931]

qfrc_actuator:
[ 0.00561181,-0.00049489, 0.00106001, 0.01952224, 0.00215822,-0.00126353,
 -0.00867857, 0.01320001, 0.00611687, 0.0020168 ,-0.00486176, 0.01218437,
  0.10102925,-0.00137882, 0.08023173, 0.02653218, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004791918088766778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31686561e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.31686561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261344, -0.03128126,  0.06198633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73825043e-04,-7.73163785e-05,-8.87550611e-05,-3.89893693e-04,
 -2.54260519e-05, 1.94228883e-04, 2.09974549e-04,-2.68777848e-04,
 -1.27847375e-04,-1.11936151e-04, 7.50504173e-05,-2.67552135e-04,
 -3.06655149e-02,-9.39723098e-04,-4.21591189e-04,-5.87152265e-04,
 -1.44873636e-05, 1.01942951e-05,-1.21648242e+00,-4.46759461e-04,
  4.60789629e-05,-5.43626006e-04]


--- Step 39 ---
qpos:
[ 0.00667399,-0.00062239, 0.00136981, 0.02328771, 0.00255882,-0.00136501,
 -0.01013761, 0.01578472, 0.00730486, 0.00248097,-0.00571131, 0.01467789,
  0.23766726,-0.00092368, 0.08216393, 0.03662577, 0.09294089,-0.06975568,
  0.13098407, 0.5082876 , 0.49137644, 0.49339588, 0.50670841]

qacc:
[-2.25648194e+01,-1.65354258e+01, 9.53005732e+01,-2.43615145e+02,
 -2.36662827e+00,-2.04624078e+01, 9.55678256e+01,-1.89797188e+02,
 -1.82681024e+01,-1.57431646e+01, 7.30335440e+01,-1.51312815e+02,
 -3.95227126e+01,-1.29851713e+00, 3.78319058e+01,-1.39105614e+02,
  6.39525727e-01,-2.10390941e+00, 8.65247522e-02, 1.02236781e+01,
 -2.11514255e+00, 3.02800315e+01]

qfrc_actuator:
[ 0.00548493,-0.00049018, 0.00104212, 0.01909297, 0.00214443,-0.00123669,
 -0.00848362, 0.01294841, 0.00601317, 0.00200191,-0.00474907, 0.01196946,
  0.10081765,-0.00141656, 0.08003368, 0.02581373, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048549409362654006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14339499e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14339499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261464, -0.03128454,  0.06198616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31900433e-04,-7.48191658e-05,-5.94246899e-05,-4.44157105e-04,
 -1.44371914e-05, 1.69585526e-04, 2.53343695e-04,-2.41391785e-04,
 -1.07275824e-04,-7.40724552e-05, 8.97564670e-05,-2.22711235e-04,
 -2.30249571e-02,-9.24892762e-04,-4.49280668e-04,-8.04997651e-04,
 -1.19427484e-05, 7.23398629e-06,-1.21647480e+00,-4.45266359e-04,
  3.75944899e-05,-5.42900527e-04]


--- Step 40 ---
qpos:
[ 0.00678084,-0.00063066, 0.00139139, 0.02366173, 0.00260053,-0.00138821,
 -0.01030108, 0.01603906, 0.00742288, 0.00252168,-0.00580258, 0.01491356,
  0.23997082,-0.00094147, 0.0841898 , 0.03722309, 0.09288786,-0.0697444 ,
  0.13100198, 0.50852425, 0.49115442, 0.49323821, 0.50683971]

qacc:
[-2.69967680e+01,-1.57038668e+01, 8.88476541e+01,-2.23646854e+02,
 -1.03239173e+01,-2.09844575e+01, 9.62348697e+01,-1.88863964e+02,
 -1.90904904e+01,-1.43499851e+01, 6.69767370e+01,-1.40069898e+02,
 -2.95525752e+01,-5.84855015e+00, 4.80421039e+01,-1.75666255e+02,
  6.20411592e-01,-2.05072950e+00,-1.60623728e-01, 9.91086618e+00,
 -2.13165340e+00, 2.94983056e+01]

qfrc_actuator:
[ 0.00533087,-0.00048405, 0.0010407 , 0.0187056 , 0.00208367,-0.00126489,
 -0.00830202, 0.01269676, 0.00590412, 0.00195912,-0.00466321, 0.01176498,
  0.10061626,-0.0014664 , 0.07980468, 0.02491434, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004862664742428108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14157883e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14157883e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261498, -0.03128483,  0.06198614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57888017e-04,-6.82311003e-05,-4.06803281e-05,-4.02178145e-04,
 -6.11168287e-05, 1.10851368e-04, 2.41132676e-04,-2.40470368e-04,
 -1.12031212e-04,-7.58221478e-05, 7.40984298e-05,-2.09273351e-04,
 -1.73322127e-02,-7.37789522e-04,-5.14867973e-04,-1.00086661e-03,
 -9.71465401e-06, 4.89653426e-06,-1.21646877e+00,-4.43660688e-04,
  3.01277504e-05,-5.42366784e-04]


--- Step 41 ---
qpos:
[ 0.00688501,-0.00063889, 0.00141239, 0.02402888, 0.00264084,-0.00141116,
 -0.01046125, 0.0162881 , 0.00753903, 0.00256107,-0.00589209, 0.01514433,
  0.24220742,-0.00096172, 0.08621197, 0.03780356, 0.09283725,-0.06974114,
  0.13101843, 0.50872422, 0.49097278, 0.49305973, 0.50698866]

qacc:
[ -23.59542781, -12.39070058,  73.34349503,-191.38544117, -12.18222827,
  -19.78117169,  93.4336732 ,-190.7338955 , -16.45517841, -16.78449781,
   78.10949836,-165.08330015, -22.64701428,   3.15467304,  45.53963804,
 -167.15494913,   0.60406305,  -2.00664877,  -0.36781108,   9.64711028,
   -2.15057387,  28.84788941]

qfrc_actuator:
[ 0.00519753,-0.00047702, 0.00101356, 0.01836375, 0.00201349,-0.00127264,
 -0.0081478 , 0.01242926, 0.00581055, 0.00184662,-0.004594  , 0.01151497,
  0.10041195,-0.00146896, 0.0796265 , 0.02407535, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048264513602808146
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.15014422e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.15014422e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261466, -0.03128274,  0.06198624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37899311e-04,-5.79387837e-05,-6.12603291e-05,-3.54884066e-04,
 -7.18815152e-05, 9.59108554e-05, 2.00128186e-04,-2.59229789e-04,
 -9.66990940e-05,-1.49152809e-04, 5.56312040e-05,-2.55152331e-04,
 -1.30976000e-02,-5.33691540e-04,-5.11984390e-04,-9.58706572e-04,
 -7.77108903e-06, 3.12017566e-06,-1.21646420e+00,-4.41937987e-04,
  2.35731527e-05,-5.42022941e-04]


--- Step 42 ---
qpos:
[ 0.00698678,-0.00064712, 0.00143316, 0.02438904, 0.00267999,-0.00143357,
 -0.0106184 , 0.01653162, 0.00765314, 0.00259926,-0.00597982, 0.01537027,
  0.24439315,-0.00098259, 0.08823012, 0.03837363, 0.09278901,-0.06974577,
  0.13103271, 0.50888832, 0.49083078, 0.49286074, 0.50715493]

qacc:
[ -21.21588171, -13.7493024 ,  78.60284963,-199.32158506, -10.0671486 ,
  -19.06812233,  92.3526302 ,-193.05266587, -17.73881604, -16.45694967,
   76.79772086,-162.22667984, -17.77958926,  15.89554213,  25.55851784,
  -97.96174435,   0.59008833,  -1.97032497,  -0.54095368,   9.42480866,
   -2.17199545,  28.30972879]

qfrc_actuator:
[ 0.00507747,-0.00046953, 0.00100698, 0.0180159 , 0.00195609,-0.00123275,
 -0.00799317, 0.01215458, 0.00570907, 0.00179967,-0.00449997, 0.01127561,
  0.10020713,-0.00140768, 0.07948427, 0.02358065, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  5.41947568,  -3.95390644,  -3.70639185,  -3.95390644,
        18.99356509, -14.48057346,  -3.70639185, -14.48057346,
        20.86706863,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000475580359886818
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33445936e-13,  1.16722968e-13,  1.00000000e+00, -2.72485026e-26,
        1.00000000e+00, -1.16722968e-13, -1.00000000e+00,  0.00000000e+00,
        2.33445936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261381, -0.03127879,  0.06198645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24052936e-04,-5.39232129e-05,-3.94421449e-05,-3.60220480e-04,
 -5.94034841e-05, 1.25886158e-04, 1.91716450e-04,-2.68836813e-04,
 -1.04188725e-04,-1.30359945e-04, 6.14333068e-05,-2.49170489e-04,
 -9.94450148e-03,-3.48595014e-04,-4.68677639e-04,-6.11236685e-04,
 -6.08656690e-06, 1.85700904e-06,-1.21646096e+00,-4.40093480e-04,
  1.78462777e-05,-5.41867416e-04]


--- Step 43 ---
qpos:
[ 0.00708596,-0.00065537, 0.00145395, 0.02474255, 0.00271781,-0.00145499,
 -0.01077293, 0.01676958, 0.00776481, 0.00263656,-0.00606587, 0.01559155,
  0.24654001,-0.0010039 , 0.0902436 , 0.03893931, 0.09274307,-0.06975816,
  0.13104425, 0.50901718, 0.49072783, 0.49264147, 0.50733824]

qacc:
[ -22.67612571, -13.73352294,  77.10617514,-192.4126832 , -11.69434396,
  -17.42679539,  87.55151896,-188.77757038, -21.47878909, -15.40243326,
   72.94891311,-155.73328916, -13.61400843,  12.60467114,   6.41042157,
  -32.34950228,   0.57814647,  -1.9406011 ,  -0.68515554,   9.23759212,
   -2.19587766,  27.86760151]

qfrc_actuator:
[ 0.00494842,-0.00046175, 0.0010126 , 0.01768507, 0.00188894,-0.00116468,
 -0.0078571 , 0.01187792, 0.005586  , 0.00177469,-0.00440954, 0.01104451,
  0.10000298,-0.00136219, 0.07929455, 0.02338159, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  5.35084815,  -4.10446879,  -3.43291594,  -4.10446879,
        16.74459802, -13.62261459,  -3.43291594, -13.62261459,
        21.63834177,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000465863767448671
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19157477e-13,  1.19157477e-13,  1.00000000e+00, -1.41985044e-26,
        1.00000000e+00, -1.19157477e-13, -1.00000000e+00,  0.00000000e+00,
        1.19157477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261258, -0.03127342,  0.06198673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32642518e-04,-4.70682269e-05,-2.38837764e-05,-3.42359682e-04,
 -6.88008982e-05, 1.68642709e-04, 1.77946579e-04,-2.70008788e-04,
 -1.25993287e-04,-9.64053861e-05, 6.26441570e-05,-2.39781701e-04,
 -7.59479494e-03,-2.71104055e-04,-4.57075846e-04,-2.90448883e-04,
 -4.64085368e-06, 1.07017984e-06,-1.21645897e+00,-4.38121915e-04,
  1.28796448e-05,-5.41898932e-04]


--- Step 44 ---
qpos:
[ 0.00718351,-0.00066383, 0.00147477, 0.02508865, 0.00275487,-0.00147587,
 -0.01092419, 0.01700239, 0.00787449, 0.00267269,-0.00614979, 0.01580799,
  0.24865702,-0.00102657, 0.09225356, 0.03949515, 0.09269941,-0.06977821,
  0.13105258, 0.50911136, 0.49066343, 0.49240209, 0.50753837]

qacc:
[ -14.33703566, -15.5927169 ,  86.50067785,-214.5637064 ,  -6.53467494,
  -19.04382951,  90.75035459,-185.71579014, -17.49466451, -17.48639261,
   80.62604673,-167.11472954, -10.0245026 ,  -0.37883269,  24.58702265,
  -93.5389612 ,   0.5679408 ,  -1.91647854,  -0.80482863,   9.08010539,
   -2.22208682,  27.50764837]

qfrc_actuator:
[ 0.00486837,-0.00048927, 0.00100766, 0.01731367, 0.00185207,-0.00115136,
 -0.00769746, 0.01162007, 0.00548671, 0.00170982,-0.0043041 , 0.01080238,
  0.0998053 ,-0.00137936, 0.07910315, 0.02287875, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004541517513783483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22230402e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22230402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261104, -0.03126697,  0.06198706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38865097e-05,-7.45396870e-05,-3.04887245e-05,-3.81746453e-04,
 -3.87607292e-05, 1.34845068e-04, 2.08586075e-04,-2.49852559e-04,
 -1.02821593e-04,-1.16645799e-04, 8.51379889e-05,-2.49118587e-04,
 -5.83939946e-03,-2.64150195e-04,-4.15902126e-04,-5.74385143e-04,
 -3.41797869e-06, 7.31702688e-07,-1.21645816e+00,-4.36017498e-04,
  8.61939629e-06,-5.42116540e-04]


--- Step 45 ---
qpos:
[ 0.00727935,-0.00067247, 0.00149539, 0.02542761, 0.0027912 ,-0.0014965 ,
 -0.01107191, 0.0172303 , 0.00798212, 0.0027081 ,-0.00623226, 0.01602017,
  0.25075092,-0.00105074, 0.09426027, 0.04004027, 0.09265798,-0.06980585,
  0.13105728, 0.50917129, 0.49063717, 0.49214275, 0.50775514]

qacc:
[ -15.13794758, -14.36823781,  81.08186156,-204.33313779,  -6.31146287,
  -19.63100476,  91.13603113,-181.59617859, -17.92129069, -13.7074123 ,
   65.54486459,-141.08230075,  -7.56524997,  -4.69356044,  27.62573978,
 -103.60476134,   0.55921364,  -1.89709532,  -0.90378829,   8.94783596,
   -2.25042681,  27.21800689]

qfrc_actuator:
[ 0.00478229,-0.00050228, 0.00099634, 0.01695682, 0.00181558,-0.0011531 ,
 -0.00752538, 0.01137534, 0.00538446, 0.00169265,-0.00422631, 0.01059118,
  0.09961742,-0.00141529, 0.07894278, 0.02234285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004409856701045045
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25879717e-13,  1.25879717e-13,  1.00000000e+00, -1.58457031e-26,
        1.00000000e+00, -1.25879717e-13, -1.00000000e+00,  0.00000000e+00,
        1.25879717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826093 , -0.03125973,  0.06198743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.85296868e-05,-7.83959469e-05,-4.46955160e-05,-3.69340518e-04,
 -3.75459631e-05, 1.08049831e-04, 2.18478697e-04,-2.36733510e-04,
 -1.05128352e-04,-7.59866936e-05, 5.57495872e-05,-2.18445674e-04,
 -4.52460682e-03,-2.31042730e-04,-4.00622512e-04,-6.18602779e-04,
 -2.40544561e-06, 8.20762900e-07,-1.21645848e+00,-4.33773897e-04,
  5.02267674e-06,-5.42519614e-04]


--- Step 46 ---
qpos:
[ 0.00737375,-0.00068094, 0.00151554, 0.02575961, 0.00282647,-0.00151649,
 -0.01121682, 0.0174542 , 0.00808734, 0.00274279,-0.00631291, 0.01622849,
  0.25282669,-0.00107503, 0.09626353, 0.04057507, 0.09261876,-0.06984102,
  0.13105805, 0.50919732, 0.49064873, 0.49186351, 0.50798839]

qacc:
[ -12.63370664, -12.7477441 ,  75.20694877,-195.05523548,  -9.28308865,
  -15.23067533,  72.51078994,-146.98997142, -21.11342686, -13.96284254,
   64.77811151,-134.15340642,  -6.42700325,   7.25450874,  26.13233329,
  -98.79585152,   0.55174176,  -1.88170821,  -0.98533142,   8.83697748,
   -2.2806629 ,  26.98851752]

qfrc_actuator:
[ 0.0047111 ,-0.00047101, 0.00098142, 0.01661141, 0.00176183,-0.00111054,
 -0.00738294, 0.01117577, 0.00526353, 0.00166861,-0.00412977, 0.0103999 ,
  0.09943588,-0.00139077, 0.07876916, 0.02182746, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042680926533446295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30060792e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30060792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826074 , -0.03125196,  0.06198784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.37798913e-05,-3.86463025e-05,-5.03876018e-05,-3.58296566e-04,
 -5.47721936e-05, 1.39930336e-04, 1.84954884e-04,-1.92118106e-04,
 -1.23862937e-04,-6.48663736e-05, 8.03491064e-05,-1.97203077e-04,
 -3.54015008e-03,-1.30203427e-04,-4.12377534e-04,-5.98709904e-04,
 -1.59359891e-06, 1.32238398e-06,-1.21645988e+00,-4.31384277e-04,
  2.05554360e-06,-5.43107838e-04]


--- Step 47 ---
qpos:
[ 0.00746725,-0.00068922, 0.00153558, 0.0260845 , 0.00286082,-0.00153597,
 -0.0113588 , 0.01767363, 0.00818996, 0.00277663,-0.00639176, 0.01643358,
  0.25488806,-0.0010986 , 0.09826365, 0.04109749, 0.09258173,-0.06988367,
  0.13105461, 0.50918973, 0.49069785, 0.49156442, 0.508238  ]

qacc:
[  -7.91948647, -14.09411449,  80.67126371,-203.77482835,  -7.98736887,
  -16.71296793,  79.50653053,-162.0780582 , -22.91655259, -12.73275897,
   57.44686739,-115.46286629,  -5.52572748,  14.65045575,  32.82631713,
 -121.53713625,   0.5453324 ,  -1.86967748,  -1.05230243,   8.74431864,
   -2.31254003,  26.81048227]

qfrc_actuator:
[ 0.00466699,-0.00044896, 0.00098245, 0.01625779, 0.00171612,-0.00109513,
 -0.00724118, 0.01095112, 0.00513258, 0.001623  ,-0.00404067, 0.01023963,
  0.09925321,-0.00133076, 0.07860371, 0.02120397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000411983676423755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34741142e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34741142e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260541, -0.03124383,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.62629353e-05,-2.63218067e-05,-2.65279952e-05,-3.64775262e-04,
 -4.72224217e-05, 1.25530712e-04, 1.88231091e-04,-2.16117582e-04,
 -1.34422191e-04,-7.42251903e-05, 7.89611388e-05,-1.64442237e-04,
 -2.80684869e-03,-6.19170300e-05,-4.06396832e-04,-7.06934029e-04,
 -9.75112650e-07, 2.22637797e-06,-1.21646235e+00,-4.28841360e-04,
 -3.08707762e-07,-5.43881179e-04]


--- Step 48 ---
qpos:
[ 0.00755915,-0.00069736, 0.00155517, 0.02640298, 0.00289435,-0.00155497,
 -0.01149791, 0.01788831, 0.0082902 , 0.00281015,-0.00647022, 0.01663484,
  0.25693783,-0.00112123, 0.10025999, 0.04160975, 0.09254685,-0.06993376,
  0.13104673, 0.50914874, 0.49078432, 0.49124549, 0.50850386]

qacc:
[ -14.11241874, -11.7373457 ,  69.217092  ,-179.54244442,  -7.08209385,
  -17.15639642,  82.14179688,-169.17500688, -20.81752878,  -9.40080873,
   49.16645794,-116.04878573,  -4.63134593,  15.28634325,  25.17908261,
  -96.16976432,   0.5398197 ,  -1.86045364,  -1.10715002,   8.66715152,
   -2.34579623,  26.67646229]

qfrc_actuator:
[ 0.00458591,-0.00045029, 0.00095736, 0.01593769, 0.00167551,-0.00107841,
 -0.00710109, 0.0107135 , 0.00501453, 0.00160035,-0.00402776, 0.01004561,
  0.09907018,-0.00126802, 0.07841663, 0.02069935, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039680036524197826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39896926e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39896926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260337, -0.03123551,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24457057e-05,-3.81297271e-05,-4.73712239e-05,-3.30019696e-04,
 -4.19148084e-05, 1.18408009e-04, 1.83130373e-04,-2.30065146e-04,
 -1.21824535e-04,-5.53748113e-05, 1.79006730e-06,-1.98003270e-04,
 -2.26033500e-03,-3.45227427e-05,-4.38002181e-04,-5.93466872e-04,
 -5.44576480e-07, 3.52651676e-06,-1.21646586e+00,-4.26137500e-04,
 -2.09089314e-06,-5.44839859e-04]


--- Step 49 ---
qpos:
[ 0.00764901,-0.00070534, 0.001574  , 0.0267155 , 0.00292783,-0.00157361,
 -0.01163391, 0.01809917, 0.00838825, 0.00284323,-0.0065473 , 0.01683112,
  0.25897804,-0.00114352, 0.10225281, 0.04211256, 0.09251411,-0.06999127,
  0.13103425, 0.50907452, 0.49090799, 0.4909067 , 0.50878591]

qacc:
[ -17.90798784,  -9.89116849,  60.792572  ,-162.93544061,  -0.41905705,
  -16.07958786,  74.16018131,-145.61686796, -19.26215178, -14.63906622,
   72.46290025,-160.69010689,  -3.62584481,   8.47334968,  23.41075557,
  -89.44078461,   0.53506147,  -1.85356588,  -1.15197692,   8.60319498,
   -2.38017248,  26.58010543]

qfrc_actuator:
[ 0.00448371,-0.00044791, 0.00091698, 0.01563983, 0.00167372,-0.00106107,
 -0.00694537, 0.0105234 , 0.00490502, 0.0015913 ,-0.00395337, 0.00979774,
  0.09887654,-0.00123962, 0.07825934, 0.02023327, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038149222018520057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91021144e-13,  1.45510572e-13,  1.00000000e+00, -4.23466532e-26,
        1.00000000e+00, -1.45510572e-13, -1.00000000e+00,  0.00000000e+00,
        2.91021144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260131, -0.03122713,  0.06198912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04596553e-04,-4.38424403e-05,-6.64425466e-05,-3.08306795e-04,
 -2.93783288e-06, 1.13351696e-04, 1.96148139e-04,-1.83290501e-04,
 -1.12914729e-04,-4.86009495e-05, 5.65074813e-05,-2.54362146e-04,
 -1.86401287e-03,-5.08015048e-05,-4.07732739e-04,-5.52093665e-04,
 -2.98159921e-07, 5.21987752e-06,-1.21647039e+00,-4.23264753e-04,
 -3.30702886e-06,-5.45984327e-04]


--- Step 50 ---
qpos:
[ 0.00773661,-0.00071315, 0.00159242, 0.02702197, 0.00296136,-0.00159209,
 -0.01176657, 0.01830611, 0.00848389, 0.00287568,-0.00662233, 0.01702321,
  0.26101023,-0.00116649, 0.10424198, 0.04260816, 0.09248349,-0.07005616,
  0.13101702, 0.50896716, 0.49106874, 0.490548  , 0.50908406]

qacc:
[ -19.98764817, -11.05289312,  65.33499217,-169.51601673,   0.65378791,
  -17.18347595,  78.13242437,-151.39016925, -21.21998729, -15.15900541,
   70.59511103,-145.93720032,  -2.55327645,  -2.90084195,  16.41137291,
  -65.2275501 ,   0.53093629,  -1.84861178,  -1.18858377,   8.55053009,
   -2.41541941,  26.51599774]

qfrc_actuator:
[ 0.00436991,-0.00042564, 0.00090344, 0.01533968, 0.00167704,-0.00106116,
 -0.00678165, 0.01032729, 0.00478366, 0.00157291,-0.00384321, 0.00959125,
  0.0986821 ,-0.00126714, 0.07809875, 0.01988245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036624307296030667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5156915e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5156915e-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([ 0.08259925, -0.03121878,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16826984e-04,-3.01252727e-05,-4.23607466e-05,-3.11058667e-04,
  3.27989866e-06, 9.77531844e-05, 2.06300284e-04,-1.88154109e-04,
 -1.24513670e-04,-4.52630791e-05, 9.84556140e-05,-2.11883301e-04,
 -1.57079220e-03,-9.44122372e-05,-3.93811127e-04,-4.30934942e-04,
 -2.33339927e-07, 7.30632620e-06,-1.21647594e+00,-4.20214949e-04,
 -3.96921298e-06,-5.47315230e-04]


--- Step 51 ---
qpos:
[ 0.00782181,-0.00072059, 0.00161041, 0.02732242, 0.00299399,-0.0016103 ,
 -0.0118967 , 0.01850845, 0.00857767, 0.00290741,-0.00669542, 0.01721203,
  0.26303555,-0.00118973, 0.10622743, 0.04309541, 0.09245543,-0.07011607,
  0.13100856, 0.50887   , 0.49121526, 0.49021451, 0.50936099]

qacc:
[ -21.06173413, -10.64988935,  64.17306906,-168.01957227,  -7.92640854,
  -16.18462854,  77.70722506,-161.74654993, -16.23301082, -13.04866183,
   58.97276742,-118.08131778,  -2.35384964,   0.85808933,  19.73705956,
  -77.04317526,   0.63857652,   1.24865794,   2.19496067,   5.49871935,
    2.32838072, -17.67946271]

qfrc_actuator:
[ 0.0042502 ,-0.0003915 , 0.00088819, 0.01504063, 0.00163008,-0.00107169,
 -0.00666786, 0.0100937 , 0.00469179, 0.00153151,-0.00374834, 0.00942853,
  0.09849804,-0.00127406, 0.07789902, 0.01946028, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036120344503587365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07367784e-13,  1.96907487e-13,  1.00000000e+00, -6.05230178e-26,
        1.00000000e+00, -1.96907487e-13, -1.00000000e+00,  0.00000000e+00,
        3.07367784e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597384, -0.08811361,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23079056e-04,-5.72497537e-06,-3.83476713e-05,-3.08580200e-04,
 -4.68368642e-05, 8.04588370e-05, 1.54189453e-04,-2.26054721e-04,
 -9.53500747e-05,-5.59172060e-05, 9.04845506e-05,-1.65679843e-04,
 -1.34389185e-03,-6.54409712e-05,-4.13113017e-04,-4.93743083e-04,
 -3.48679960e-07, 9.78811098e-06,-1.21648249e+00,-4.16979763e-04,
 -4.08633823e-06,-5.48833378e-04]


--- Step 52 ---
qpos:
[ 0.00790561,-0.00072769, 0.00162781, 0.02761627, 0.00302649,-0.00162833,
 -0.01202437, 0.01870642, 0.00866962, 0.00293846,-0.00676677, 0.01739744,
  0.26505483,-0.00121226, 0.10820921, 0.04357218, 0.09242972,-0.07017118,
  0.13100713, 0.50878252, 0.49134857, 0.48990543, 0.50961712]

qacc:
[ -12.42168075, -11.53061042,  69.69391639,-183.46789328,  -1.03918523,
  -15.58303737,  74.33572327,-153.86518174, -16.04008514, -12.77872836,
   58.74248874,-120.24465051,  -2.5668513 ,  10.46979574,  26.31248941,
  -99.90198428,   0.58726527,   1.19687022,   1.75369221,   5.58052539,
    2.09153982, -16.9882364 ]

qfrc_actuator:
[ 0.00418124,-0.00038602, 0.00085436, 0.01470913, 0.0016249 ,-0.00107088,
 -0.00654906, 0.00987537, 0.00460027, 0.00149441,-0.00366335, 0.00925733,
  0.09831506,-0.00123324, 0.07769726, 0.01892833, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.89434305,  0.09853539,  4.89335107,  0.09853539, 29.97809158,
       -0.50510108,  4.89335107, -0.50510108,  4.90451406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003875639015065713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43230964e-13,  7.60914496e-14,  1.00000000e+00, -1.08986517e-26,
        1.00000000e+00, -7.60914496e-14, -1.00000000e+00,  0.00000000e+00,
        1.43230964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597179, -0.08810689,  0.06198894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.25061039e-05,-1.97920256e-05,-5.12957862e-05,-3.39787761e-04,
 -6.47953986e-06, 6.96862275e-05, 1.47887260e-04,-2.14059905e-04,
 -9.41820283e-05,-5.72250139e-05, 7.90218412e-05,-1.73996543e-04,
 -1.17340689e-03,-9.54672094e-06,-4.30328162e-04,-6.09352508e-04,
 -2.77353261e-07, 8.34433102e-06,-1.21647647e+00,-4.18541230e-04,
 -3.22542035e-07,-5.50530571e-04]


--- Step 53 ---
qpos:
[ 0.00798758,-0.00073465, 0.00164446, 0.02790353, 0.00305868,-0.00164593,
 -0.01214945, 0.01890019, 0.00875976, 0.00296889,-0.0068365 , 0.01757866,
  0.26706873,-0.00123383, 0.11018676, 0.04403697, 0.09240619,-0.07022169,
  0.13101121, 0.50870426, 0.49146951, 0.48962006, 0.50985281]

qacc:
[ -16.07985538, -11.24655252,  68.20835985,-181.08544513,  -2.69710573,
  -15.35742835,  73.30780911,-150.48339273, -15.88176219, -13.95525716,
   66.32313398,-141.06255347,  -2.4725135 ,  12.6868318 ,  29.98184081,
 -113.94104184,   0.54553966,   1.1531023 ,   1.38106725,   5.62865878,
    1.90284845, -16.40487558]

qfrc_actuator:
[ 0.00408943,-0.00039784, 0.00080969, 0.0143789 , 0.00160887,-0.00102779,
 -0.00641042, 0.00966781, 0.00450968, 0.00146015,-0.00358485, 0.009047  ,
  0.0981329 ,-0.00118242, 0.0774518 , 0.01831822, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.98526495,  0.11332254,  4.98397679,  0.11332254, 35.77478588,
       -0.70007285,  4.98397679, -0.70007285,  5.00118277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040547426718280655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36904252e-13,  3.85043209e-14,  1.00000000e+00, -5.27140524e-27,
        1.00000000e+00, -3.85043209e-14, -1.00000000e+00,  0.00000000e+00,
        1.36904252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596991, -0.08810239,  0.06198843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.39096209e-05,-4.89383644e-05,-6.76887847e-05,-3.40153548e-04,
 -1.61883284e-05, 1.05140735e-04, 1.65106218e-04,-2.03747000e-04,
 -9.32236823e-05,-5.78464836e-05, 7.05408811e-05,-2.13743806e-04,
 -1.04420419e-03, 7.50683939e-06,-4.94533954e-04,-6.96087871e-04,
 -2.43084282e-07, 7.07689592e-06,-1.21647110e+00,-4.19832183e-04,
  3.13882348e-06,-5.52076135e-04]


--- Step 54 ---
qpos:
[ 0.00806781,-0.00074163, 0.00166046, 0.02818494, 0.00308973,-0.0016631 ,
 -0.01227217, 0.01908998, 0.00884845, 0.00299872,-0.00690471, 0.0177556 ,
  0.26907777,-0.00125501, 0.11216009, 0.04448946, 0.09238471,-0.07026773,
  0.13101956, 0.50863489, 0.49157876, 0.48935781, 0.51006843]

qacc:
[ -15.31856534, -10.18580746,  61.02299825,-161.20045071,  -9.87895886,
  -14.17472146,  68.22532179,-141.2760402 , -12.62766007, -13.8016307 ,
   66.15540375,-142.19020496,  -1.99536236,   6.78715816,  30.97944694,
 -117.44809136,   0.51159252,   1.11617796,   1.06684258,   5.65267531,
    1.75253533, -15.91258552]

qfrc_actuator:
[ 0.00400266,-0.00040223, 0.00077668, 0.01408756, 0.00155106,-0.0010129 ,
 -0.00629652, 0.00946828, 0.0044381 , 0.00142779,-0.00351084, 0.00883307,
  0.0979514 ,-0.00116161, 0.07723888, 0.01770242, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.0447961 ,  0.14871884,  5.04260353,  0.14871884, 43.0823849 ,
       -1.1218225 ,  5.04260353, -1.1218225 ,  5.07788142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041647901173591517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33286792e-13, -9.57998814e-14,  1.00000000e+00,  1.27688588e-26,
        1.00000000e+00,  9.57998814e-14, -1.00000000e+00,  0.00000000e+00,
        1.33286792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596814, -0.08809969,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.94971619e-05,-6.11926198e-05,-6.40619460e-05,-3.03071645e-04,
 -5.82313647e-05, 1.00727540e-04, 1.50143772e-04,-1.93389808e-04,
 -7.41743099e-05,-5.97365116e-05, 6.35072202e-05,-2.18420404e-04,
 -9.47099487e-04,-1.78491520e-05,-4.98288612e-04,-7.14209403e-04,
 -2.32363230e-07, 5.96036611e-06,-1.21646631e+00,-4.20913769e-04,
  6.30911732e-06,-5.53481779e-04]


--- Step 55 ---
qpos:
[ 0.00814638,-0.00074859, 0.00167612, 0.02846098, 0.0031202 ,-0.00167986,
 -0.01239252, 0.01927555, 0.00893561, 0.00302824,-0.0069722 , 0.01792861,
  0.27108229,-0.00127612, 0.11412941, 0.04493483, 0.09236516,-0.07030943,
  0.13103112, 0.50857411, 0.49167688, 0.48911816, 0.51026429]

qacc:
[ -14.66246088, -10.10358912,  58.81352673,-151.42217802,  -5.11060253,
  -14.7568703 ,  71.20412704,-148.24248895, -13.58974325, -10.50444547,
   53.50915626,-122.52152238,  -1.68672169,   3.13287297,  15.61180769,
  -63.21141558,   0.48396974,   1.08510453,   0.80241444,   5.65986818,
    1.63285138, -15.49752317]

qfrc_actuator:
[ 0.00391954,-0.00038432, 0.00076862, 0.01382146, 0.00152238,-0.00099735,
 -0.0061805 , 0.00925728, 0.00436055, 0.00141455,-0.00347556, 0.0086365 ,
  0.09776511,-0.00115866, 0.07710423, 0.01737235, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.07509704,  0.21039968,  5.07073386,  0.21039968, 52.37294851,
       -1.96252715,  5.07073386, -1.96252715,  5.15652807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004218815121407177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31579957e-13,  6.99018522e-14,  1.00000000e+00, -9.19768270e-27,
        1.00000000e+00, -6.99018522e-14, -1.00000000e+00,  0.00000000e+00,
        1.31579957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596646, -0.08809844,  0.06198797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.57145689e-05,-4.33694671e-05,-3.98842267e-05,-2.77504521e-04,
 -3.02954335e-05, 9.62151474e-05, 1.49845804e-04,-2.05357546e-04,
 -7.96199939e-05,-4.33044327e-05, 2.33541543e-05,-2.01468921e-04,
 -8.80626437e-04,-3.32256037e-05,-4.23705063e-04,-4.29942611e-04,
 -2.35457030e-07, 4.97498021e-06,-1.21646203e+00,-4.21832013e-04,
  9.20008217e-06,-5.54756955e-04]


--- Step 56 ---
qpos:
[ 0.00822299,-0.00075542, 0.00169205, 0.02873126, 0.00314973,-0.00169613,
 -0.01251062, 0.01945784, 0.00902081, 0.00305735,-0.00703876, 0.01809826,
  0.27308254,-0.00129669, 0.11609482, 0.04537373, 0.09234746,-0.07034689,
  0.13104501, 0.50852167, 0.49176431, 0.48890071, 0.51044067]

qacc:
[ -17.1800701 , -12.39164277,  68.7662589 ,-168.8937726 ,  -8.07096829,
  -12.404065  ,  59.10202373,-120.03299718, -17.13957556, -10.03804923,
   49.23988153,-108.66356311,  -1.8737219 ,   7.95119965,  13.78165617,
  -56.61041601,   0.46149797,   1.05903761,   0.58048742,   5.6557454 ,
    1.5376373 , -15.14816174]

qfrc_actuator:
[ 0.00382149,-0.00035304, 0.00079323, 0.01353685, 0.0014756 ,-0.00096381,
 -0.00606418, 0.00909448, 0.00426233, 0.00139498,-0.00342783, 0.00846947,
  0.09758142,-0.00113072, 0.07692081, 0.01705369, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.08020387, -0.24327237, -5.07437581, -0.24327237, 12.54274338,
       -0.35776414, -5.07437581, -0.35776414,  5.09735556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042277946021204715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62600984e-13,  6.97533865e-14,  1.00000000e+00, -1.83173080e-26,
        1.00000000e+00, -6.97533865e-14, -1.00000000e+00,  0.00000000e+00,
        2.62600984e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596483, -0.08809835,  0.06198795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00535272e-04,-1.39349032e-05, 3.35518530e-07,-2.93891494e-04,
 -4.76159817e-05, 1.11092367e-04, 1.48748808e-04,-1.57590595e-04,
 -1.00430537e-04,-4.80112276e-05, 3.48375097e-05,-1.72283229e-04,
 -8.29036703e-04,-6.62035099e-06,-4.09028062e-04,-3.93685344e-04,
 -2.45337398e-07, 4.10536205e-06,-1.21645822e+00,-4.22621661e-04,
  1.18231428e-05,-5.55909266e-04]


--- Step 57 ---
qpos:
[ 0.00829852,-0.00076188, 0.00170779, 0.02899533, 0.00317848,-0.00171222,
 -0.01262627, 0.01963748, 0.00910417, 0.00308592,-0.00710391, 0.01826421,
  0.27507871,-0.00131606, 0.11805648, 0.0458044 , 0.09233154,-0.0703802 ,
  0.13106047, 0.50847737, 0.49184143, 0.48870507, 0.51059782]

qacc:
[  -9.53674755, -11.7677503 ,  68.94965838,-176.56301346,  -6.86805564,
  -12.03930915,  54.4721985 ,-104.41438204, -16.1332403 , -12.21826851,
   58.17836897,-123.99082205,  -2.18182367,  14.41253246,  19.37983991,
  -75.79692692,   0.44322817,   1.03725495,   0.39483195,   5.64441854,
    1.46198718, -14.85482501]

qfrc_actuator:
[ 0.0037687 ,-0.00033162, 0.0007837 , 0.01322592, 0.00143626,-0.00097299,
 -0.0059485 , 0.00896137, 0.00417049, 0.00137185,-0.00335537, 0.00828565,
  0.09739942,-0.00107055, 0.07672423, 0.01663756, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.06499618, -0.37879878, -5.0508116 , -0.37879878, 17.16900635,
       -0.90777179, -5.0508116 , -0.90777179,  5.13307689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042009487894402453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32139557e-13,  7.01991397e-14,  1.00000000e+00, -9.27608323e-27,
        1.00000000e+00, -7.01991397e-14, -1.00000000e+00,  0.00000000e+00,
        1.32139557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596326, -0.08809917,  0.06198802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.56947465e-05, 2.82372129e-07,-2.33133528e-05,-3.17870417e-04,
 -4.06496964e-05, 7.84728830e-05, 1.52666232e-04,-1.26377959e-04,
 -9.46471965e-05,-5.05857972e-05, 6.10182564e-05,-1.88294449e-04,
 -7.88067862e-04, 2.78332699e-05,-4.12044994e-04,-4.87404099e-04,
 -2.56919652e-07, 3.33953969e-06,-1.21645484e+00,-4.23309009e-04,
  1.41889784e-05,-5.56944816e-04]


--- Step 58 ---
qpos:
[ 0.00837386,-0.00076772, 0.00172258, 0.02925397, 0.00320688,-0.00172799,
 -0.01273962, 0.01981376, 0.00918612, 0.00311402,-0.00716801, 0.01842703,
  0.27707102,-0.00133524, 0.12001421, 0.04622709, 0.09231732,-0.07040944,
  0.13107689, 0.50844105, 0.49190853, 0.48853095, 0.51073596]

qacc:
[  -1.68759818,  -7.69918929,  51.54844415,-144.40584447,  -3.01261732,
  -12.88286987,  60.73077163,-122.66926594, -12.3129606 ,  -9.97459599,
   47.96084923,-103.64687896,  -1.53255435,   4.1887209 ,  18.33529795,
  -72.58835033,   0.42839109,   1.01913677,   0.24010291,   5.62891635,
    1.40198585, -14.60934037]

qfrc_actuator:
[ 0.00376071,-0.00029866, 0.0007363 , 0.01295522, 0.00141939,-0.0009544 ,
 -0.00583429, 0.00879349, 0.00410089, 0.00134687,-0.00330444, 0.00812895,
  0.09722391,-0.00106293, 0.07652522, 0.01623831, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.0344243 , -0.56141022, -5.00302375, -0.56141022, 26.03056289,
       -2.35606452, -5.00302375, -2.35606452,  5.29880816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041459974863830573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04602299e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04602299e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596173, -0.0881007 ,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.59882504e-06, 1.38870488e-05,-6.19863611e-05,-2.78305241e-04,
 -1.80031468e-05, 9.01110563e-05, 1.45991198e-04,-1.61803896e-04,
 -7.22371208e-05,-4.91497319e-05, 4.16325542e-05,-1.60693988e-04,
 -7.49942965e-04,-2.26360476e-05,-4.26707530e-04,-4.76233399e-04,
 -2.66519518e-07, 2.66819497e-06,-1.21645186e+00,-4.23913992e-04,
  1.63072849e-05,-5.57868489e-04]


--- Step 59 ---
qpos:
[ 0.00844783,-0.00077309, 0.00173669, 0.02950734, 0.00323416,-0.00174308,
 -0.01285086, 0.01998663, 0.00926661, 0.00314184,-0.00723085, 0.01858701,
  0.27905966,-0.0013545 , 0.12196825, 0.04664327, 0.09230477,-0.07043466,
  0.13109376, 0.50841257, 0.49196585, 0.48837808, 0.51085527]

qacc:
[-1.21041563e+01,-8.28575749e+00, 5.27231916e+01,-1.43190547e+02,
 -9.72349249e+00,-1.20551386e+01, 5.87344187e+01,-1.21806569e+02,
 -1.29036006e+01,-9.75906461e+00, 4.63099770e+01,-9.74213898e+01,
 -1.31398833e+00, 1.30933796e+00, 1.42044164e+01,-5.76260559e+01,
  4.16362055e-01, 1.00415028e+00, 1.11700571e-01, 5.61143560e+00,
  1.35450326e+00,-1.44047752e+01]

qfrc_actuator:
[ 0.00369039,-0.00027691, 0.00070252, 0.0126926 , 0.00136261,-0.00090164,
 -0.00572181, 0.00862425, 0.0040272 , 0.00135642,-0.00323111, 0.00798943,
  0.09705241,-0.00106855, 0.0763675 , 0.01592323, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.9930175 , -0.80620194, -4.9275006 , -0.80620194, 49.87069093,
       -7.34255968, -4.9275006 , -7.34255968,  6.1943539 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040693799102368977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09235454e-13,  2.77086506e-13,  1.00000000e+00, -1.13393622e-25,
        1.00000000e+00, -2.77086506e-13, -1.00000000e+00,  0.00000000e+00,
        4.09235454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596023, -0.08810277,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.06210356e-05, 3.99967187e-06,-4.89399200e-05,-2.70198477e-04,
 -5.72575967e-05, 1.27878251e-04, 1.44602437e-04,-1.63574201e-04,
 -7.57051224e-05,-1.66145996e-05, 6.28886337e-05,-1.43571950e-04,
 -7.19460202e-04,-3.61446662e-05,-3.90146992e-04,-3.93137960e-04,
 -2.71463933e-07, 2.08408492e-06,-1.21644925e+00,-4.24451730e-04,
  1.81866674e-05,-5.58684190e-04]


--- Step 60 ---
qpos:
[ 0.00851969,-0.00077869, 0.00175078, 0.02975631, 0.0032609 ,-0.00175778,
 -0.01295973, 0.0201558 , 0.00934559, 0.00316916,-0.00729164, 0.01874334,
  0.28104459,-0.00137295, 0.12391915, 0.047052  , 0.09229385,-0.07045592,
  0.13111066, 0.50839184, 0.49201359, 0.48824626, 0.51095593]

qacc:
[-1.85391176e+01,-9.30934271e+00, 5.13869414e+01,-1.27393658e+02,
 -4.74246959e+00,-1.36792093e+01, 6.51766538e+01,-1.33325740e+02,
 -1.32040753e+01,-1.38458613e+01, 6.38280149e+01,-1.29782370e+02,
 -1.85671021e+00, 1.03745672e+01, 1.79035289e+01,-6.93411181e+01,
  4.06633059e-01, 9.91837399e-01, 5.66103299e-03, 5.59353979e+00,
  1.31703295e+00,-1.42352320e+01]

qfrc_actuator:
[ 0.00358393,-0.00031526, 0.00069477, 0.01247234, 0.00133605,-0.00089985,
 -0.0056111 , 0.00843786, 0.00395167, 0.00133344,-0.00312724, 0.00780794,
  0.09686215,-0.00102866, 0.07622402, 0.01555387, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039764438473165187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79199975e-13,  4.36249962e-15,  1.00000000e+00, -1.21800979e-27,
        1.00000000e+00, -4.36249962e-15, -1.00000000e+00,  0.00000000e+00,
        2.79199975e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595877, -0.08810526,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08501706e-04,-5.85901643e-05,-2.30378193e-05,-2.27631761e-04,
 -2.81438789e-05, 9.76044813e-05, 1.50374788e-04,-1.79190698e-04,
 -7.76272553e-05,-2.58325801e-05, 1.03358266e-04,-1.83087034e-04,
 -7.16044139e-04, 9.81237915e-06,-3.51395202e-04,-4.38463605e-04,
 -2.69811326e-07, 1.58159260e-06,-1.21644700e+00,-4.24933693e-04,
  1.98346190e-05,-5.59395028e-04]


--- Step 61 ---
qpos:
[ 0.00859041,-0.00078463, 0.00176503, 0.03000104, 0.0032878 ,-0.00177238,
 -0.01306595, 0.02032108, 0.00942339, 0.00319577,-0.00735087, 0.01889703,
  0.28302584,-0.00139074, 0.12586709, 0.04744916, 0.09228452,-0.07047324,
  0.13112722, 0.50837874, 0.49205191, 0.4881353 , 0.51103806]

qacc:
[-1.00701926e+01,-9.60455981e+00, 5.14957226e+01,-1.24863966e+02,
  1.51428789e+00,-1.52625498e+01, 7.10008323e+01,-1.42473061e+02,
 -1.02679960e+01,-1.07052079e+01, 4.80119268e+01,-9.57832513e+01,
 -1.76798122e+00, 8.89023596e+00, 3.06410827e+01,-1.13534260e+02,
  3.98790446e-01, 9.81804480e-01,-8.14324413e-02, 5.57631546e+00,
  1.28756480e+00,-1.40956864e+01]

qfrc_actuator:
[ 0.00352808,-0.00033589, 0.00070224, 0.01226099, 0.00134526,-0.00091089,
 -0.00548478, 0.00824283, 0.00389342, 0.00127352,-0.00305958, 0.00767419,
  0.0966714 ,-0.00099783, 0.07604125, 0.01496019, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038716086360476853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -3.136439e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  3.136439e-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([ 0.08595735, -0.08810804,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.89916827e-05,-6.86931792e-05,-1.60723444e-05,-2.19672790e-04,
  8.43783971e-06, 6.83516512e-05, 1.59870331e-04,-1.89233322e-04,
 -6.04068724e-05,-6.12686498e-05, 6.88457216e-05,-1.35092022e-04,
 -7.12199720e-04, 1.66302801e-06,-3.80284039e-04,-6.60864661e-04,
 -2.60150089e-07, 1.15637610e-06,-1.21644508e+00,-4.25368570e-04,
  2.12575536e-05,-5.60003477e-04]


--- Step 62 ---
qpos:
[ 0.00865991,-0.00079063, 0.0017792 , 0.03024062, 0.00331391,-0.00178669,
 -0.01316983, 0.02048239, 0.00949989, 0.00322202,-0.00740922, 0.01904826,
  0.28500352,-0.00140834, 0.1278122 , 0.04783305, 0.09227677,-0.07048667,
  0.13114318, 0.50837323, 0.49208094, 0.48804506, 0.51110178]

qacc:
[ -10.74370024, -10.438011  ,  58.93912141,-148.12400321,  -6.86089536,
  -14.32479646,  68.42196181,-141.15345689, -11.43234567,  -7.99815846,
   38.21482203, -81.89734186,  -1.45043041,   4.16077093,  35.89765045,
 -131.68783908,   0.39249706,   0.97371375,  -0.15252296,   5.56049387,
    1.26448452, -13.98185514]

qfrc_actuator:
[ 0.00346697,-0.00032793, 0.00070093, 0.01200333, 0.00130442,-0.00089398,
 -0.0053681 , 0.00804428, 0.00382805, 0.00126285,-0.00301397, 0.00755181,
  0.09649648,-0.00099037, 0.07588824, 0.01429229, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037585056310290854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47694740e-13,  1.47694740e-13,  1.00000000e+00,  2.18137363e-26,
        1.00000000e+00, -1.47694740e-13, -1.00000000e+00,  0.00000000e+00,
       -1.47694740e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595597, -0.08811102,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28447909e-05,-4.39268139e-05,-2.57951862e-05,-2.66018014e-04,
 -4.05754595e-05, 8.14538083e-05, 1.44996813e-04,-1.93878870e-04,
 -6.70490070e-05,-3.68875200e-05, 3.68748044e-05,-1.25507259e-04,
 -6.93913931e-04,-2.22209229e-05,-3.88273585e-04,-7.51128202e-04,
 -2.41453149e-07, 8.05092864e-07,-1.21644349e+00,-4.25762933e-04,
  2.24608724e-05,-5.60511490e-04]


--- Step 63 ---
qpos:
[ 0.00872744,-0.00079667, 0.00179296, 0.0304749 , 0.00333898,-0.00180063,
 -0.01327183, 0.02064043, 0.00957433, 0.00324758,-0.00746643, 0.01919687,
  0.28697775,-0.00142569, 0.12975364, 0.04820925, 0.09227056,-0.07049624,
  0.1311583 , 0.50837523, 0.49210076, 0.48797543, 0.51114718]

qacc:
[ -17.28550343,  -9.77541496,  57.16497938,-148.07574919,  -9.05567836,
  -11.50163813,  55.58312299,-115.55261712, -18.14776931,  -9.45935726,
   43.55815577, -90.37668366,  -1.44777055,   4.64420037,  17.88907128,
  -70.44290052,   0.38747791,   0.96727593,  -0.21014229,   5.54654505,
    1.2464941 , -13.89008763]

qfrc_actuator:
[ 0.00336773,-0.00033847, 0.00067677, 0.01173824, 0.00125219,-0.00087828,
 -0.00527569, 0.00788075, 0.0037235 , 0.00121067,-0.0029638 , 0.00741936,
  0.09633118,-0.00097897, 0.07573722, 0.01392348, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036400991770384195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52499008e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.52499008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595463, -0.08811414,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01068773e-04,-5.25609937e-05,-4.63073560e-05,-2.73601527e-04,
 -5.33528698e-05, 8.42532759e-05, 1.21411900e-04,-1.58883611e-04,
 -1.06405955e-04,-7.09583971e-05, 4.28693881e-05,-1.35445602e-04,
 -6.71694573e-04,-1.85775531e-05,-4.00131901e-04,-4.58130038e-04,
 -2.12972926e-07, 5.25182024e-07,-1.21644221e+00,-4.26121734e-04,
  2.34490473e-05,-5.60920606e-04]


--- Step 64 ---
qpos:
[ 0.00879325,-0.00080271, 0.001806  , 0.0307042 , 0.00336358,-0.00181433,
 -0.01337215, 0.02079601, 0.00964693, 0.00327234,-0.00752224, 0.01934273,
  0.28894857,-0.00144239, 0.13169149, 0.04857999, 0.09226588,-0.07050195,
  0.13117239, 0.50838471, 0.49211147, 0.4879263 , 0.51117435]

qacc:
[ -15.11270404,  -8.24872058,  50.54202772,-135.87105719,  -4.13281738,
   -9.41441714,  44.43482151, -89.95788438, -16.05849061, -10.61836456,
   48.00418667, -97.35779714,  -1.68388509,   8.56634743,  11.17753399,
  -46.79117534,   0.38350856,   0.96224385,  -0.25646438,   5.53474985,
    1.23254862, -13.81727513]

qfrc_actuator:
[ 0.00328236,-0.00034236, 0.00063927, 0.01148865, 0.0012292 ,-0.00088127,
 -0.00519834, 0.00775689, 0.00363224, 0.00116954,-0.00289374, 0.00728202,
  0.09616111,-0.00094758, 0.07558757, 0.01366285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003518790657090626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15512667e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.15512667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595334, -0.08811733,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.82953157e-05,-5.52863056e-05,-6.42104942e-05,-2.59320889e-04,
 -2.44794139e-05, 6.37286586e-05, 1.05223300e-04,-1.19234266e-04,
 -9.42524633e-05,-7.81404336e-05, 5.61112721e-05,-1.41774279e-04,
 -6.59732134e-04, 2.06728752e-06,-3.69542950e-04,-3.34663198e-04,
 -1.74165430e-07, 3.14691862e-07,-1.21644123e+00,-4.26448687e-04,
  2.42257112e-05,-5.61232025e-04]


--- Step 65 ---
qpos:
[ 0.00885822,-0.00080903, 0.00181883, 0.03092905, 0.00338806,-0.00182795,
 -0.01347096, 0.02094892, 0.00971788, 0.00329641,-0.00757675, 0.01948511,
  0.29091605,-0.00145856, 0.13362604, 0.04894304, 0.09226273,-0.07050383,
  0.13118531, 0.50840162, 0.49211311, 0.48789761, 0.51118334]

qacc:
[  -7.44740894,  -8.92478308,  50.0204091 ,-126.30463378,  -1.02743187,
   -9.62402589,  45.74669339, -94.41670816, -14.54249535, -11.66703375,
   55.02777624,-116.91350875,  -1.598294  ,   7.45826822,  18.39566299,
  -71.42744896,   0.38040581,   0.95840685,  -0.29335196,   5.52525462,
    1.22180603, -13.76077357]

qfrc_actuator:
[ 0.00324134,-0.00036003, 0.00062973, 0.01126793, 0.0012236 ,-0.00089547,
 -0.00513055, 0.00762182, 0.00354954, 0.00113545,-0.00283023, 0.00710742,
  0.09599363,-0.00092246, 0.07541223, 0.01327269, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033965078195744014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.63435959e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.63435959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595209, -0.08812053,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35725177e-05,-7.36500447e-05,-3.84942790e-05,-2.30897481e-04,
 -6.26954624e-06, 3.93802863e-05, 9.07815624e-05,-1.31108093e-04,
 -8.53501213e-05,-7.26517770e-05, 4.94932415e-05,-1.79004423e-04,
 -6.47334072e-04,-3.51058026e-06,-3.68465698e-04,-4.53636063e-04,
 -1.24635454e-07, 1.72142618e-07,-1.21644055e+00,-4.26746566e-04,
  2.47937485e-05,-5.61446673e-04]


--- Step 66 ---
qpos:
[ 0.00892185,-0.00081569, 0.0018317 , 0.03114983, 0.00341227,-0.00184159,
 -0.0135678 , 0.02109831, 0.00978762, 0.00331953,-0.00763049, 0.019624  ,
  0.29288019,-0.00147391, 0.13555642, 0.04929676, 0.09226109,-0.07050189,
  0.13119693, 0.50842594, 0.49210574, 0.48788929, 0.51117418]

qacc:
[ -11.80627479,  -8.93214011,  48.46135892,-118.84931923,  -2.20045185,
  -12.74343954,  60.2553527 ,-124.26123333, -10.49767787, -10.57905834,
   50.6334293 ,-111.4658991 ,  -1.7723204 ,  10.14842168,  22.02908114,
  -86.00540767,   0.37802012,   0.95558588,  -0.32239731,   5.51811226,
    1.21358708, -13.71833759]

qfrc_actuator:
[ 0.0031735 ,-0.00036793, 0.00063676, 0.01106597, 0.00121053,-0.00089859,
 -0.00503351, 0.00744571, 0.00349029, 0.00105252,-0.0028066 , 0.00693005,
  0.09582249,-0.00088349, 0.07515767, 0.01279147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032747813017092176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69511018e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.69511018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595088, -0.08812372,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91333277e-05,-6.75724447e-05,-2.15602460e-05,-2.11468420e-04,
 -1.32370677e-05, 3.33415403e-05, 1.12795408e-04,-1.73921182e-04,
 -6.16460161e-05,-1.21361285e-04, 8.64215139e-06,-1.82490065e-04,
 -6.42043179e-04, 1.03360207e-05,-4.61179545e-04,-5.51352675e-04,
 -6.40970252e-08, 9.64170723e-08,-1.21644017e+00,-4.27017421e-04,
  2.51553814e-05,-5.61565256e-04]


--- Step 67 ---
qpos:
[ 0.00898382,-0.00082219, 0.00184437, 0.03136607, 0.0034358 ,-0.0018553 ,
 -0.01366245, 0.02124475, 0.00985612, 0.00334191,-0.00768308, 0.01975998,
  0.29484097,-0.00148862, 0.13748284, 0.04963991, 0.09226096,-0.07049613,
  0.13120718, 0.50845765, 0.49208938, 0.48790131, 0.51114691]

qacc:
[ -14.55715853,  -8.53881065,  49.92282952,-128.26755057,  -5.98766043,
  -12.28242371,  56.11381004,-110.5200036 , -10.97481909, -10.15599464,
   47.15393531, -98.97895501,  -1.68605279,   8.49942923,  26.14852875,
  -99.97324788,   0.37622938,   0.95362918,  -0.34495813,   5.51331285,
    1.20734333, -13.68806394]

qfrc_actuator:
[ 0.00309039,-0.00033431, 0.0006358 , 0.01084117, 0.0011754 ,-0.000895  ,
 -0.00491997, 0.00730016, 0.00342756, 0.00104734,-0.00273589, 0.00678791,
  0.09563863,-0.00085446, 0.07495697, 0.01226032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031548100277759006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75957192e-13,  1.75957192e-13,  1.00000000e+00,  3.09609333e-26,
        1.00000000e+00, -1.75957192e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75957192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594972, -0.08812687,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.51177076e-05,-1.83073804e-05,-2.55217149e-05,-2.33068707e-04,
 -3.54923254e-05, 3.93804813e-05, 1.29262968e-04,-1.43697256e-04,
 -6.44716414e-05,-7.93994130e-05, 4.05141294e-05,-1.50819154e-04,
 -6.50378656e-04, 6.36236917e-07,-4.56567032e-04,-6.17655345e-04,
  7.65505003e-09, 8.66730962e-08,-1.21644008e+00,-4.27262756e-04,
  2.53122488e-05,-5.61588294e-04]


--- Step 68 ---
qpos:
[ 0.00904466,-0.00082797, 0.00185663, 0.03157752, 0.00345838,-0.00186879,
 -0.01375509, 0.02138829, 0.00992264, 0.00336423,-0.00773474, 0.01989277,
  0.29679842,-0.00150386, 0.13940625, 0.04997274, 0.09226232,-0.07048656,
  0.13121598, 0.50849673, 0.49206406, 0.48793364, 0.51110155]

qacc:
[ -10.00483801,  -7.7469452 ,  49.30780032,-132.22649546,  -8.27437589,
  -11.26520841,  52.8921744 ,-106.61275861, -17.34803286,  -9.20024708,
   46.1910623 ,-102.82070134,  -0.9288783 ,  -2.89425233,  26.71262804,
  -99.93083433,   0.37493397,   0.95240851,  -0.362189  ,   5.51080606,
    1.20263162, -13.66834264]

qfrc_actuator:
[ 0.00303449,-0.00025836, 0.00063028, 0.01060477, 0.00112757,-0.00086957,
 -0.00481531, 0.00715601, 0.00332777, 0.00108898,-0.00267311, 0.00663223,
  0.0954579 ,-0.00088479, 0.0748473 , 0.01175747, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003037516956845149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82751741e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82751741e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594861, -0.08812994,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.83558540e-05, 4.98306685e-05,-2.11218952e-05,-2.43112613e-04,
 -4.88239132e-05, 6.92638688e-05, 1.24686819e-04,-1.40869306e-04,
 -1.01601383e-04,-1.15933547e-06, 4.62706568e-05,-1.60832611e-04,
 -6.53818982e-04,-5.98213008e-05,-3.71466713e-04,-5.92619220e-04,
  9.07656238e-08, 1.42273627e-07,-1.21644028e+00,-4.27483662e-04,
  2.52654778e-05,-5.61516163e-04]


--- Step 69 ---
qpos:
[ 0.0091047 ,-0.00083299, 0.00186862, 0.03178481, 0.00348055,-0.00188186,
 -0.01384608, 0.0215283 , 0.00998745, 0.00338644,-0.00778583, 0.02002234,
  0.29875252,-0.00151896, 0.14132614, 0.05029955, 0.09226519,-0.07047319,
  0.13122328, 0.50854318, 0.49202979, 0.48798625, 0.5110381 ]

qacc:
[  -7.05374377,  -6.81798398,  43.304791  ,-115.37044247,  -3.50520263,
  -11.36135658,  56.26461124,-120.49290004, -15.05467502,  -8.35575366,
   43.23279039, -99.8572188 ,  -1.3707859 ,   3.61868942,  13.00418607,
  -53.04539079,   0.37405261,   0.95181584,  -0.37506915,   5.51051743,
    1.19909348, -13.65781472]

qfrc_actuator:
[ 0.00299504,-0.00021092, 0.00062231, 0.01039898, 0.00110816,-0.00084904,
 -0.00473441, 0.00697834, 0.00324247, 0.00106957,-0.00265084, 0.00646987,
  0.09528451,-0.00087883, 0.07470177, 0.01147084, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002923596477165946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79745643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.79745643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594755, -0.08813293,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11114768e-05, 5.99030420e-05,-9.29663616e-06,-2.09613708e-04,
 -2.07714192e-05, 8.02145371e-05, 1.06618261e-04,-1.73206599e-04,
 -8.81361256e-05,-1.77191785e-05, 2.22842481e-05,-1.64156351e-04,
 -6.51542401e-04,-2.58306578e-05,-3.69809588e-04,-3.65087745e-04,
  1.85333804e-07, 2.62730518e-07,-1.21644077e+00,-4.27680918e-04,
  2.50157461e-05,-5.61349117e-04]


--- Step 70 ---
qpos:
[ 0.00916379,-0.00083766, 0.00188059, 0.03198769, 0.00350198,-0.00189426,
 -0.01393553, 0.0216654 , 0.01005073, 0.00340795,-0.00783578, 0.02015003,
  0.30070326,-0.00153348, 0.14324199, 0.05062111, 0.09226954,-0.07045601,
  0.13122904, 0.50859698, 0.49198656, 0.48805915, 0.51095655]

qacc:
[  -8.27857149,  -8.51960914,  49.68077207,-126.12971028,  -6.55277689,
   -9.34465084,  46.87251852,-100.01950364, -13.38024311,  -7.95778578,
   35.01735579, -68.95720778,  -1.66410624,   7.84575857,   9.9161082 ,
  -43.34940823,   0.37351904,   0.95176041,  -0.38442678,   5.51235998,
    1.19643875, -13.6553358 ]

qfrc_actuator:
[ 0.00294784,-0.0002164 , 0.00061289, 0.01017733, 0.00107014,-0.00079624,
 -0.00465047, 0.00683562, 0.0031664 , 0.00101359,-0.00259963, 0.00637581,
  0.0951103 ,-0.00085155, 0.07449226, 0.01120725, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028135545875573875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594654, -0.08813582,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83784436e-05, 1.64903719e-05,-6.04672353e-06,-2.23972408e-04,
 -3.85841104e-05, 1.13479198e-04, 1.08557361e-04,-1.39047574e-04,
 -7.85352368e-05,-6.86348598e-05, 4.47260563e-05,-9.74488319e-05,
 -6.49075149e-04,-3.85378558e-06,-4.06692860e-04,-3.28916823e-04,
  2.91423326e-07, 4.47659444e-07,-1.21644154e+00,-4.27855072e-04,
  2.45633369e-05,-5.61087307e-04]


--- Step 71 ---
qpos:
[ 0.00922256,-0.0008421 , 0.00189245, 0.03218636, 0.00352244,-0.00190595,
 -0.0140231 , 0.02180038, 0.01011296, 0.00342888,-0.00788475, 0.02027558,
  0.30265067,-0.0015482 , 0.14515347, 0.05093641, 0.09227539,-0.07043502,
  0.13123324, 0.50865814, 0.49193438, 0.48815233, 0.51085688]

qacc:
[  -2.96546697,  -8.0694659 ,  47.00308598,-119.98704283,  -8.44551995,
   -8.68939865,  41.33196496, -81.60304277,  -9.27801455,  -7.87139455,
   36.00342793, -74.08433667,  -1.14295459,   0.29232834,  12.45815694,
  -52.95028099,   0.37327931,   0.95216623,  -0.39096035,   5.51624224,
    1.1944323 , -13.65994461]

qfrc_actuator:
[ 0.00293195,-0.00021804, 0.00060246, 0.00996582, 0.00102145,-0.00074225,
 -0.00454749, 0.00673239, 0.00311411, 0.00098958,-0.00254961, 0.00626943,
  0.09493041,-0.00086522, 0.0742552 , 0.01088812, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002707742866541324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05008946e-13,  2.11415476e-13,  1.00000000e+00, -4.33420640e-26,
        1.00000000e+00, -2.11415476e-13, -1.00000000e+00,  0.00000000e+00,
        2.05008946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594557, -0.08813861,  0.06199228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72885946e-05,-3.89285288e-06,-1.61139131e-05,-2.15844025e-04,
 -4.97438775e-05, 1.35093855e-04, 1.35870691e-04,-9.73942225e-05,
 -5.45006530e-05,-5.76353996e-05, 3.80964190e-05,-1.09875891e-04,
 -6.51961803e-04,-4.44691101e-05,-4.45152650e-04,-3.86714622e-04,
  4.09069862e-07, 6.96743631e-07,-1.21644260e+00,-4.28006501e-04,
  2.39081846e-05,-5.60730805e-04]


--- Step 72 ---
qpos:
[ 0.00928067,-0.00084645, 0.00190355, 0.03238169, 0.00354215,-0.00191707,
 -0.01410866, 0.02193308, 0.01017407, 0.00344942,-0.00793249, 0.02039816,
  0.30459473,-0.00156326, 0.14706088, 0.05124994, 0.09228273,-0.07041022,
  0.13123585, 0.50872666, 0.49187324, 0.4882658 , 0.51073908]

qacc:
[  -5.72678492,  -4.63911919,  30.84676065, -87.53378233,  -6.46754407,
   -9.49691974,  44.61260202, -87.70218422,  -9.72899822, -10.08318815,
   47.82453262,-101.20402428,  -1.04756802,  -1.11903268,  -0.62270003,
   -6.55429108,   0.37328951,   0.95296989,  -0.39525722,   5.52207373,
    1.19288344, -13.67083584]

qfrc_actuator:
[ 0.00289911,-0.00023513, 0.00055603, 0.00979749, 0.00098464,-0.00072336,
 -0.00445181, 0.00661773, 0.00305848, 0.0009849 ,-0.00248285, 0.00612115,
  0.09475254,-0.00088517, 0.07411362, 0.01082281, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002606387105351521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13146275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13146275e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594466, -0.08814128,  0.06199257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33580128e-05,-3.24560618e-05,-5.72814373e-05,-1.73729664e-04,
 -3.81848021e-05, 1.19458860e-04, 1.37813804e-04,-1.06141616e-04,
 -5.71529601e-05,-3.40424751e-05, 5.58623415e-05,-1.51770034e-04,
 -6.53963499e-04,-5.24633757e-05,-3.72148016e-04,-1.40681019e-04,
  5.38286105e-07, 1.00970463e-06,-1.21644395e+00,-4.28135462e-04,
  2.30499143e-05,-5.60279614e-04]


--- Step 73 ---
qpos:
[ 0.00933759,-0.00085106, 0.00191391, 0.03257318, 0.00356127,-0.00192743,
 -0.0141927 , 0.02206304, 0.01023335, 0.00346971,-0.00797942, 0.020518  ,
  0.30653543,-0.00157806, 0.14896474, 0.05155887, 0.09229157,-0.0703816 ,
  0.13123688, 0.50880253, 0.49180312, 0.48839958, 0.5106031 ]

qacc:
[ -10.49190303,  -6.15447288,  37.70504033,-102.88668786,  -5.18841337,
   -8.91347986,  44.83196096, -95.34209131, -16.08947936,  -8.20198231,
   40.33727922, -88.71796713,  -1.48366432,   4.90805672,   8.60977928,
  -37.74153767,   0.37351396,   0.95411863,  -0.39780979,   5.52976852,
    1.19163732, -13.68733677]

qfrc_actuator:
[ 0.0028388 ,-0.00027921, 0.00050642, 0.00960261, 0.00095511,-0.00069017,
 -0.00437913, 0.00647947, 0.00296582, 0.00097411,-0.00244218, 0.00598495,
  0.09457602,-0.00087315, 0.07392827, 0.01058827, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002509611369611586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42388426e-13, -4.83862341e-14,  1.00000000e+00,  2.14055100e-26,
        1.00000000e+00,  4.83862341e-14, -1.00000000e+00,  0.00000000e+00,
        4.42388426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594378, -0.08814384,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12979020e-05,-8.21098826e-05,-6.99492809e-05,-2.02096063e-04,
 -3.05751316e-05, 1.25004424e-04, 1.11500080e-04,-1.30518282e-04,
 -9.42527773e-05,-2.50720571e-05, 3.53747332e-05,-1.38880931e-04,
 -6.54282419e-04,-2.12585681e-05,-3.57597175e-04,-2.87422419e-04,
  6.79065251e-07, 1.38627869e-06,-1.21644559e+00,-4.28242127e-04,
  2.19878746e-05,-5.59733676e-04]


--- Step 74 ---
qpos:
[ 0.009393  ,-0.00085612, 0.00192394, 0.03276083, 0.00358057,-0.00193723,
 -0.01427483, 0.02219033, 0.01029107, 0.00348979,-0.0080258 , 0.02063529,
  0.30847275,-0.00159256, 0.15086469, 0.05186104, 0.0923019 ,-0.07034916,
  0.13123631, 0.50888576, 0.491724  , 0.48855368, 0.5104489 ]

qacc:
[ -13.29191161,  -7.56318197,  42.33908069,-107.94497416,   1.69102061,
  -10.07756348,  48.27723113, -97.94731583, -13.80708158,  -7.02977776,
   35.49682601, -80.47683619,  -1.50959069,   5.25963309,  14.70040037,
  -59.79858569,   0.37392373,   0.9555687 ,  -0.39902958,   5.53924733,
    1.19056801, -13.7088872 ]

qfrc_actuator:
[ 0.00276281,-0.00030366, 0.00049072, 0.00941139, 0.00096561,-0.00066657,
 -0.00428507, 0.00634617, 0.0028876 , 0.00095967,-0.00241726, 0.00585693,
  0.09440042,-0.00086018, 0.07370079, 0.01023796, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024174581553496055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59252220e-13,  2.36801926e-13,  1.00000000e+00, -1.08751810e-25,
        1.00000000e+00, -2.36801926e-13, -1.00000000e+00,  0.00000000e+00,
        4.59252220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594295, -0.08814628,  0.06199311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.77881468e-05,-9.40563684e-05,-4.88248172e-05,-2.01536884e-04,
  9.67157777e-06, 1.12006318e-04, 1.29916733e-04,-1.26697406e-04,
 -8.08532058e-05,-2.74013551e-05, 1.94069868e-05,-1.30769115e-04,
 -6.52161599e-04,-1.98366370e-05,-4.10990205e-04,-4.09875905e-04,
  8.31383315e-07, 1.82619764e-06,-1.21644752e+00,-4.28326612e-04,
  2.07211640e-05,-5.59092891e-04]


--- Step 75 ---
qpos:
[ 0.00944707,-0.00086144, 0.00193355, 0.03294538, 0.0036002 ,-0.0019467 ,
 -0.01435508, 0.0223154 , 0.01034739, 0.00350978,-0.00807137, 0.02075078,
  0.31040674,-0.00160709, 0.15276121, 0.05215587, 0.09231373,-0.07031289,
  0.13123414, 0.50897636, 0.49163587, 0.48872814, 0.51027643]

qacc:
[-11.81802801, -5.49634148, 32.18476124,-84.82259054,  2.8663273 ,
  -9.4075179 , 43.51180933,-85.07574666,-12.17311507, -6.05949069,
  29.06116004,-61.41145025, -1.27298054,  2.04754596, 17.08135995,
 -67.12944005,  0.37449535,  0.95728396, -0.3992594 ,  5.5504387 ,
   1.18957296,-13.73502222]

qfrc_actuator:
[ 0.00269595,-0.00029828, 0.00047748, 0.00925941, 0.00098183,-0.00066657,
 -0.00419692, 0.00623464, 0.00281854, 0.00097861,-0.00236632, 0.00577024,
  0.0942255 ,-0.00086453, 0.07354404, 0.00987547, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023299052168343493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14764929e-13,  3.64827933e-13,  1.00000000e+00, -2.60766211e-25,
        1.00000000e+00, -3.64827933e-13, -1.00000000e+00,  0.00000000e+00,
        7.14764929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594217, -0.0881486 ,  0.06199336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91198175e-05,-6.64923042e-05,-4.61842932e-05,-1.62060180e-04,
  1.65313866e-05, 8.50735581e-05, 1.23695831e-04,-1.04786727e-04,
 -7.13311767e-05, 1.72622170e-06, 4.32473231e-05,-8.99280291e-05,
 -6.49942065e-04,-3.74109334e-05,-3.76348043e-04,-4.35267580e-04,
  9.95200601e-07, 2.32917323e-06,-1.21644974e+00,-4.28389002e-04,
  1.92486528e-05,-5.58357112e-04]


--- Step 76 ---
qpos:
[ 0.00950095,-0.00086678, 0.00194254, 0.03312597, 0.00361952,-0.00195614,
 -0.01443372, 0.02243823, 0.01040211, 0.00352962,-0.00811572, 0.02086501,
  0.31233744,-0.00162187, 0.15465454, 0.05244494, 0.09232706,-0.07027278,
  0.13123038, 0.50907434, 0.49153869, 0.48892298, 0.51008564]

qacc:
[-1.67520731e+00,-6.49046458e+00, 3.98703130e+01,-1.07636814e+02,
 -2.60812284e+00,-9.07342289e+00, 4.19308704e+01,-8.35128048e+01,
 -1.41336624e+01,-6.17006262e+00, 2.71287585e+01,-5.10086550e+01,
 -1.10991460e+00,-6.35765091e-03, 1.27272462e+01,-5.13774516e+01,
  3.75209889e-01, 9.59234661e-01,-3.98783811e-01, 5.56327950e+00,
  1.18856843e+00,-1.37653575e+01]

qfrc_actuator:
[ 0.00268827,-0.00029277, 0.00044819, 0.00906075, 0.00096576,-0.00069849,
 -0.00413082, 0.00611901, 0.00273764, 0.00098203,-0.00230027, 0.00570861,
  0.09405643,-0.00087906, 0.07341385, 0.00959769, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022468795657686058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.72058949e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.72058949e-15, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594142, -0.08815081,  0.06199359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68578809e-06,-4.86844568e-05,-5.48296080e-05,-2.06693844e-04,
 -1.55655741e-05, 3.77284801e-05, 9.60548794e-05,-1.09817177e-04,
 -8.28765780e-05, 9.16561731e-06, 6.87250768e-05,-6.19971212e-05,
 -6.43238925e-04,-4.84038849e-05,-3.38698625e-04,-3.47976985e-04,
  1.17046257e-06, 2.89488437e-06,-1.21645226e+00,-4.28429364e-04,
  1.75690008e-05,-5.57526162e-04]


--- Step 77 ---
qpos:
[ 0.00955398,-0.00087196, 0.001951  , 0.03330204, 0.00363851,-0.00196571,
 -0.01451052, 0.02255837, 0.01045612, 0.00354882,-0.0081584 , 0.02097763,
  0.31426478,-0.00163597, 0.15654421, 0.05273044, 0.09234189,-0.07022883,
  0.13122502, 0.50917969, 0.49143243, 0.48913823, 0.50987646]

qacc:
[  -7.55887374,  -7.58235759,  46.44722707,-123.90859562,  -2.94734047,
  -10.80497849,  49.62623432, -98.91594495,  -6.13529775,  -8.84238894,
   37.05953762, -66.9842807 ,  -1.78774762,   8.85186294,   5.37942213,
  -26.65136025,   0.37605206,   0.96139639,  -0.39783815,   5.57771485,
    1.18748589, -13.7995767 ]

qfrc_actuator:
[ 0.00264448,-0.00026956, 0.0004274 , 0.0088362 , 0.00094857,-0.00071388,
 -0.00404292, 0.00598411, 0.00270369, 0.00092297,-0.00222587, 0.0056267 ,
  0.09388034,-0.00084622, 0.07324113, 0.00942538, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021682690725778608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56015971e-13,  8.00049910e-15,  1.00000000e+00, -2.04825555e-27,
        1.00000000e+00, -8.00049910e-15, -1.00000000e+00,  0.00000000e+00,
        2.56015971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594072, -0.0881529 ,  0.06199382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41074305e-05,-2.46846139e-05,-4.52576334e-05,-2.32980211e-04,
 -1.76167730e-05, 2.18274887e-05, 1.04489549e-04,-1.32178298e-04,
 -3.62610918e-05,-4.27016717e-05, 8.27041512e-05,-8.05267800e-05,
 -6.45742176e-04,-1.40629147e-06,-3.55806528e-04,-2.33178777e-04,
  1.35710025e-06, 3.52296646e-06,-1.21645507e+00,-4.28447766e-04,
  1.56806711e-05,-5.56599831e-04]


--- Step 78 ---
qpos:
[ 0.00960537,-0.00087711, 0.00195969, 0.033474  , 0.00365713,-0.00197536,
 -0.01458566, 0.02267596, 0.01050965, 0.00356731,-0.00819943, 0.0210884 ,
  0.31618877,-0.00164883, 0.15843022, 0.05301101, 0.09235823,-0.07018102,
  0.13121808, 0.50929243, 0.49131706, 0.48937393, 0.50964882]

qacc:
[ -14.30628577,  -9.04584729,  49.66233832,-121.11787069,  -3.05137854,
  -10.00857464,  46.30426864, -93.02232264,  -4.17610987,  -9.31294892,
   39.67581051, -73.81219694,  -2.18917081,  14.12559989,   9.5271967 ,
  -41.12972246,   0.37700957,   0.96374921,  -0.39661626,   5.59369781,
    1.18626904, -13.83742074]

qfrc_actuator:
[ 0.002562  ,-0.00025366, 0.00044736, 0.00863375, 0.00093087,-0.00071921,
 -0.00396055, 0.00585672, 0.00267989, 0.00088025,-0.00214742, 0.00553347,
  0.0937108 ,-0.00078578, 0.07304836, 0.00917443, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020939320401838768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65104837e-13,  4.05941782e-13,  1.00000000e+00, -1.07617130e-25,
        1.00000000e+00, -4.05941782e-13, -1.00000000e+00,  0.00000000e+00,
        2.65104837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08594005, -0.08815488,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.37573564e-05,-1.77282553e-05, 7.44291435e-07,-2.10015964e-04,
 -1.81923300e-05, 2.37671510e-05, 9.59163198e-05,-1.25484780e-04,
 -2.48044892e-05,-5.32574796e-05, 7.71124772e-05,-9.39547103e-05,
 -6.38667163e-04, 2.70491140e-05,-3.69545042e-04,-3.07299329e-04,
  1.55503034e-06, 4.21300246e-06,-1.21645819e+00,-4.28444283e-04,
  1.35819405e-05,-5.55577884e-04]


--- Step 79 ---
qpos:
[ 0.00965435,-0.00088224, 0.00196879, 0.03364252, 0.00367506,-0.00198495,
 -0.01465954, 0.02279112, 0.01056247, 0.00358527,-0.00823949, 0.02119722,
  0.31810948,-0.00166084, 0.16031317, 0.05328397, 0.09237609,-0.07012935,
  0.13120956, 0.50941257, 0.49119254, 0.48963013, 0.50940264]

qacc:
[ -21.30107652,  -8.17018597,  43.76671563,-104.06070768,  -6.12379239,
   -8.42687602,  40.44787895, -84.61316779,  -6.12968101,  -7.46522962,
   33.90629657, -69.04137432,  -1.9073639 ,  10.57121165,  18.45504207,
  -71.13213226,   0.37807256,   0.9662769 ,  -0.39527713,   5.61118894,
    1.18487143, -13.87867867]

qfrc_actuator:
[ 0.00243967,-0.00024208, 0.00047347, 0.00846371, 0.00089526,-0.00071851,
 -0.00389984, 0.00573478, 0.00264449, 0.00084764,-0.00210267, 0.00543433,
  0.09354533,-0.0007451 , 0.07289163, 0.00879032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020237050678412194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74304552e-13,  2.82876569e-13,  1.00000000e+00, -7.75943307e-26,
        1.00000000e+00, -2.82876569e-13, -1.00000000e+00,  0.00000000e+00,
        2.74304552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593942, -0.08815676,  0.06199423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24732685e-04,-7.66414486e-06, 1.48036504e-05,-1.75259687e-04,
 -3.61197295e-05, 2.93956043e-05, 7.38324830e-05,-1.20118556e-04,
 -3.60858963e-05,-5.07594286e-05, 4.00695048e-05,-1.00766535e-04,
 -6.27955254e-04, 8.12406550e-06,-3.47820412e-04,-4.46292101e-04,
  1.76415501e-06, 4.96451528e-06,-1.21646161e+00,-4.28419009e-04,
  1.12709076e-05,-5.54460064e-04]


--- Step 80 ---
qpos:
[ 0.00970147,-0.00088719, 0.00197778, 0.03380805, 0.00369242,-0.00199409,
 -0.01473257, 0.0229039 , 0.01061481, 0.00360312,-0.00827913, 0.02130398,
  0.32002689,-0.00167222, 0.16219276, 0.05355149, 0.09239546,-0.0700738 ,
  0.13119946, 0.50954013, 0.49105884, 0.48990686, 0.50913784]

qacc:
[-16.25739325, -5.60011127, 33.01429363,-84.88503485, -4.9543949 ,
  -6.6470185 , 34.62960155,-77.5250832 , -4.29597191, -5.51054426,
  28.11170907,-64.21491297, -1.76005531,  8.43357815, 11.48443129,
 -47.36076654,  0.37923318,  0.96896629, -0.3939505 ,  5.63015556,
   1.18325452,-13.92317996]

qfrc_actuator:
[ 0.00234814,-0.00023309, 0.0004675 , 0.00831409, 0.00086715,-0.00067878,
 -0.00385236, 0.00561701, 0.00262029, 0.00085672,-0.00207814, 0.0053325 ,
  0.09336642,-0.00071641, 0.07274062, 0.00852624, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019574094766405814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.50784957e-13,  4.34254822e-13,  1.00000000e+00, -3.69457470e-25,
        1.00000000e+00, -4.34254822e-13, -1.00000000e+00,  0.00000000e+00,
        8.50784957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593883, -0.08815854,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.50997723e-05,-2.42571396e-07,-1.22637597e-05,-1.53232871e-04,
 -2.91323992e-05, 6.72176927e-05, 5.92089836e-05,-1.16362059e-04,
 -2.52020325e-05,-1.56221544e-05, 1.55653920e-05,-1.04763593e-04,
 -6.34396361e-04,-4.22092585e-06,-3.49497005e-04,-3.31657333e-04,
  1.98436163e-06, 5.77696113e-06,-1.21646534e+00,-4.28372062e-04,
  8.74549888e-06,-5.53246091e-04]


--- Step 81 ---
qpos:
[ 0.00974747,-0.00089205, 0.00198641, 0.03397052, 0.0037093 ,-0.00200289,
 -0.01480422, 0.0230147 , 0.01066645, 0.00362103,-0.00831826, 0.02140796,
  0.32194102,-0.00168346, 0.16406937, 0.05381202, 0.09241635,-0.07001437,
  0.13118779, 0.5096751 , 0.49091591, 0.49020418, 0.50885433]

qacc:
[ -9.86132644, -5.12217933, 31.37918931,-83.81600629, -4.10703058,
  -7.48219316, 35.66596515,-72.25433152, -6.11703966, -7.06867035,
  37.07645164,-86.0352247 , -1.40045356,  3.7568857 , 16.74347346,
 -64.96222949,  0.38048515,  0.97180675, -0.3927417 ,  5.65057121,
   1.18138607,-13.97078789]

qfrc_actuator:
[ 0.00229323,-0.00024357, 0.00044263, 0.00815991, 0.00084367,-0.00065155,
 -0.00377741, 0.00552042, 0.00258513, 0.00087284,-0.0020478 , 0.00519442,
  0.09319023,-0.00071277, 0.07259318, 0.00817529, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018948565283359586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85914030e-13,  3.02111922e-13,  1.00000000e+00, -1.77011614e-25,
        1.00000000e+00, -3.02111922e-13, -1.00000000e+00,  0.00000000e+00,
        5.85914030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593827, -0.08816021,  0.06199459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76301445e-05,-2.01990014e-05,-3.21925464e-05,-1.57983479e-04,
 -2.42771200e-05, 7.29854140e-05, 9.28126541e-05,-9.39948745e-05,
 -3.58416144e-05, 5.85049639e-06, 2.54667282e-05,-1.40425796e-04,
 -6.36988870e-04,-3.04076565e-05,-3.33337602e-04,-4.12224880e-04,
  2.21552221e-06, 6.64972355e-06,-1.21646938e+00,-4.28303592e-04,
  6.00347235e-06,-5.51935670e-04]


--- Step 82 ---
qpos:
[ 0.00979246,-0.00089682, 0.00199494, 0.03412985, 0.00372612,-0.00201157,
 -0.01487403, 0.02312349, 0.01071727, 0.00363859,-0.0083568 , 0.02150884,
  0.32385183,-0.00169417, 0.16594265, 0.05406534, 0.09243992,-0.06996428,
  0.13118039, 0.50976865, 0.49081981, 0.490476  , 0.50859132]

qacc:
[ -8.94865991, -6.06460273, 35.08167709,-89.35452909, -0.5407269 ,
  -9.11520908, 41.30056971,-79.37478785, -7.21102254, -8.47464363,
  42.68502384,-97.1691776 , -1.70122299,  7.42095759, 16.89091619,
 -66.21821304,  0.66850845, -2.33706729,  1.06772794, 10.58895764,
  -3.22628285, 33.50099926]

qfrc_actuator:
[ 0.00224256,-0.00023022, 0.00044224, 0.00800425, 0.00084087,-0.00064965,
 -0.00368687, 0.00541932, 0.0025438 , 0.00082205,-0.00203202, 0.00503614,
  0.09301578,-0.00068843, 0.07241602, 0.00781144, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021838602070185786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54188208e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.54188208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262376, -0.03113452,  0.06199377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23371271e-05,-1.18177180e-05,-1.44498295e-05,-1.61093536e-04,
 -3.46861060e-06, 5.87604944e-05, 1.14498259e-04,-9.66539011e-05,
 -4.23093981e-05,-4.85474947e-05, 1.53403797e-05,-1.60053860e-04,
 -6.38499287e-04,-1.10330156e-05,-3.65934411e-04,-4.27835535e-04,
  2.45749283e-06, 7.58210798e-06,-1.21647374e+00,-4.28213780e-04,
  3.04242031e-06,-5.50528487e-04]


--- Step 83 ---
qpos:
[ 0.00983718,-0.0009013 , 0.00200329, 0.03428605, 0.00374312,-0.00202   ,
 -0.01494194, 0.02323019, 0.01076686, 0.00365586,-0.00839516, 0.02160705,
  0.32575927,-0.00170377, 0.16781186, 0.05431599, 0.09246607,-0.06992321,
  0.13117576, 0.50982222, 0.49076887, 0.49072337, 0.5083481 ]

qacc:
[ -2.37090171, -5.5751777 , 33.65941824,-87.80549404,  1.63634811,
  -9.27884971, 42.33066839,-81.54310552,-10.85900475, -6.37707966,
  33.44835354,-79.66966314, -2.16621687, 12.96402177,  2.03560544,
 -15.84284202,  0.64599613, -2.25346198,  0.69245552, 10.25222197,
  -3.05664091, 32.28379874]

qfrc_actuator:
[ 0.00223027,-0.00020261, 0.00043865, 0.007849  , 0.00085026,-0.00062736,
 -0.00358796, 0.00531636, 0.00248141, 0.00080252,-0.00202523, 0.00490269,
  0.09283718,-0.00063435, 0.07223714, 0.00769141, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025061306521247106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21501426e-13,  2.21501426e-13,  1.00000000e+00, -4.90628816e-26,
        1.00000000e+00, -2.21501426e-13, -1.00000000e+00,  0.00000000e+00,
        2.21501426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262784, -0.03115219,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37937499e-05, 1.06732538e-05,-1.38311418e-05,-1.59757592e-04,
  9.30524542e-06, 7.55423778e-05, 1.22480799e-04,-9.84253675e-05,
 -6.35652850e-05,-5.06360700e-05,-6.81552753e-06,-1.38284923e-04,
 -6.42779025e-04, 1.88218264e-05,-3.82837121e-04,-1.88717709e-04,
  2.26702756e-06, 4.58232590e-06,-1.21646611e+00,-4.30193190e-04,
  3.03707860e-06,-5.49591968e-04]


--- Step 84 ---
qpos:
[ 0.00988106,-0.00090551, 0.00201093, 0.03443989, 0.00375976,-0.00202816,
 -0.01500781, 0.02333447, 0.01081565, 0.00367294,-0.00843301, 0.02170355,
  0.32766335,-0.0017126 , 0.16967703, 0.05456488, 0.09249474,-0.06989087,
  0.13117264, 0.50983702, 0.49076168, 0.49094718, 0.50812406]

qacc:
[ -7.41944385, -2.48827277, 19.32891644,-59.11162193, -3.14153137,
 -10.33750686, 47.62639624,-93.06572669, -6.91686084, -5.17075519,
  25.3585723 ,-55.74077001, -1.90553794,  9.68195855, -0.61221571,
  -6.46075687,  0.62755343, -2.18315279,  0.37594037,  9.97205563,
  -2.91049903, 31.26376771]

qfrc_actuator:
[ 0.00218742,-0.00020218, 0.00039775, 0.00773076, 0.00083123,-0.00061077,
 -0.00348484, 0.0051954 , 0.00244264, 0.00081958,-0.00198818, 0.00482043,
  0.09266153,-0.00059873, 0.07205209, 0.0076095 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027458241139736994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02165721e-13,  2.02165721e-13,  1.00000000e+00, -4.08709788e-26,
        1.00000000e+00, -2.02165721e-13, -1.00000000e+00,  0.00000000e+00,
        2.02165721e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263085, -0.03116528,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32559431e-05,-3.73124904e-06,-4.63623501e-05,-1.21737057e-04,
 -1.87393805e-05, 8.07887294e-05, 1.31059991e-04,-1.15468967e-04,
 -4.05560379e-05,-1.88513309e-05, 2.10544474e-05,-8.75106041e-05,
 -6.41270757e-04, 6.32891505e-07,-3.68134198e-04,-1.38983214e-04,
  1.81106613e-06, 2.27840031e-06,-1.21646031e+00,-4.31797011e-04,
  3.80734046e-06,-5.48889952e-04]


--- Step 85 ---
qpos:
[ 0.00992408,-0.00090969, 0.00201834, 0.0345918 , 0.00377603,-0.00203611,
 -0.01507233, 0.02343551, 0.01086361, 0.00368959,-0.00846952, 0.02179863,
  0.32956421,-0.00172192, 0.17153838, 0.05481314, 0.09252585,-0.06986702,
  0.13116995, 0.50981404, 0.49079707, 0.49114814, 0.50791868]

qacc:
[  -7.52688802,  -3.29202925,  19.99347744, -53.16244691,  -3.09668647,
  -10.13958029,  50.24592355,-108.64800612,  -7.37663547,  -7.25669442,
   31.06157903, -57.51546384,  -0.91092747,  -2.23292   ,  -3.71418789,
    4.79143611,   0.61252737,  -2.1240756 ,   0.10890269,   9.74003421,
   -2.78330285,  30.4093324 ]

qfrc_actuator:
[ 0.00214467,-0.00020039, 0.00038834, 0.00763519, 0.00081337,-0.00063321,
 -0.00343336, 0.00502931, 0.00240033, 0.00080534,-0.0019156 , 0.00475126,
  0.0924931 ,-0.00062754, 0.07188478, 0.00758611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002917436291073605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90273739e-13,  1.90273739e-13,  1.00000000e+00, -3.62040959e-26,
        1.00000000e+00, -1.90273739e-13, -1.00000000e+00,  0.00000000e+00,
        1.90273739e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082633  , -0.03117462,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40057951e-05,-1.55260895e-05,-2.05330849e-05,-1.00057087e-04,
 -1.83592794e-05, 4.56840931e-05, 8.09571961e-05,-1.60408545e-04,
 -4.34314629e-05,-2.44380582e-05, 6.83263155e-05,-7.11103659e-05,
 -6.33820391e-04,-6.46688688e-05,-3.38678308e-04,-7.59234501e-05,
  1.11552622e-06, 5.93587967e-07,-1.21645613e+00,-4.33080513e-04,
  5.28735943e-06,-5.48411969e-04]


--- Step 86 ---
qpos:
[ 0.0099666 ,-0.00091373, 0.00202583, 0.03474099, 0.00379197,-0.00204372,
 -0.01513634, 0.02353416, 0.01091103, 0.00370575,-0.0085048 , 0.02189215,
  0.33146185,-0.00173149, 0.17339706, 0.05505476, 0.09255936,-0.06985148,
  0.1311668 , 0.5097541 , 0.49087404, 0.4913269 , 0.50773153]

qacc:
[ -4.42313282, -5.61214347, 31.7645302 ,-79.00620474, -2.9799577 ,
  -5.89821376, 31.79457075,-74.26581957, -4.65754426, -7.26163111,
  31.54994235,-60.11894193, -1.11374365,  0.31888685, 16.08749629,
 -62.02632934,  0.60037987, -2.07450867, -0.11637384,  9.54917915,
  -2.67138908, 29.69461507]

qfrc_actuator:
[ 0.00212007,-0.00017991, 0.00039761, 0.0075005 , 0.00079636,-0.00062587,
 -0.00341297, 0.00490894, 0.00237402, 0.00077264,-0.00185826, 0.00467258,
  0.09232911,-0.0006408 , 0.07173357, 0.00724238, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003033165406603061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.83013927e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.83013927e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263442, -0.03118088,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58736504e-05, 2.84003067e-06,-3.41951152e-07,-1.38371227e-04,
 -1.75123388e-05, 4.35514312e-05, 3.48734857e-05,-1.18799198e-04,
 -2.75162823e-05,-3.55476156e-05, 5.83160594e-05,-7.89041204e-05,
 -6.27331707e-04,-5.10926807e-05,-3.03284870e-04,-3.89266422e-04,
  1.99707109e-07,-5.31194407e-07,-1.21645343e+00,-4.34087025e-04,
  7.42755965e-06,-5.48149423e-04]


--- Step 87 ---
qpos:
[ 0.0100085 ,-0.00091778, 0.00203373, 0.0348874 , 0.00380724,-0.00205108,
 -0.01519938, 0.02363127, 0.01095811, 0.00372195,-0.00853983, 0.02198365,
  0.33335618,-0.00174039, 0.17525311, 0.05528769, 0.09259524,-0.06984406,
  0.13116242, 0.50965789, 0.49099175, 0.49148397, 0.50756225]

qacc:
[ -5.49299613, -6.892323  , 36.30341978,-85.1358946 , -5.87778936,
  -5.55174657, 26.81700917,-55.27445149, -2.97690274, -4.78576612,
  25.65835149,-61.00714382, -1.84161987,  8.72312142, 22.36356995,
 -83.85809949,  0.59066426, -2.03300498, -0.30635479,  9.39365695,
  -2.57179357, 29.09823407]

qfrc_actuator:
[ 0.0020886 ,-0.00018385, 0.00041788, 0.00736163, 0.00076224,-0.00060087,
 -0.00335768, 0.00483419, 0.00235734, 0.00078235,-0.00184599, 0.00457115,
  0.09215193,-0.00060929, 0.07158672, 0.00680146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.57529658, -4.54413108,  0.53311492, -4.54413108,  4.89698533,
        2.74199011,  0.53311492,  2.74199011, 27.94729758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031032680322412576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78879654e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78879654e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263526, -0.03118464,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22182492e-05,-8.76904775e-06, 1.56153747e-05,-1.41796514e-04,
 -3.46084014e-05, 5.22651882e-05, 6.50836964e-05,-7.40417780e-05,
 -1.74387002e-05,-1.74026757e-06, 9.44904971e-06,-1.02631268e-04,
 -6.35066861e-04,-5.89617332e-06,-3.21064980e-04,-5.00197183e-04,
 -9.22153145e-07,-1.14122599e-06,-1.21645209e+00,-4.34850957e-04,
  1.01909833e-05,-5.48095183e-04]


--- Step 88 ---
qpos:
[ 0.01004934,-0.00092195, 0.00204192, 0.03503068, 0.00382197,-0.00205856,
 -0.01526084, 0.02372707, 0.01100359, 0.00373813,-0.00857444, 0.02207287,
  0.33524724,-0.00174982, 0.17710562, 0.05551523, 0.09263345,-0.06984464,
  0.13115617, 0.50952593, 0.49114951, 0.4916198 , 0.50741055]

qacc:
[ -9.2075477 , -7.38091703, 39.36440574,-94.0185285 , -4.57807697,
  -7.22286909, 31.00930285,-55.93237479,-14.07132873, -5.87410138,
  30.59943853,-70.81533768, -0.90766326, -2.35534892, 11.06969317,
 -46.3404206 ,  0.5830074 , -1.99834125, -0.46649181,  9.26855396,
  -2.48210495, 28.60239891]

qfrc_actuator:
[ 0.00203559,-0.00020233, 0.00042664, 0.00720367, 0.00073606,-0.00061859,
 -0.00328213, 0.00476918, 0.00227544, 0.00078168,-0.00182475, 0.00445714,
  0.09197227,-0.00064047, 0.07141597, 0.0065377 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.5868141 , -4.56853489,  0.40908745, -4.56853489,  4.77227012,
        2.0711031 ,  0.40908745,  2.0711031 , 27.71611498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003136356430157444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76992483e-13,  1.76992483e-13,  1.00000000e+00, -3.13263391e-26,
        1.00000000e+00, -1.76992483e-13, -1.00000000e+00,  0.00000000e+00,
        1.76992483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263561, -0.03118638,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39517299e-05,-2.66522153e-05, 3.55226822e-06,-1.60902816e-04,
 -2.71462641e-05, 2.25574645e-05, 9.24102533e-05,-6.20178994e-05,
 -8.23524417e-05,-4.32735997e-06, 1.85508546e-05,-1.15900805e-04,
 -6.40778784e-04,-6.80263798e-05,-3.65241494e-04,-3.31432608e-04,
 -2.23971995e-06,-1.27087991e-06,-1.21645204e+00,-4.35400039e-04,
  1.35505326e-05,-5.48243264e-04]


--- Step 89 ---
qpos:
[ 0.01008924,-0.00092628, 0.00204995, 0.03517063, 0.00383628,-0.00206613,
 -0.01532088, 0.02382136, 0.01104773, 0.00375398,-0.00860814, 0.02216003,
  0.33713513,-0.00175987, 0.17895429, 0.05574013, 0.09267396,-0.0698531 ,
  0.13114752, 0.50935868, 0.49134672, 0.49173474, 0.50727615]

qacc:
[ -8.38669838, -6.62099835, 37.32920383,-94.46627249, -3.71525894,
  -7.20991922, 31.98113523,-60.53450797,-11.70877326, -7.21749035,
  33.82253467,-70.69101627, -0.7970923 , -3.25354525,  2.30492241,
 -16.31877887,  0.57709602, -1.96947872, -0.60140439,  9.16970581,
  -2.40035217, 28.19222084]

qfrc_actuator:
[ 0.00198807,-0.00022944, 0.0004107 , 0.00703571, 0.00071477,-0.00062615,
 -0.00321316, 0.00469264, 0.00220908, 0.00075707,-0.00178067, 0.00435442,
  0.09181788,-0.00067284, 0.07124701, 0.00641593, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003139648615061441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53613783e-13,  1.76806892e-13,  1.00000000e+00, -6.25213538e-26,
        1.00000000e+00, -1.76806892e-13, -1.00000000e+00,  0.00000000e+00,
        3.53613783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263558, -0.0311865 ,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90779680e-05,-4.85859445e-05,-2.69818046e-05,-1.72446001e-04,
 -2.20521324e-05, 2.22553786e-05, 8.34650159e-05,-7.36507142e-05,
 -6.86713132e-05,-2.84377560e-05, 4.15300716e-05,-1.04665762e-04,
 -6.23200180e-04,-7.19069335e-05,-3.61839771e-04,-1.84986449e-04,
 -3.74569256e-06,-9.45825194e-07,-1.21645318e+00,-4.35756999e-04,
  1.74868635e-05,-5.48588580e-04]


--- Step 90 ---
qpos:
[ 0.0101279 ,-0.00093096, 0.00205838, 0.03530712, 0.00384988,-0.00207356,
 -0.01537967, 0.02391363, 0.01109108, 0.00376932,-0.00864094, 0.02224531,
  0.33901981,-0.00176917, 0.18079984, 0.05596331, 0.09271677,-0.06986934,
  0.13113601, 0.50915645, 0.49158289, 0.49182912, 0.50715884]

qacc:
[ -10.75665499,  -8.71384506,  45.08911946,-105.5614308 ,  -6.20829298,
   -7.41970775,  35.2735181 , -72.28094502,  -6.9474891 ,  -7.0367261 ,
   32.10790786, -65.85268443,  -1.88329578,   9.4064711 ,   0.6178902 ,
   -8.80623543,   0.57266601,  -1.94553253,  -0.71502137,   9.09356621,
   -2.32491732,  27.85518109]

qfrc_actuator:
[ 0.00192642,-0.00024387, 0.00043353, 0.00686319, 0.00067878,-0.00060985,
 -0.00314862, 0.00459215, 0.00217015, 0.0007184 ,-0.00174129, 0.00425916,
  0.09166278,-0.00063461, 0.07113255, 0.00634326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003119179720436349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263524, -0.03118532,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30744886e-05,-5.49545188e-05, 3.10051270e-06,-1.79215614e-04,
 -3.66107140e-05, 4.35873806e-05, 7.74591767e-05,-9.81337097e-05,
 -4.08506817e-05,-5.07315475e-05, 3.50581218e-05,-9.72254425e-05,
 -6.11077034e-04,-7.33443622e-07,-2.88960792e-04,-1.27170733e-04,
 -5.43514514e-06,-1.84715571e-07,-1.21645548e+00,-4.35940820e-04,
  2.19867618e-05,-5.49126756e-04]


--- Step 91 ---
qpos:
[ 0.01016553,-0.00093529, 0.00206648, 0.03543973, 0.00386328,-0.00208095,
 -0.01543719, 0.02400433, 0.01113363, 0.00378423,-0.00867274, 0.02232876,
  0.34090123,-0.0017772 , 0.1826423 , 0.05618356, 0.09276185,-0.06989328,
  0.13112125, 0.50891952, 0.49185762, 0.49190318, 0.50705845]

qacc:
[  -9.16877832,  -6.52820277,  40.28582618,-106.90341582,  -1.64742468,
   -6.7426128 ,  30.70435053, -59.84328915,  -7.03396142,  -7.09723806,
   32.21664953, -65.1184947 ,  -2.33746847,  14.27941891,   4.29723431,
  -21.61128842,   0.56949397,  -1.92574733,  -0.81069287,   9.03710448,
   -2.25446745,  27.58071524]

qfrc_actuator:
[ 0.0018747 ,-0.00019719, 0.00042585, 0.00667166, 0.00066993,-0.00061495,
 -0.00308712, 0.00451392, 0.00212993, 0.00070712,-0.00168733, 0.00416902,
  0.09148606,-0.0005729 , 0.07097098, 0.00619367, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003079981341815724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60464205e-13,  1.80232102e-13,  1.00000000e+00, -6.49672214e-26,
        1.00000000e+00, -1.80232102e-13, -1.00000000e+00,  0.00000000e+00,
        3.60464205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263465, -0.03118313,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.35466850e-05, 8.52964118e-06,-2.52337917e-05,-1.97580914e-04,
 -9.87979692e-06, 3.18141456e-05, 7.72187348e-05,-7.56544157e-05,
 -4.13635498e-05,-3.68099586e-05, 4.44990573e-05,-9.31302458e-05,
 -6.19473851e-04, 2.53870890e-05,-2.99740483e-04,-1.92338400e-04,
 -7.30502395e-06, 9.99504906e-07,-1.21645889e+00,-4.35967700e-04,
  2.70418801e-05,-5.49853973e-04]


--- Step 92 ---
qpos:
[ 0.01020259,-0.000939  , 0.00207394, 0.03556901, 0.00387716,-0.00208845,
 -0.01549342, 0.02409306, 0.01117571, 0.00379888,-0.008704  , 0.02241048,
  0.34277937,-0.00178471, 0.18448158, 0.05639836, 0.09280921,-0.06992486,
  0.13110293, 0.50864805, 0.49217056, 0.49195715, 0.50697481]

qacc:
[ -5.03111017, -4.29353245, 30.65043603,-88.06190093,  4.24657187,
  -7.82341805, 36.02706116,-72.18620933, -4.09424371, -5.43183661,
  26.15926411,-56.69765134, -1.74239278,  7.34147195, 11.76739733,
 -47.97422901,  0.56739052, -1.9094775 , -0.89128032,  8.99772416,
  -2.18790092, 27.35988396]

qfrc_actuator:
[ 0.001847  ,-0.00014991, 0.00040046, 0.00650602, 0.00069488,-0.00063281,
 -0.00302798, 0.00441388, 0.00210702, 0.00069465,-0.00166058, 0.00408266,
  0.09130716,-0.00055118, 0.07078657, 0.00591106, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030262341247612456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83433102e-13,  1.83433102e-13,  1.00000000e+00, -3.36477028e-26,
        1.00000000e+00, -1.83433102e-13, -1.00000000e+00,  0.00000000e+00,
        1.83433102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263388, -0.03118015,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92369904e-05, 3.80012759e-05,-3.39509710e-05,-1.70308108e-04,
  2.46769514e-05, 1.33688593e-05, 7.31658003e-05,-9.75320575e-05,
 -2.40710081e-05,-2.80912855e-05, 2.14615913e-05,-8.83548529e-05,
 -6.26333320e-04,-1.46609697e-05,-3.34648979e-04,-3.30348713e-04,
 -9.35376157e-06, 2.59858618e-06,-1.21646338e+00,-4.35851791e-04,
  3.26477514e-05,-5.50766846e-04]


--- Step 93 ---
qpos:
[ 0.01023799,-0.00094242, 0.00208137, 0.03569562, 0.00389124,-0.00209597,
 -0.01554824, 0.02418023, 0.01121753, 0.0038131 ,-0.00873516, 0.02249059,
  0.34465438,-0.00179289, 0.18631784, 0.05660378, 0.09285883,-0.06996402,
  0.13108078, 0.50834218, 0.49252144, 0.49199119, 0.50690781]

qacc:
[-14.56343905, -4.97001072, 29.51176895,-75.61009668,  1.71844113,
  -7.16816322, 32.10474958,-61.36261309, -2.24639292, -4.14789156,
  20.79655476,-48.63535864, -0.75599911, -3.53343705, 23.88961698,
 -90.08527054,  0.56619477, -1.89617083, -0.95922991,  8.97319712,
  -2.1243046 , 27.18510858]

qfrc_actuator:
[ 0.00176263,-0.00013818, 0.00040037, 0.00637468, 0.000704  ,-0.00062272,
 -0.00295303, 0.0043373 , 0.00209447, 0.00064596,-0.00166787, 0.00399918,
  0.09114303,-0.00058872, 0.07060455, 0.00542805, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002961397821487771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87449153e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87449153e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263296, -0.03117657,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.51944712e-05, 1.82978308e-05,-2.67961647e-06,-1.34497431e-04,
  9.83645451e-06, 2.92431725e-05, 8.38969929e-05,-7.54278736e-05,
 -1.32090053e-05,-6.39785980e-05,-1.34471961e-05,-8.57930659e-05,
 -6.19040741e-04,-7.60023244e-05,-3.62613444e-04,-5.42673568e-04,
 -1.15809798e-05, 4.60817832e-06,-1.21646893e+00,-4.35605758e-04,
  3.88030131e-05,-5.51862331e-04]


--- Step 94 ---
qpos:
[ 0.0102728 ,-0.00094545, 0.00208869, 0.03581967, 0.00390497,-0.00210326,
 -0.01560185, 0.02426613, 0.01125854, 0.00382678,-0.00876556, 0.02256869,
  0.34652616,-0.00180106, 0.18815088, 0.05680171, 0.09291071,-0.07001073,
  0.13105456, 0.50800196, 0.49291001, 0.49200546, 0.50685734]

qacc:
[ -5.26118821, -4.46036376, 27.52885517,-72.17980229, -2.99222717,
  -5.68886988, 26.1085533 ,-50.23984031, -7.18497083, -6.97665366,
  32.32999531,-67.88944214, -1.33394647,  2.74380562, 17.84408696,
 -69.34420244,  0.56576991, -1.88535501, -1.01663341,  8.96160959,
  -2.06291968, 27.04995604]

qfrc_actuator:
[ 0.00173435,-0.0001122 , 0.00039736, 0.00624683, 0.00068598,-0.00059589,
 -0.00288697, 0.00427518, 0.00205261, 0.00062907,-0.00162432, 0.00390027,
  0.09097189,-0.00058981, 0.07046135, 0.00506171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028883222543638065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92191682e-13,  1.92191682e-13,  1.00000000e+00, -3.69376426e-26,
        1.00000000e+00, -1.92191682e-13, -1.00000000e+00,  0.00000000e+00,
        1.92191682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263194, -0.03117255,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07125807e-05, 2.95120050e-05,-4.57223995e-06,-1.30077943e-04,
 -1.77301404e-05, 5.80055539e-05, 8.03575791e-05,-5.94913733e-05,
 -4.22222313e-05,-5.93224335e-05, 2.57683849e-05,-1.03919563e-04,
 -6.24438565e-04,-4.14448609e-05,-3.59956609e-04,-4.41352805e-04,
 -1.39872605e-05, 7.02720906e-06,-1.21647552e+00,-4.35241221e-04,
  4.55087965e-05,-5.53137638e-04]


--- Step 95 ---
qpos:
[ 0.01030768,-0.00094828, 0.00209599, 0.03594123, 0.00391872,-0.00210992,
 -0.01565441, 0.02435022, 0.01129872, 0.00383999,-0.00879526, 0.02264534,
  0.34839463,-0.00180843, 0.18998082, 0.05699553, 0.09296486,-0.07006494,
  0.13102407, 0.50762741, 0.49333609, 0.49200006, 0.5068233 ]

qacc:
[  0.69236783, -4.80963523, 28.01620478,-71.13731267,  0.21425379,
  -5.81283803, 29.54977691,-62.8781678 , -7.18741508, -5.52525462,
  24.98886393,-50.97891631, -2.00226004,  9.87065528,  7.86561552,
 -34.1261373 ,  0.56599945, -1.87662606, -1.06527913,  8.96131715,
  -2.00311408, 26.94896196]

qfrc_actuator:
[ 0.00173933,-0.00011339, 0.0003927 , 0.00612204, 0.00068764,-0.00054151,
 -0.00282662, 0.00418656, 0.00201158, 0.00061379,-0.0015865 , 0.00382864,
  0.09079668,-0.0005517 , 0.07035223, 0.00487374, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028093420234773236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95189698e-13,  1.97594849e-13,  1.00000000e+00, -7.80874485e-26,
        1.00000000e+00, -1.97594849e-13, -1.00000000e+00,  0.00000000e+00,
        3.95189698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263085, -0.03116821,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09348699e-06, 8.42642418e-06,-3.99270348e-06,-1.26505726e-04,
  1.16976345e-06, 1.01562889e-04, 8.06962318e-05,-8.45687570e-05,
 -4.22134086e-05,-4.77834256e-05, 2.52136307e-05,-7.54322805e-05,
 -6.30359933e-04,-1.84384734e-06,-3.13092652e-04,-2.56925529e-04,
 -1.65739686e-05, 9.85739518e-06,-1.21648315e+00,-4.34769092e-04,
  5.27682447e-05,-5.54590173e-04]


--- Step 96 ---
qpos:
[ 0.01034166,-0.00095131, 0.00210335, 0.03606073, 0.00393238,-0.00211564,
 -0.01570656, 0.02443295, 0.0113381 , 0.00385308,-0.00882505, 0.02272158,
  0.35025987,-0.0018156 , 0.1918068 , 0.05718897, 0.09302161,-0.07011419,
  0.13100213, 0.50726228, 0.49374905, 0.49202048, 0.50676692]

qacc:
[ -7.9241794 , -4.66475893, 24.95647364,-60.52006419, -0.77051947,
  -2.70349431, 17.204333  ,-42.18794203, -7.07649439, -0.76526351,
   4.24915201,-11.16675169, -1.49924194,  4.49599163, -4.68903224,
   7.93367559,  0.65025405,  1.24019947,  2.13530434,  6.38671909,
   2.04636727,-17.65140598]

qfrc_actuator:
[ 0.0016928 ,-0.00014859, 0.00038699, 0.00601778, 0.00068312,-0.00048885,
 -0.00280552, 0.00411858, 0.00197139, 0.00061736,-0.00158784, 0.00380913,
  0.09062978,-0.00054411, 0.07016778, 0.00486343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030296438234507506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83226658e-13,  5.15324975e-14,  1.00000000e+00, -9.44212729e-27,
        1.00000000e+00, -5.15324975e-14, -1.00000000e+00,  0.00000000e+00,
        1.83226658e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591311, -0.08813104,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64203946e-05,-3.71002529e-05,-9.19587989e-06,-1.06780881e-04,
 -4.45137530e-06, 1.23172354e-04, 4.95948652e-05,-6.25346359e-05,
 -4.13832661e-05,-2.13607211e-05,-1.06544583e-05,-2.22747557e-05,
 -6.23789855e-04,-3.18448517e-05,-3.47930829e-04,-6.33366629e-05,
 -1.93431160e-05, 1.31028590e-05,-1.21649180e+00,-4.34199846e-04,
  6.05861332e-05,-5.56217479e-04]


--- Step 97 ---
qpos:
[ 0.01037482,-0.00095451, 0.00211088, 0.03617839, 0.00394554,-0.00212081,
 -0.01575816, 0.02451391, 0.011376  , 0.00386598,-0.00885377, 0.02279657,
  0.3521219 ,-0.00182258, 0.19362921, 0.05737845, 0.09308079,-0.07015868,
  0.13098701, 0.50690604, 0.4941499 , 0.49206591, 0.50668855]

qacc:
[ -7.22044511, -4.4771204 , 23.45897027,-55.61246622, -4.42307665,
  -4.42441148, 24.28823079,-56.11446139,-12.96876957, -5.76140603,
  25.48378647,-48.66462795, -1.48695118,  4.36350323,  6.68966802,
 -31.0551418 ,  0.61003826,  1.19086647,  1.7069802 ,  6.48076564,
   1.79527252,-16.98563132]

qfrc_actuator:
[ 0.00165184,-0.00015063, 0.00039833, 0.00592642, 0.00065724,-0.00049103,
 -0.00279   , 0.00402777, 0.0018965 , 0.0006321 ,-0.00152342, 0.00374943,
  0.09046268,-0.00053681, 0.06997029, 0.00465582, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.65238779,  0.21626471,  4.64735858,  0.21626471, 35.36877586,
       -1.42938634,  4.64735858, -1.42938634,  4.71890425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003315786449597097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67414736e-13, -7.84756574e-14,  1.00000000e+00, -1.31379814e-26,
        1.00000000e+00,  7.84756574e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67414736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591232, -0.08812364,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.23153033e-05,-2.96291346e-05,-1.49967777e-06,-9.56347481e-05,
 -2.59613489e-05, 7.48960013e-05, 4.54048014e-05,-8.50888470e-05,
 -7.60481814e-05,-5.50489202e-07, 5.79876185e-05,-6.15454975e-05,
 -6.20922723e-04,-3.30640697e-05,-3.52681811e-04,-2.53674141e-04,
 -1.88875678e-05, 1.13246799e-05,-1.21648923e+00,-4.37128709e-04,
  5.75438378e-05,-5.57125513e-04]


--- Step 98 ---
qpos:
[ 0.01040758,-0.00095804, 0.00211882, 0.03629472, 0.00395829,-0.00212589,
 -0.01580866, 0.02459249, 0.01141306, 0.00387854,-0.00888138, 0.02286958,
  0.35398068,-0.00182902, 0.19544853, 0.05756254, 0.09314229,-0.07019858,
  0.13097728, 0.50655826, 0.49453948, 0.49213567, 0.5065885 ]

qacc:
[ -3.53814855, -4.3015218 , 20.29317475,-43.5986407 , -3.58380716,
  -7.8829945 , 38.41210751,-81.66030321, -7.41340512, -7.63390122,
  34.94023921,-70.73021106, -1.78108136,  7.45764095, 11.7452605 ,
 -47.6908089 ,  0.57823067,  1.1491534 ,  1.34500057,  6.54862345,
   1.5880818 ,-16.42462725]

qfrc_actuator:
[ 0.00163224,-0.00016822, 0.00041978, 0.00586115, 0.00063675,-0.00050834,
 -0.00274262, 0.00390645, 0.00185504, 0.00060039,-0.00147392, 0.00364885,
  0.09029555,-0.00051201, 0.06982366, 0.00438683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.73318737,  0.24517138,  4.72683337,  0.24517138, 42.72739465,
       -1.97068342,  4.72683337, -1.97068342,  4.83540277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035186236444190166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57763821e-13,  2.41575852e-13,  1.00000000e+00, -3.81119295e-26,
        1.00000000e+00, -2.41575852e-13, -1.00000000e+00,  0.00000000e+00,
        1.57763821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591151, -0.08811845,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08280830e-05,-3.89241376e-05, 1.14891330e-05,-6.87276537e-05,
 -2.11995213e-05, 3.08999174e-05, 6.59869479e-05,-1.18247254e-04,
 -4.35912083e-05,-2.28815505e-05, 5.44612635e-05,-9.99121158e-05,
 -6.18968865e-04,-1.57657985e-05,-3.25987501e-04,-3.26462154e-04,
 -1.85065516e-05, 9.69957628e-06,-1.21648730e+00,-4.39842616e-04,
  5.43917805e-05,-5.57967671e-04]


--- Step 99 ---
qpos:
[ 0.01043985,-0.00096157, 0.00212655, 0.03641005, 0.00397   ,-0.00213104,
 -0.01585836, 0.02466904, 0.01144933, 0.00389049,-0.00890831, 0.02294157,
  0.35583636,-0.00183611, 0.1972646 , 0.05774258, 0.09320601,-0.07023401,
  0.1309717 , 0.50621858, 0.49491847, 0.4922292 , 0.50646705]

qacc:
[ -4.31884955, -1.45543011,  9.42041585,-26.41070322, -9.04958977,
  -6.45033582, 31.40635722,-67.60124174, -6.8748066 , -4.77978281,
  20.18208074,-38.44720445, -0.75986321, -3.17113494,  7.42452974,
 -32.9477377 ,  0.553241  ,  1.11392878,  1.03930191,  6.59902176,
   1.41547695,-15.95197984]

qfrc_actuator:
[ 0.00160762,-0.00015942, 0.00041148, 0.00581175, 0.0005841 ,-0.00053452,
 -0.00271241, 0.00380366, 0.00181585, 0.00054104,-0.0014516 , 0.00359599,
  0.09013386,-0.00054812, 0.06967568, 0.00419054, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.79091006,  0.29700065,  4.78169528,  0.29700065, 52.06985104,
       -2.93658953,  4.78169528, -2.93658953,  4.9733075 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036530676570435683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03915265e-13,  8.07274922e-14,  1.00000000e+00, -2.45343172e-26,
        1.00000000e+00, -8.07274922e-14, -1.00000000e+00,  0.00000000e+00,
        3.03915265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591064, -0.08811505,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52416968e-05,-1.38655922e-05,-1.76520553e-05,-5.22780933e-05,
 -5.32403528e-05, 2.61302833e-07, 4.11040614e-05,-1.01530416e-04,
 -4.04066337e-05,-6.53703364e-05, 2.08973449e-05,-5.40194048e-05,
 -6.10965207e-04,-7.63479535e-05,-3.25014361e-04,-2.54809737e-04,
 -1.81807500e-05, 8.20622136e-06,-1.21648593e+00,-4.42395576e-04,
  5.11084412e-05,-5.58741077e-04]


--- Step 100 ---
qpos:
[ 0.01047156,-0.0009648 , 0.00213371, 0.03652353, 0.00398099,-0.00213668,
 -0.01590659, 0.02474411, 0.0114845 , 0.00390145,-0.00893456, 0.02301276,
  0.35768889,-0.00184352, 0.19907758, 0.05791519, 0.09327186,-0.07026511,
  0.13096925, 0.5058867 , 0.49528744, 0.49234599, 0.50632444]

qacc:
[ -4.82934488, -1.85813805, 15.07489123,-46.57564298, -6.2793849 ,
  -7.79292215, 33.13286832,-60.76011029, -9.60861651, -4.82892652,
  18.76688821,-33.07485252, -1.05320244, -0.19841587, 17.84320263,
 -69.09338363,  0.5337952 ,  1.08424188,  0.78146723,  6.63853658,
   1.27010515,-15.55419144]

qfrc_actuator:
[ 0.00158024,-0.00013496, 0.00038578, 0.00571883, 0.00054845,-0.00056586,
 -0.00263937, 0.00373033, 0.00176055, 0.00046551,-0.00142784, 0.00355384,
  0.08996489,-0.00056657, 0.06949506, 0.0038079 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.82629965, -0.27802823, -4.81828482, -0.27802823, 10.12674761,
       -0.30585036, -4.81828482, -0.30585036,  4.84394805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037317050519257433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48755463e-13,  4.64860821e-15,  1.00000000e+00, -6.91505867e-28,
        1.00000000e+00, -4.64860821e-15, -1.00000000e+00,  0.00000000e+00,
        1.48755463e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590969, -0.0881131 ,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81222000e-05, 1.04838591e-05,-3.28804183e-05,-9.54161019e-05,
 -3.71685001e-05,-2.64812818e-05, 7.51166027e-05,-7.39172598e-05,
 -5.64477288e-05,-1.10254354e-04, 1.10157294e-05,-4.53975456e-05,
 -6.16115962e-04,-6.05365898e-05,-3.48951186e-04,-4.36977205e-04,
 -1.78957474e-05, 6.82757801e-06,-1.21648507e+00,-4.44828682e-04,
  4.76770125e-05,-5.59443851e-04]


--- Step 101 ---
qpos:
[ 0.01050305,-0.00096782, 0.00214027, 0.03663467, 0.00399216,-0.00214245,
 -0.01595342, 0.02481803, 0.01151874, 0.00391123,-0.00896047, 0.02308329,
  0.35953812,-0.00185002, 0.20088649, 0.05808588, 0.09333978,-0.07029197,
  0.13096906, 0.50556234, 0.49564687, 0.49248563, 0.50616084]

qacc:
[ -2.04862026, -2.81647432, 20.28331948,-59.79041888,  1.59244668,
  -6.47376033, 27.70570197,-49.87624823, -8.20520446, -3.88501446,
  14.41549551,-25.63635607, -2.14389167, 10.93176356, -0.13540551,
  -8.17760068,  0.51886955,  1.05928745,  0.56439275,  6.672054  ,
   1.14615494,-15.22005488]

qfrc_actuator:
[ 0.0015692 ,-0.00013694, 0.00035008, 0.00560105, 0.0005586 ,-0.00054663,
 -0.00255939, 0.00367495, 0.00171395, 0.0003809 ,-0.00142124, 0.00351831,
  0.08979165,-0.00052122, 0.06932159, 0.00372676, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.84172433, -0.41588932, -4.82382945, -0.41588932, 13.1165207 ,
       -0.71341648, -4.82382945, -0.71341648,  4.90323196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003765143128815207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47434372e-13, -3.22512689e-14,  1.00000000e+00,  4.75494557e-27,
        1.00000000e+00,  3.22512689e-14, -1.00000000e+00,  0.00000000e+00,
        1.47434372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590866, -0.08811233,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18470562e-05,-7.32389878e-06,-4.12209935e-05,-1.20593619e-04,
  9.08150572e-06, 1.73682885e-05, 8.16705553e-05,-5.54070513e-05,
 -4.82125314e-05,-1.46100493e-04,-1.63337214e-05,-4.08740437e-05,
 -6.23280118e-04, 3.08667190e-06,-3.72848860e-04,-1.48652600e-04,
 -1.76407436e-05, 5.54990608e-06,-1.21648467e+00,-4.47173534e-04,
  4.40839657e-05,-5.60074855e-04]


--- Step 102 ---
qpos:
[ 0.01053347,-0.00097081, 0.0021467 , 0.03674318, 0.00400336,-0.00214789,
 -0.01599973, 0.02489174, 0.01155181, 0.00392021,-0.00898624, 0.0231528 ,
  0.36138412,-0.00185621, 0.20269168, 0.05825516, 0.09340974,-0.07031468,
  0.13097039, 0.5052453 , 0.49599717, 0.49264779, 0.50597643]

qacc:
[ -9.39029596, -5.01637806, 29.09363888,-74.558761  ,  0.31091831,
  -1.43133909,  6.59013325,-11.17764085,-10.2785495 , -3.49438666,
  15.23091942,-32.39962615, -1.60368121,  5.34425473, -1.26673958,
  -3.54911531,  0.50763909,  1.03837957,  0.38204103,  6.7031443 ,
   1.03902705,-14.94019078]

qfrc_actuator:
[ 0.00151462,-0.00013704, 0.00034415, 0.00546957, 0.00056012,-0.00051494,
 -0.00252902, 0.0036661 , 0.00165511, 0.00036243,-0.00140713, 0.00346918,
  0.08962132,-0.00050972, 0.06915793, 0.00366422, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.84040497, -0.5789101 , -4.80566159, -0.5789101 , 18.06041586,
       -1.59253783, -4.80566159, -1.59253783,  5.03224874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003762302184527472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.83836535e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.83836535e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590755, -0.0881125 ,  0.06198926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.49364929e-05,-1.82011788e-05,-1.70121654e-05,-1.35829633e-04,
  1.78144274e-06, 5.64910557e-05, 4.25566984e-05,-6.40220278e-06,
 -6.02426836e-05,-1.05409531e-04,-1.94235394e-05,-5.68643755e-05,
 -6.21421794e-04,-2.94646044e-05,-3.39299209e-04,-1.16442689e-04,
 -1.74076185e-05, 4.36201690e-06,-1.21648470e+00,-4.49454737e-04,
  4.03180436e-05,-5.60633525e-04]


--- Step 103 ---
qpos:
[ 0.01056301,-0.00097404, 0.00215373, 0.03684821, 0.00401449,-0.00215304,
 -0.01604555, 0.02496409, 0.01158461, 0.00392907,-0.00901197, 0.02322041,
  0.36322698,-0.00186252, 0.20449357, 0.05842163, 0.09348169,-0.07033331,
  0.13097264, 0.50493539, 0.49633869, 0.49283216, 0.50577131]

qacc:
[  -7.8115247 ,  -9.14902738,  46.84796719,-107.81525294,  -0.59349571,
   -3.7932293 ,  19.86286834, -44.50757084,  -2.4002748 ,  -4.20958369,
   22.83783077, -55.81951879,  -1.21529363,   1.56234502,   3.62541528,
  -19.73350055,   0.49943731,   1.02093167,   0.2292548 ,   6.73436221,
    0.94507754, -14.70670053]

qfrc_actuator:
[ 0.00147034,-0.00015368, 0.0003736 , 0.0052956 , 0.00055653,-0.0005117 ,
 -0.00251033, 0.00359592, 0.00164279, 0.00040149,-0.00138843, 0.003377  ,
  0.08946349,-0.00051828, 0.06900028, 0.00352431, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.82582298, -0.79862733, -4.75928166, -0.79862733, 27.61914546,
       -3.82481464, -4.75928166, -3.82481464,  5.46764285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000373066382303916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46390942e-13, -3.25493395e-14,  1.00000000e+00,  1.45297303e-26,
        1.00000000e+00,  3.25493395e-14, -1.00000000e+00,  0.00000000e+00,
        4.46390942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590637, -0.0881134 ,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58596284e-05,-3.64720793e-05, 1.85874090e-05,-1.78233350e-04,
 -3.52137736e-06, 4.39228949e-05, 3.58177877e-05,-6.64564749e-05,
 -1.40551224e-05,-2.64242256e-05,-7.35957962e-06,-9.85868092e-05,
 -6.09538053e-04,-5.08745764e-05,-3.15927577e-04,-1.88075139e-04,
 -1.71902483e-05, 3.25470706e-06,-1.21648513e+00,-4.51691732e-04,
  3.63695541e-05,-5.61119734e-04]


--- Step 104 ---
qpos:
[ 0.01059246,-0.0009773 , 0.00216043, 0.03695037, 0.00402549,-0.00215827,
 -0.01609002, 0.02503433, 0.01161734, 0.00393828,-0.00903756, 0.02328598,
  0.36506671,-0.00186852, 0.20629236, 0.05858475, 0.09355418,-0.07034775,
  0.13097668, 0.50463846, 0.49666626, 0.49303322, 0.50555009]

qacc:
[ -0.63750456, -5.01382771, 29.93481862,-79.0400811 , -1.09193843,
  -8.20415703, 37.97819025,-76.49962083, -0.51649102, -4.12542385,
  24.01347736,-59.89004275, -1.59475543,  5.51973972,  5.57600556,
 -26.14315397,  0.13376645,  1.04550527,  0.44597242,  1.44566306,
   0.54284945,-14.9323147 ]

qfrc_actuator:
[ 0.001468  ,-0.00016222, 0.0003526 , 0.0051513 , 0.00054996,-0.00052563,
 -0.00244558, 0.00349019, 0.00164019, 0.00045697,-0.00136695, 0.00327804,
  0.08930794,-0.00050306, 0.06885165, 0.00335771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003715900695722557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.46940726e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.46940726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138807, -0.08807354,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66742815e-06,-3.30416113e-05,-3.27239116e-05,-1.48942141e-04,
 -6.64960401e-06, 1.57463986e-05, 7.63702631e-05,-1.03949866e-04,
 -2.98628322e-06, 3.48769266e-05, 1.17832652e-05,-1.02373928e-04,
 -5.99869540e-04,-2.73626392e-05,-3.05771041e-04,-2.16138967e-04,
 -1.69840030e-05, 2.22032370e-06,-1.21648594e+00,-4.53900138e-04,
  3.22298764e-05,-5.61533703e-04]


--- Step 105 ---
qpos:
[ 0.01062167,-0.00098074, 0.00216656, 0.03705038, 0.00403599,-0.00216343,
 -0.01613343, 0.02510311, 0.01164911, 0.00394823,-0.00906326, 0.02335015,
  0.36690329,-0.00187422, 0.20808815, 0.05874323, 0.0936272 ,-0.07035808,
  0.13098188, 0.50435428, 0.49698026, 0.49325078, 0.50531282]

qacc:
[ -2.28061701, -3.07660429, 19.71930002,-55.89123016, -4.43561374,
  -5.8825043 , 27.3449194 ,-54.56450772, -8.60293978, -1.55442648,
  12.8530126 ,-37.28007318, -1.582034  ,  5.23755059,  9.57725133,
 -39.91602482,  0.13342723,  1.02703766,  0.29143095,  1.53229793,
   0.4698375 ,-14.71452397]

qfrc_actuator:
[ 0.00145485,-0.00018377, 0.00031976, 0.00504332, 0.00052395,-0.00051408,
 -0.00238975, 0.00341767, 0.00159006, 0.00052186,-0.00136166, 0.00321142,
  0.0891379 ,-0.00049172, 0.06869788, 0.00312351, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003689551921976092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52274970e-14, -7.52274970e-14,  1.00000000e+00, -5.65917631e-27,
        1.00000000e+00,  7.52274970e-14, -1.00000000e+00,  0.00000000e+00,
       -7.52274970e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138747, -0.08807449,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32695860e-05,-5.34551536e-05,-4.91408209e-05,-1.13662036e-04,
 -2.61985083e-05, 3.22207865e-05, 6.53199500e-05,-7.12710740e-05,
 -5.01764272e-05, 8.23685740e-05, 1.04833800e-05,-6.68155706e-05,
 -6.05655071e-04,-3.01042097e-05,-3.10105764e-04,-2.84168609e-04,
 -1.61835578e-05, 1.15177916e-06,-1.21648527e+00,-4.56031077e-04,
  2.75129831e-05,-5.61914786e-04]


--- Step 106 ---
qpos:
[ 0.01065014,-0.0009844 , 0.00217225, 0.03714832, 0.00404609,-0.00216837,
 -0.01617615, 0.02517013, 0.01168002, 0.00395905,-0.00908911, 0.02341301,
  0.36873673,-0.00187971, 0.20988006, 0.05890007, 0.09370076,-0.07036437,
  0.13098773, 0.50408265, 0.49728099, 0.49348469, 0.50505956]

qacc:
[ -6.4265161 , -3.31926517, 20.18900292,-55.28117246, -3.43434416,
  -5.22673906, 26.43845587,-57.9081322 , -7.47745668, -1.12267358,
  11.23383559,-34.39520428, -1.51870274,  4.63986303, -0.75478959,
  -5.66258775,  0.13410373,  1.01186144,  0.16243075,  1.61176815,
   0.40356337,-14.53403118]

qfrc_actuator:
[ 0.00141769,-0.00019523, 0.00029795, 0.00493982, 0.00050444,-0.00050514,
 -0.00235728, 0.00332978, 0.00154787, 0.00057413,-0.00136589, 0.00314661,
  0.08897526,-0.00048281, 0.06850918, 0.00304665, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000364012234722641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52498037e-13,  1.52498037e-13,  1.00000000e+00, -2.32556513e-26,
        1.00000000e+00, -1.52498037e-13, -1.00000000e+00,  0.00000000e+00,
        1.52498037e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09138691, -0.08807599,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75698636e-05,-5.66372186e-05,-4.31274295e-05,-1.09936772e-04,
 -2.02364885e-05, 3.79338588e-05, 4.51255820e-05,-8.56811178e-05,
 -4.35697848e-05, 9.75097244e-05, 1.18379723e-05,-6.23178943e-05,
 -6.02704044e-04,-3.33822564e-05,-3.54800666e-04,-1.31224571e-04,
 -1.54037015e-05, 1.77450912e-07,-1.21648493e+00,-4.58144850e-04,
  2.27878988e-05,-5.62225326e-04]


--- Step 107 ---
qpos:
[ 0.0106776 ,-0.0009878 , 0.00217737, 0.03724419, 0.00405622,-0.00217316,
 -0.01621816, 0.02523629, 0.01171019, 0.00397051,-0.00911478, 0.02347461,
  0.37056707,-0.001885  , 0.21166873, 0.05905103, 0.09377194,-0.07036594,
  0.13099572, 0.50383696, 0.49755627, 0.49372541, 0.50479827]

qacc:
[ -8.92397537, -2.28675267, 17.38805833,-52.37943857,  0.3044888 ,
  -3.59305456, 16.79229913,-33.20092539, -6.56999843, -2.25878452,
  14.65940057,-37.34236613, -1.48602965,  4.36855126, 12.95958369,
 -52.2715789 , -0.5924913 ,  1.1794498 ,  0.53463311, -9.15998932,
  -0.251468  ,-16.54496717]

qfrc_actuator:
[ 0.00136669,-0.00014724, 0.00028285, 0.0048398 , 0.00050669,-0.00049793,
 -0.00232112, 0.00328679, 0.0015107 , 0.00060064,-0.001358  , 0.00308336,
  0.08881716,-0.0004754 , 0.06833166, 0.0027435 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003682314374843648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.53753558e-14,  7.53753558e-14,  1.00000000e+00, -5.68144426e-27,
        1.00000000e+00, -7.53753558e-14, -1.00000000e+00,  0.00000000e+00,
        7.53753558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203275, -0.09002918,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20981699e-05, 2.43782121e-06,-3.61816603e-05,-1.06312552e-04,
  1.68605447e-06, 3.45941191e-05, 4.69935954e-05,-4.15170096e-05,
 -3.83546531e-05, 8.06716499e-05, 2.74067403e-05,-5.99655719e-05,
 -5.96168299e-04,-3.51335512e-05,-3.44080619e-04,-3.54014649e-04,
 -1.46395451e-05,-7.08764673e-07,-1.21648490e+00,-4.60250677e-04,
  1.80403709e-05,-5.62465098e-04]


--- Step 108 ---
qpos:
[ 0.01070458,-0.0009911 , 0.00218253, 0.03733809, 0.00406665,-0.00217751,
 -0.01625954, 0.02530137, 0.01173968, 0.00398218,-0.00913968, 0.02353498,
  0.37239436,-0.00189079, 0.21345443, 0.05919705, 0.09384082,-0.07036289,
  0.1310051 , 0.50361674, 0.4978067 , 0.49397289, 0.50452893]

qacc:
[ -4.22358915, -4.05626972, 22.99579338,-57.29600395,  2.57829304,
  -3.3443596 , 17.27027202,-37.00809405, -5.96150781, -4.35318615,
  21.09065317,-43.6134126 , -0.87442947, -1.66685955, 10.56276047,
 -43.33480744, -0.57879841,  1.15461033,  0.348793  , -8.90503186,
  -0.31924995,-16.27752195]

qfrc_actuator:
[ 0.00134346,-0.000135  , 0.00028984, 0.00474267, 0.00052172,-0.00045627,
 -0.00228305, 0.00323506, 0.00147677, 0.00059383,-0.00132536, 0.00302154,
  0.08865125,-0.00050446, 0.06820886, 0.00250475, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.80823137,  2.59392427, -4.04853625,  2.59392427, 12.59275327,
        4.98759528, -4.04853625,  4.98759528,  8.00381703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003691897899183033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203229, -0.09002944,  0.06198946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47135139e-05, 1.31850680e-06,-9.00706602e-07,-1.00565443e-04,
  1.50887587e-05, 6.94515036e-05, 4.99681815e-05,-4.94740682e-05,
 -3.49615777e-05, 4.12149865e-05, 5.06673175e-05,-5.86854237e-05,
 -5.99354163e-04,-7.15244462e-05,-3.10990571e-04,-3.01064936e-04,
 -1.26652322e-05,-1.66927548e-06,-1.21648150e+00,-4.62343142e-04,
  1.26490924e-05,-5.62686806e-04]


--- Step 109 ---
qpos:
[ 0.01073107,-0.00099452, 0.00218754, 0.03743048, 0.00407717,-0.00218191,
 -0.01629908, 0.02536497, 0.01176922, 0.00399363,-0.0091632 , 0.02359381,
  0.37421845,-0.00189681, 0.21523688, 0.05934132, 0.09390742,-0.0703553 ,
  0.13101526, 0.50342163, 0.49803279, 0.49422709, 0.5042515 ]

qacc:
[ -4.29835736, -2.8356428 , 16.25875044,-42.07007613,  0.9294696 ,
  -8.30405807, 35.79300692,-64.52299453,  0.52666175, -7.36510368,
  32.37450458,-61.21686624, -1.16406211,  0.80841514,  0.47525886,
  -8.62198771, -0.56671502,  1.13434456,  0.19335573, -8.68738586,
  -0.38006401,-16.05566767]

qfrc_actuator:
[ 0.00131902,-0.00016191, 0.00027419, 0.00466577, 0.00052639,-0.00046531,
 -0.00219078, 0.00316087, 0.00148054, 0.00056719,-0.00126076, 0.00294327,
  0.08847011,-0.00051928, 0.06807638, 0.00243033, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003670989519359291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203228, -0.09003048,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51500455e-05,-3.09057160e-05,-1.92294371e-05,-7.90502423e-05,
  5.12591746e-06, 3.85000913e-05, 1.11457858e-04,-7.04892140e-05,
  2.80833958e-06, 4.18051019e-06, 7.73726154e-05,-7.59860633e-05,
 -6.19305222e-04,-5.91621128e-05,-3.01074481e-04,-1.29874621e-04,
 -1.08111826e-05,-2.44454393e-06,-1.21647863e+00,-4.64422232e-04,
  7.65256421e-06,-5.62804600e-04]


--- Step 110 ---
qpos:
[ 0.01075671,-0.00099784, 0.0021922 , 0.0375219 , 0.00408732,-0.00218645,
 -0.01633709, 0.02542721, 0.01179858, 0.00400432,-0.00918514, 0.0236513 ,
  0.37603925,-0.00190222, 0.21701651, 0.0594802 , 0.0939718 ,-0.07034325,
  0.13102567, 0.50325132, 0.49823496, 0.49448798, 0.50396595]

qacc:
[ -7.43598986, -0.86144515,  7.38501937,-23.69997489, -3.1996886 ,
  -7.23517434, 31.27156883,-57.06487382, -1.55694123, -8.14281141,
  33.23397534,-58.36325375, -1.95501645,  8.22466555, 12.09925107,
 -48.37428717, -0.55604543,  1.11793762,  0.06376281, -8.50087174,
  -0.43546078,-15.87333304]

qfrc_actuator:
[ 0.0012763 ,-0.0001411 , 0.00026288, 0.00461908, 0.00050717,-0.00048669,
 -0.0021207 , 0.00309182, 0.00147095, 0.0004935 ,-0.00119568, 0.00287371,
  0.08829594,-0.00049012, 0.06791693, 0.0021515 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003626120304503072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203261, -0.09003212,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34532525e-05,-4.06831773e-06,-2.30413634e-05,-5.04261961e-05,
 -1.90612138e-05, 2.06348373e-05, 8.96921681e-05,-6.49645452e-05,
 -9.48683601e-06,-5.87999951e-05, 7.28854881e-05,-6.82832931e-05,
 -6.26026590e-04,-1.65856539e-05,-3.04174372e-04,-3.23416701e-04,
 -9.06473072e-06,-3.04302862e-06,-1.21647626e+00,-4.66496282e-04,
  3.01819090e-06,-5.62816868e-04]


--- Step 111 ---
qpos:
[ 0.01078199,-0.00100102, 0.00219663, 0.03761237, 0.00409717,-0.00219053,
 -0.01637443, 0.02548812, 0.01182725, 0.00401396,-0.0092059 , 0.02370792,
  0.37785686,-0.00190755, 0.21879281, 0.05961434, 0.094034  ,-0.07032677,
  0.13103591, 0.50310554, 0.49841356, 0.49475553, 0.50367222]

qacc:
[-3.23529454e+00,-1.10681384e+00, 8.20216591e+00,-2.42664093e+01,
 -2.70290825e+00,-3.98367621e+00, 2.06994494e+01,-4.51000585e+01,
 -5.99354243e+00,-6.50028479e+00, 2.48666931e+01,-4.11203173e+01,
 -1.44224423e+00, 3.52170171e+00, 9.42429553e+00,-4.00698710e+01,
 -5.46613195e-01, 1.10478806e+00,-4.38951570e-02,-8.34040177e+00,
 -4.86637821e-01,-1.57252753e+01]

qfrc_actuator:
[ 0.00125867,-0.00012735, 0.00025445, 0.00457284, 0.0004918 ,-0.00044437,
 -0.00208212, 0.0030263 , 0.0014358 , 0.00040997,-0.00114879, 0.00282753,
  0.08813671,-0.00048858, 0.06774669, 0.00191412, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035627327469724135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203321, -0.09003424,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88768878e-05, 4.32037835e-06,-1.41005036e-05,-4.84072337e-05,
 -1.59079805e-05, 7.00709917e-05, 5.19995487e-05,-6.28369907e-05,
 -3.54084994e-05,-1.04458011e-04, 4.13883526e-05,-4.76006175e-05,
 -6.13118298e-04,-4.35325733e-05,-3.38850921e-04,-2.93353256e-04,
 -7.41553562e-06,-3.47143934e-06,-1.21647437e+00,-4.68572588e-04,
 -1.28060244e-06,-5.62722338e-04]


--- Step 112 ---
qpos:
[ 0.01080652,-0.0010041 , 0.00220123, 0.03770122, 0.00410744,-0.00219412,
 -0.01641103, 0.02554742, 0.01185493, 0.00402313,-0.00922553, 0.02376312,
  0.37967133,-0.00191278, 0.220565  , 0.0597486 , 0.09409404,-0.07030591,
  0.13104561, 0.50298408, 0.4985689 , 0.49502974, 0.50337027]

qacc:
[ -6.6198337 , -3.71066431, 20.31680272,-48.90900889,  3.77545247,
  -4.75459442, 24.69572931,-54.17528226, -8.66221362, -6.63977843,
  28.78334646,-54.71604757, -1.43918558,  3.59083931, -6.37754567,
  13.52486615, -0.53826035,  1.09438912, -0.13297484, -8.20177653,
  -0.53451687,-15.60696058]

qfrc_actuator:
[ 0.00122045,-0.00011791, 0.00026551, 0.00449172, 0.00051433,-0.00041761,
 -0.00204444, 0.00294567, 0.00138591, 0.00042763,-0.00107757, 0.00275995,
  0.08797591,-0.00048557, 0.06757012, 0.00193391, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034853438132571857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38905346e-13, -1.59270230e-13,  1.00000000e+00,  3.80505095e-26,
        1.00000000e+00,  1.59270230e-13, -1.00000000e+00,  0.00000000e+00,
        2.38905346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102034  , -0.09003671,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87674523e-05, 6.64396312e-06, 8.30053916e-06,-8.25773835e-05,
  2.21021234e-05, 7.44288064e-05, 5.67374181e-05,-7.70947476e-05,
 -5.09152653e-05,-3.43948350e-05, 5.31326022e-05,-7.16469180e-05,
 -6.07103647e-04,-4.24093076e-05,-3.55837243e-04,-3.85141857e-05,
 -5.85510033e-06,-3.73504852e-06,-1.21647292e+00,-4.70657706e-04,
 -5.26550787e-06,-5.62519945e-04]


--- Step 113 ---
qpos:
[ 0.01083005,-0.00100696, 0.00220617, 0.03778802, 0.00411791,-0.0021976 ,
 -0.01644672, 0.02560533, 0.01188146, 0.00403252,-0.00924474, 0.02381704,
  0.3814826 ,-0.0019172 , 0.22233318, 0.05988497, 0.09415196,-0.07028071,
  0.13105449, 0.50288677, 0.49870123, 0.4953106 , 0.50306003]

qacc:
[ -8.73398845, -4.84715847, 26.36951415,-62.45599233,  1.69523749,
  -5.26761696, 24.85550961,-50.45772935,-10.18594785, -3.5298305 ,
  18.42857307,-41.46446855, -2.08372867,  9.64084323,-12.31318632,
  34.53393472, -0.53084635,  1.08631349, -0.2063591 , -8.08152329,
  -0.57980451,-15.51446744]

qfrc_actuator:
[ 1.17040508e-03,-9.33158081e-05, 2.87954678e-04, 4.39072874e-03,
  5.23485117e-04,-4.35924135e-04,-2.00763569e-03, 2.87453831e-03,
  1.32774285e-03, 4.70339773e-04,-1.04540935e-03, 2.69816876e-03,
  8.78142815e-02,-4.46234437e-04, 6.74006083e-02, 2.05179505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033976848317077146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16896710e-14, -4.90138026e-13,  1.00000000e+00,  4.00392141e-26,
        1.00000000e+00,  4.90138026e-13, -1.00000000e+00,  0.00000000e+00,
        8.16896710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203493, -0.09003944,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11539048e-05, 2.62539731e-05, 2.17417998e-05,-1.02226669e-04,
  9.80857099e-06, 3.21617134e-05, 5.68378832e-05,-6.75199951e-05,
 -5.96061810e-05, 3.12239959e-05, 2.91508331e-05,-6.29054002e-05,
 -6.03292147e-04,-5.93494362e-06,-3.26092560e-04, 7.20969250e-05,
 -4.37639697e-06,-3.83795023e-06,-1.21647191e+00,-4.72757668e-04,
 -8.95424013e-06,-5.62208734e-04]


--- Step 114 ---
qpos:
[ 0.01085314,-0.00100979, 0.00221115, 0.03787333, 0.00412805,-0.00220095,
 -0.0164817 , 0.02566263, 0.01190708, 0.0040419 ,-0.00926367, 0.02387088,
  0.38329073,-0.00192141, 0.22409787, 0.060021  , 0.09420778,-0.07025119,
  0.1310623 , 0.50281347, 0.49881077, 0.49559811, 0.50274143]

qacc:
[ -3.85138441, -3.14153415, 17.58703223,-43.58657028, -2.75503176,
  -3.01989894, 13.58957372,-25.25949648, -7.93927319, -0.92693198,
   3.69142773, -5.66703278, -1.55045978,  4.60586098, -4.09368952,
   6.86080288, -0.52424701,  1.08020074, -0.26652268, -7.97676637,
  -0.62303979,-15.44440582]

qfrc_actuator:
[ 0.00114931,-0.00011306, 0.00028148, 0.00431439, 0.00050692,-0.00042783,
 -0.00197182, 0.00284504, 0.00128293, 0.00045658,-0.00103644, 0.00269356,
  0.08764694,-0.0004391 , 0.06722481, 0.0020312 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033028215443788034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.4035953e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.4035953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203597, -0.09004234,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25454483e-05,-5.19229622e-06,-2.14663158e-06,-7.66485061e-05,
 -1.62700606e-05, 3.53480598e-05, 4.74500853e-05,-2.75115081e-05,
 -4.64759545e-05, 6.85389306e-06, 1.68585548e-05,-3.58128578e-06,
 -6.03423994e-04,-3.68783300e-05,-3.07457370e-04,-5.66465236e-05,
 -2.97357213e-06,-3.78327626e-06,-1.21647131e+00,-4.74878135e-04,
 -1.23612622e-05,-5.61787798e-04]


--- Step 115 ---
qpos:
[ 0.01087615,-0.0010125 , 0.00221601, 0.03795705, 0.00413792,-0.00220415,
 -0.01651597, 0.02571913, 0.01193196, 0.00405152,-0.00928242, 0.02392387,
  0.38509571,-0.00192545, 0.22585952, 0.0601514 , 0.09426153,-0.07021737,
  0.13106886, 0.50276407, 0.49889768, 0.49589228, 0.50241441]

qacc:
[ -0.78089878, -2.76663541, 16.7578181 ,-44.01818576, -2.41209537,
  -3.455482  , 15.99060074,-31.12643314, -6.4806528 , -1.93803061,
  10.96412402,-26.12057061, -1.52492252,  4.30184385, 12.52197926,
 -50.29815966, -0.51835327,  1.07574691, -0.31558791, -7.88512247,
  -0.66463173,-15.3938488 ]

qfrc_actuator:
[ 0.00114544,-0.00010604, 0.00027559, 0.00423537, 0.00049312,-0.00042171,
 -0.00193677, 0.00280478, 0.00124633, 0.00048008,-0.00102364, 0.00265155,
  0.08748162,-0.00043326, 0.06704001, 0.00173385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003203257092630196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66479799e-14, -3.46591920e-13,  1.00000000e+00,  3.00314897e-26,
        1.00000000e+00,  3.46591920e-13, -1.00000000e+00,  0.00000000e+00,
        8.66479799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203706, -0.09004536,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.52855800e-06, 1.61337336e-07,-1.01241231e-05,-8.10124252e-05,
 -1.42582819e-05, 3.49002637e-05, 4.75743919e-05,-3.76806180e-05,
 -3.78934617e-05, 3.04885582e-05, 1.61831648e-05,-4.12865352e-05,
 -6.03720889e-04,-3.96627753e-05,-3.23904677e-04,-3.38565291e-04,
 -1.64171371e-06,-3.57337653e-06,-1.21647113e+00,-4.77024502e-04,
 -1.54983699e-05,-5.61256237e-04]


--- Step 116 ---
qpos:
[ 0.01089962,-0.00101495, 0.00222069, 0.03803916, 0.00414755,-0.00220729,
 -0.01654922, 0.0257747 , 0.01195656, 0.00406121,-0.00930078, 0.02397526,
  0.38689758,-0.00192935, 0.22761779, 0.06027785, 0.09431323,-0.07017925,
  0.13107399, 0.50273849, 0.49896212, 0.49619313, 0.50207887]

qacc:
[  4.0679691 , -2.4787004 , 16.15293549,-44.0254728 , -2.09465891,
  -4.67921427, 20.75675635,-38.6003354 , -2.51483447, -4.30136247,
  22.24890225,-50.66472068, -1.48565522,  4.01789325,  6.91036231,
 -31.42875018, -0.5130699 ,  1.07269584, -0.35537233, -7.80461543,
  -0.70488864,-15.3602736 ]

qfrc_actuator:
[ 1.16946944e-03,-8.30578218e-05, 2.70178827e-04, 4.15541303e-03,
  4.81052298e-04,-4.16850477e-04,-1.88470073e-03, 2.75850228e-03,
  1.23261455e-03, 4.72437751e-04,-1.00857818e-03, 2.57016006e-03,
  8.73229414e-02,-4.28242444e-04, 6.68818578e-02, 1.54216623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003101020277131994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020382 , -0.09004845,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38926390e-05, 1.72907658e-05,-9.66045607e-06,-8.20716663e-05,
 -1.24599909e-05, 3.29782695e-05, 6.41438905e-05,-4.39094339e-05,
 -1.47598709e-05, 1.07989400e-05, 2.19432847e-05,-8.04221008e-05,
 -5.97645372e-04,-4.09308570e-05,-3.36854972e-04,-2.50881004e-04,
 -3.76665702e-07,-3.20996991e-06,-1.21647134e+00,-4.79201973e-04,
 -1.83751640e-05,-5.60613127e-04]


--- Step 117 ---
qpos:
[ 0.01092285,-0.00101734, 0.00222529, 0.03812037, 0.00415731,-0.00220992,
 -0.01658201, 0.02582892, 0.0119808 , 0.00407033,-0.00931822, 0.02402531,
  0.38869641,-0.00193379, 0.22937202, 0.060405  , 0.09436289,-0.07013686,
  0.13107757, 0.50273666, 0.4990042 , 0.49650066, 0.50173474]

qacc:
[ -2.10945117, -1.54389436,  9.41577225,-24.81925432,  1.1014829 ,
  -3.37405247, 18.70528056,-43.18236134, -3.08653732, -6.01966441,
  25.98402918,-50.01422874, -0.81972573, -1.96332067, -8.02829366,
  19.45048877, -0.50831426,  1.0708318 , -0.38742983, -7.73360651,
  -0.74404114,-15.34151006]

qfrc_actuator:
[ 1.15646882e-03,-8.61975050e-05, 2.65173971e-04, 4.11107295e-03,
  4.87859928e-04,-3.77209756e-04,-1.85852629e-03, 2.69131698e-03,
  1.21471763e-03, 4.10673515e-04,-9.74682328e-04, 2.50173002e-03,
  8.71630349e-02,-4.59263312e-04, 6.67131981e-02, 1.59197002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002997741093582057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85176603e-13, -1.85176603e-13,  1.00000000e+00,  3.42903743e-26,
        1.00000000e+00,  1.85176603e-13, -1.00000000e+00,  0.00000000e+00,
        1.85176603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203935, -0.09005155,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23243560e-05, 8.02436977e-07,-5.69688378e-06,-4.57246995e-05,
  6.46317879e-06, 6.98252456e-05, 3.96713181e-05,-6.44495239e-05,
 -1.82879593e-05,-5.48173806e-05, 3.60589706e-05,-6.88630766e-05,
 -5.94443553e-04,-7.68819668e-05,-3.42477515e-04,-5.91633990e-06,
  8.25119737e-07,-2.69427003e-06,-1.21647195e+00,-4.81415612e-04,
 -2.09994335e-05,-5.59857502e-04]


--- Step 118 ---
qpos:
[ 0.01094471,-0.00101948, 0.00222978, 0.03819971, 0.00416706,-0.00221232,
 -0.01661387, 0.02588191, 0.01200464, 0.00407938,-0.00933612, 0.02407419,
  0.39049214,-0.00193885, 0.23112308, 0.06052931, 0.09440773,-0.07010278,
  0.13108388, 0.5027172 , 0.49905681, 0.49676547, 0.50143972]

qacc:
[-12.06354638, -3.20515264, 19.83268036,-52.31992749,  0.07579263,
  -4.84272957, 22.91736187,-45.85765702, -3.5589187 , -1.24979753,
   9.31191393,-28.97456749, -0.79754677, -2.36212613,  3.85280336,
 -20.30221469, -1.20522038, -2.08132805,  0.68451265,-15.86615204,
   3.25192856, 30.04408105]

qfrc_actuator:
[ 1.08626230e-03,-6.94177012e-05, 2.60372523e-04, 4.01701451e-03,
  4.87968264e-04,-3.70429108e-04,-1.81222128e-03, 2.63012959e-03,
  1.19449548e-03, 4.05816520e-04,-1.00116756e-03, 2.44144564e-03,
  8.69918457e-02,-4.93521284e-04, 6.65543931e-02, 1.44631106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002925532514765905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89747169e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89747169e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024366, -0.03410253,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05677249e-05, 1.38659913e-05,-7.14986771e-06,-9.53013516e-05,
  3.18047074e-07, 5.16206773e-05, 6.36785882e-05,-5.81189824e-05,
 -2.07385321e-05,-3.11812876e-05,-3.57386285e-05,-6.28136731e-05,
 -6.05871760e-04,-8.15541833e-05,-3.06428408e-04,-1.88096060e-04,
  1.96670078e-06,-2.02709023e-06,-1.21647295e+00,-4.83670380e-04,
 -2.33774664e-05,-5.58988350e-04]


--- Step 119 ---
qpos:
[ 0.01096555,-0.00102153, 0.00223428, 0.03827627, 0.00417606,-0.0022149 ,
 -0.01664443, 0.02593413, 0.01202805, 0.00408847,-0.00935462, 0.02412231,
  0.39228465,-0.00194353, 0.23287139, 0.06065177, 0.09444798,-0.07007678,
  0.13109167, 0.5026811 , 0.49911961, 0.49698857, 0.50119226]

qacc:
[ -8.8950467 , -5.59645442, 31.89540801,-80.05410684, -6.65658373,
  -5.43825025, 22.28712581,-37.542375  , -3.78222181,  0.15359471,
   2.79914476,-15.1579636 , -1.7631376 ,  6.10028424,  1.57332023,
 -11.35678192, -1.14712968, -2.01858113,  0.36588439,-15.55893963,
   2.95971343, 29.06507054]

qfrc_actuator:
[ 1.03621781e-03,-7.63834777e-05, 2.55766945e-04, 3.87671227e-03,
  4.48620979e-04,-4.01054838e-04,-1.75451048e-03, 2.59071093e-03,
  1.17306802e-03, 4.17080650e-04,-1.02737784e-03, 2.40418461e-03,
  8.68193270e-02,-4.76179569e-04, 6.64495014e-02, 1.36414461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58775774, -1.48401675, -4.34110762, -1.48401675, 29.38982398,
       -8.47863838, -4.34110762, -8.47863838,  7.48619806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031390452649503187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.84204377e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.84204377e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024218, -0.03411391,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20557980e-05,-5.01753445e-06,-6.14329029e-06,-1.41994062e-04,
 -3.93203456e-05, 9.24518834e-06, 7.44894824e-05,-3.61761562e-05,
 -2.20034871e-05,-1.64057991e-05,-3.92069400e-05,-4.11401464e-05,
 -6.15945257e-04,-3.13780830e-05,-2.59116252e-04,-1.30795077e-04,
  7.25533148e-07,-1.97743419e-06,-1.21646466e+00,-4.81958410e-04,
 -1.61465326e-05,-5.56807572e-04]


--- Step 120 ---
qpos:
[ 0.01098633,-0.00102355, 0.00223871, 0.03835057, 0.00418451,-0.00221796,
 -0.01667382, 0.02598517, 0.01205034, 0.00409724,-0.00937263, 0.02416957,
  0.39407396,-0.00194827, 0.2346169 , 0.06076933, 0.09448384,-0.07005865,
  0.13109984, 0.50262919, 0.49919233, 0.49717084, 0.50099108]

qacc:
[ -0.6431069 , -4.45248174, 25.48354438,-64.59273385, -4.70221995,
  -6.29680416, 26.53635521,-48.47150051, -9.90905082, -3.52228972,
  15.53165815,-30.77192874, -1.36664847,  2.54996577, 10.66574353,
 -43.32435169, -1.09931053, -1.96593269,  0.09757818,-15.2874531 ,
   2.73029638, 28.2472714 ]

qfrc_actuator:
[ 1.03396456e-03,-7.98067937e-05, 2.51197609e-04, 3.76357220e-03,
  4.21873100e-04,-4.53784356e-04,-1.70843572e-03, 2.52888035e-03,
  1.11559793e-03, 4.02415477e-04,-9.99846614e-04, 2.36304234e-03,
  8.66514601e-02,-4.81879490e-04, 6.62811691e-02, 1.10720313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.64100694,  -1.61859847,  -4.34960739,  -1.61859847,
        34.92950028, -11.2711113 ,  -4.34960739, -11.2711113 ,
         8.83527136,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003285672998006167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37898210e-13,  1.68949105e-13,  1.00000000e+00, -5.70876002e-26,
        1.00000000e+00, -1.68949105e-13, -1.00000000e+00,  0.00000000e+00,
        3.37898210e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024154, -0.03412174,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74253387e-06,-1.38155280e-05,-1.14941321e-05,-1.16509612e-04,
 -2.78671157e-05,-3.34017339e-05, 5.61819333e-05,-5.96020398e-05,
 -5.80782559e-05,-3.38552636e-05, 1.79170151e-05,-4.40835178e-05,
 -6.14758161e-04,-5.36985660e-05,-2.96713401e-04,-2.96823712e-04,
 -2.12532710e-07,-1.78406951e-06,-1.21645794e+00,-4.80809914e-04,
 -1.00383008e-05,-5.55059704e-04]


--- Step 121 ---
qpos:
[ 0.01100795,-0.00102544, 0.00224297, 0.03842326, 0.00419292,-0.00222149,
 -0.01670238, 0.02603544, 0.01207142, 0.00410582,-0.00938992, 0.02421524,
  0.39586016,-0.00195333, 0.23635907, 0.06087899, 0.09451546,-0.0700482 ,
  0.1311075 , 0.50256212, 0.49927474, 0.49731305, 0.50083508]

qacc:
[  7.42385695, -2.63824307, 16.38362696,-43.83248163, -0.33160591,
  -4.54211318, 18.55976063,-32.90334193,-10.59640143, -5.48732857,
  25.97468591,-54.54635926, -1.0828425 ,  0.14525874, 18.89915274,
 -73.29722505, -1.05994367, -1.92187139, -0.12820812,-15.04904467,
   2.55070257, 27.56527794]

qfrc_actuator:
[ 1.07760446e-03,-6.33156440e-05, 2.46720619e-04, 3.68508144e-03,
  4.20520308e-04,-4.83912560e-04,-1.66973118e-03, 2.48982563e-03,
  1.05512672e-03, 4.08063936e-04,-9.58662432e-04, 2.28445464e-03,
  8.64918226e-02,-5.01129886e-04, 6.60695510e-02, 6.95926270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67626118,  1.62896937,  4.38336371,  1.62896937,  9.38763866,
       -1.75086762,  4.38336371, -1.75086762,  5.3269281 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033776587008446657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64348018e-13,  1.64348018e-13,  1.00000000e+00, -2.70102710e-26,
        1.00000000e+00, -1.64348018e-13, -1.00000000e+00,  0.00000000e+00,
        1.64348018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1102416 , -0.03412669,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35212443e-05, 1.18762539e-06,-1.29927552e-05,-8.19232059e-05,
 -2.15869472e-06,-3.94237535e-05, 3.69311410e-05,-3.97425702e-05,
 -6.21132464e-05,-1.16337003e-05, 3.49001873e-05,-8.03546100e-05,
 -6.07473932e-04,-6.83196833e-05,-3.74697371e-04,-4.64995385e-04,
 -8.90620205e-07,-1.46075213e-06,-1.21645266e+00,-4.80122053e-04,
 -4.95284635e-06,-5.53702861e-04]


--- Step 122 ---
qpos:
[ 0.01103027,-0.00102709, 0.00224681, 0.03849411, 0.00420091,-0.00222485,
 -0.0167308 , 0.02608516, 0.01209195, 0.0041144 ,-0.00940639, 0.02425959,
  0.3976432 ,-0.00195821, 0.23809724, 0.06098677, 0.09454296,-0.0700453 ,
  0.13111388, 0.5024804 , 0.49936666, 0.49741583, 0.50072337]

qacc:
[  6.13116563, -2.34964667, 16.61640461,-48.13249469, -3.74512481,
  -1.28551946,  7.21400593,-17.02856573, -4.76104397, -5.05166936,
  23.61682341,-47.94259972, -1.56909837,  4.47958938, -0.19603774,
  -7.83844384, -1.02754635, -1.88511865, -0.3180281 ,-14.84110677,
   2.41062574, 26.99810405]

qfrc_actuator:
[ 1.11238578e-03,-5.27471576e-05, 2.24684113e-04, 3.59211455e-03,
  3.98616241e-04,-4.47041204e-04,-1.65334074e-03, 2.46450012e-03,
  1.02889004e-03, 4.25877435e-04,-9.09711412e-04, 2.21998623e-03,
  8.63319059e-02,-4.92698729e-04, 6.59173230e-02, 6.23062904e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6950965 ,  1.87268829,  4.30545813,  1.87268829, 11.85001028,
       -3.11207839,  4.30545813, -3.11207839,  6.04871616,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034252897810437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24125284e-13,  8.10313211e-14,  1.00000000e+00, -2.62643000e-26,
        1.00000000e+00, -8.10313211e-14, -1.00000000e+00,  0.00000000e+00,
        3.24125284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024223, -0.03412931,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60108523e-05, 4.84174119e-06,-2.64397712e-05,-9.51336585e-05,
 -2.19792056e-05, 2.11008095e-05, 1.16853342e-05,-2.65512389e-05,
 -2.79849274e-05, 1.49078877e-05, 4.80902014e-05,-6.53990047e-05,
 -6.03755964e-04,-4.09107508e-05,-3.66700113e-04,-1.45236337e-04,
 -1.34121187e-06,-1.01752990e-06,-1.21644871e+00,-4.79819752e-04,
 -8.09387749e-07,-5.52704868e-04]


--- Step 123 ---
qpos:
[ 0.01105214,-0.00102857, 0.00225037, 0.03856294, 0.00420857,-0.00222803,
 -0.01675857, 0.02613381, 0.01211235, 0.004123  ,-0.0094222 , 0.02430386,
  0.39942311,-0.00196324, 0.23983155, 0.06109538, 0.09456647,-0.07004981,
  0.13111836, 0.50238444, 0.4994679 , 0.49747973, 0.50065518]

qacc:
[ -3.93642801, -3.12642933, 19.99214981,-54.54957838, -2.83074261,
  -3.79439002, 18.4458358 ,-38.2813177 , -1.117658  , -1.93178904,
   7.26296735, -9.64084718, -1.23610883,  1.56268647, -8.19932094,
  20.403548  , -1.0009056 , -1.85458648, -0.47742092,-14.66108856,
   2.30186487, 26.52829494]

qfrc_actuator:
[ 1.08840179e-03,-4.58850258e-05, 2.10176718e-04, 3.49135430e-03,
  3.82536250e-04,-4.23668297e-04,-1.61446680e-03, 2.41199104e-03,
  1.02301382e-03, 4.33141863e-04,-8.74250513e-04, 2.21762186e-03,
  8.61666108e-02,-5.03557903e-04, 6.57636272e-02, 6.79381895e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69986743,  2.1179841 ,  4.19558068,  2.1179841 , 15.91368578,
       -5.66088244,  4.19558068, -5.66088244,  7.55755507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003437195145278016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23002616e-13,  8.07506541e-14,  1.00000000e+00, -2.60826725e-26,
        1.00000000e+00, -8.07506541e-14, -1.00000000e+00,  0.00000000e+00,
        3.23002616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024333, -0.03413007,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29656374e-05,-1.69127713e-07,-2.02632269e-05,-1.03488134e-04,
 -1.66986049e-05, 3.67851711e-05, 4.40157065e-05,-5.17564591e-05,
 -6.64622427e-06, 2.25704115e-05, 4.22162275e-05,-1.41047041e-06,
 -6.04069643e-04,-5.92103915e-05,-3.27745006e-04, 3.06863510e-06,
 -1.58871218e-06,-4.61558909e-07,-1.21644601e+00,-4.79848361e-04,
  2.45718214e-06,-5.52041034e-04]


--- Step 124 ---
qpos:
[ 0.01107287,-0.00103017, 0.0022541 , 0.03863003, 0.00421632,-0.00223089,
 -0.01678598, 0.0261811 , 0.01213287, 0.00413159,-0.00943768, 0.02434744,
  0.40119989,-0.00196797, 0.24156232, 0.06120213, 0.09458605,-0.07006164,
  0.13112039, 0.50227459, 0.49957835, 0.4975052 , 0.50062989]

qacc:
[-10.07601932, -4.2303229 , 22.22389435,-52.57027916,  0.81507201,
  -3.34858491, 18.25582679,-42.43310183,  1.03287935, -2.40934339,
  11.49262352,-24.03784307, -1.66128901,  5.28242591,  0.40630479,
  -8.96923116, -0.97902603, -1.82934521, -0.61109064,-14.50652225,
   2.21788265, 26.14125072]

qfrc_actuator:
[ 1.03002472e-03,-5.90304899e-05, 2.17971795e-04, 3.40457512e-03,
  3.87771725e-04,-4.08485006e-04,-1.59818208e-03, 2.34392069e-03,
  1.02915681e-03, 4.16291791e-04,-8.64788184e-04, 2.18078845e-03,
  8.60088517e-02,-4.90219339e-04, 6.55772291e-02, 5.80471863e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.69322245,   2.40427388,   4.0306084 ,   2.40427388,
        24.17712012, -11.62222213,   4.0306084 , -11.62222213,
        11.62592398,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003420595883592281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62285032e-13,  1.62285032e-13,  1.00000000e+00, -2.63364316e-26,
        1.00000000e+00, -1.62285032e-13, -1.00000000e+00,  0.00000000e+00,
        1.62285032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1102448 , -0.03412933,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90376437e-05,-2.20784961e-05, 1.48448111e-06,-8.96633770e-05,
  4.77262296e-06, 4.29538531e-05, 2.77688153e-05,-6.60171208e-05,
  5.98018179e-06, 4.26836928e-06, 1.92823410e-05,-3.45113147e-05,
 -5.97965046e-04,-3.61032797e-05,-3.27357847e-04,-1.39194188e-04,
 -1.65135138e-06, 2.02312730e-07,-1.21644449e+00,-4.80168311e-04,
  4.89908072e-06,-5.51692449e-04]


--- Step 125 ---
qpos:
[ 0.01109239,-0.00103205, 0.00225799, 0.03869558, 0.00422408,-0.00223335,
 -0.01681359, 0.02622724, 0.01215331, 0.00414011,-0.00945282, 0.02438955,
  0.4029735 ,-0.00197179, 0.24329005, 0.06130804, 0.09460179,-0.0700807 ,
  0.13111953, 0.50215108, 0.49969788, 0.49749263, 0.50064699]

qacc:
[-1.05921519e+01,-3.92422450e+00, 2.00157202e+01,-4.67882762e+01,
  6.97769884e-03,-1.30104110e+00, 1.02825287e+01,-3.02636762e+01,
 -7.41610200e-01,-4.02274808e+00, 2.03894817e+01,-4.61923036e+01,
 -2.26907928e+00, 1.05146769e+01,-1.92026627e+00, 2.90638238e-01,
 -9.61088604e-01,-1.80859837e+00,-7.23045650e-01,-1.43750504e+01,
  2.15345892e+00, 2.58247046e+01]

qfrc_actuator:
[ 9.69643731e-04,-8.39543460e-05, 2.21046644e-04, 3.32671590e-03,
  3.87756618e-04,-3.98423834e-04,-1.61316530e-03, 2.28497070e-03,
  1.02456496e-03, 4.02753640e-04,-8.53127932e-04, 2.10616905e-03,
  8.58504014e-02,-4.44989372e-04, 6.54618572e-02, 5.50551933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.67777233,  -2.73476263,  -3.79507936,  -2.73476263,
        31.07592291, -19.02270516,  -3.79507936, -19.02270516,
        18.38567623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003381517833694059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64160457e-13,  8.20802284e-14,  1.00000000e+00, -1.34743278e-26,
        1.00000000e+00, -8.20802284e-14, -1.00000000e+00,  0.00000000e+00,
        1.64160457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024656, -0.03412742,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.20761080e-05,-4.10268564e-05,-4.59870581e-06,-8.06550797e-05,
  1.37584185e-07, 3.73089220e-05,-4.72547062e-06,-5.74715014e-05,
 -4.39984474e-06,-8.80740346e-06, 1.37268560e-05,-7.45190699e-05,
 -5.92428721e-04,-3.13982177e-06,-2.72804596e-04,-7.82723028e-05,
 -1.54260880e-06, 9.71122184e-07,-1.21644411e+00,-4.80751183e-04,
  6.55789259e-06,-5.51644686e-04]


--- Step 126 ---
qpos:
[ 0.01111103,-0.001034  , 0.00226146, 0.03876073, 0.00423108,-0.00223573,
 -0.01684104, 0.02627199, 0.01217318, 0.00414849,-0.00946768, 0.02443045,
  0.4047441 ,-0.00197535, 0.24501595, 0.06140925, 0.09461375,-0.07010693,
  0.13111541, 0.50201412, 0.4998264 , 0.49744232, 0.50070604]

qacc:
[ -7.71364549,  0.23516746,  0.73672816, -6.95840224, -6.57470768,
  -3.16858733, 17.38536168,-41.87549393, -4.90238178, -3.48026679,
  17.27763512,-38.63029794, -1.60123399,  4.98539835, 11.49669543,
 -44.1530398 , -0.94641788, -1.79166254, -0.81670929,-14.26444918,
   2.10441797, 25.56831464]

qfrc_actuator:
[ 9.26330751e-04,-8.02409489e-05, 2.03499662e-04, 3.30796567e-03,
  3.49138979e-04,-4.09393951e-04,-1.61099367e-03, 2.21408564e-03,
  9.95934766e-04, 3.91265599e-04,-8.40270959e-04, 2.04543036e-03,
  8.57023034e-02,-4.34629359e-04, 6.53785314e-02, 3.13210460e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033249724542198933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66952214e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.66952214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024854, -0.0341246 ,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.51002443e-05,-2.38418487e-05,-2.95657911e-05,-2.23889843e-05,
 -3.85981100e-05, 6.76416804e-06, 7.55683535e-06,-7.06041899e-05,
 -2.87359342e-05,-1.69333337e-05, 1.01545689e-05,-6.21664396e-05,
 -5.75225842e-04,-3.66201482e-05,-2.11512666e-04,-2.75891532e-04,
 -1.27228311e-06, 1.84348292e-06,-1.21644482e+00,-4.81576821e-04,
  7.46641181e-06,-5.51886794e-04]


--- Step 127 ---
qpos:
[ 0.01112935,-0.00103596, 0.00226468, 0.03882478, 0.00423757,-0.00223827,
 -0.01686814, 0.02631521, 0.01219291, 0.00415623,-0.00948203, 0.02447035,
  0.40651178,-0.00197907, 0.24673911, 0.06150788, 0.09462197,-0.07014027,
  0.1311077 , 0.50186384, 0.49996383, 0.49735451, 0.5008067 ]

qacc:
[ -2.82033652, -1.55224224, 10.13893162,-28.70239039, -4.52115233,
  -4.34282049, 21.61639174,-48.4595793 , -1.31053744, -4.29573544,
  18.3022264 ,-35.89008521, -1.16481646,  1.46132607,  3.75549676,
 -18.97501229, -0.93445586, -1.77795098, -0.89500896,-14.17264601,
   2.06741377, 25.36334011]

qfrc_actuator:
[ 9.11163839e-04,-7.71931742e-05, 1.91823514e-04, 3.25314245e-03,
  3.23616552e-04,-4.32833424e-04,-1.59880088e-03, 2.13674175e-03,
  9.88893848e-04, 3.27845208e-04,-8.26789780e-04, 1.99335378e-03,
  8.55551917e-02,-4.44894504e-04, 6.52398745e-02, 1.86405030e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003255111091125529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70535351e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70535351e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11025069, -0.03412109,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64660538e-05,-1.75415422e-05,-2.11975509e-05,-5.74540085e-05,
 -2.66178807e-05,-2.08270384e-05, 1.23291977e-05,-7.81984149e-05,
 -7.84162595e-06,-7.36242710e-05, 9.08898667e-06,-5.37325056e-05,
 -5.64204870e-04,-5.74532438e-05,-2.64901169e-04,-1.69472932e-04,
 -8.47300865e-07, 2.81935734e-06,-1.21644658e+00,-4.82631177e-04,
  7.65015302e-06,-5.52410525e-04]


--- Step 128 ---
qpos:
[ 0.01114701,-0.00103813, 0.00226812, 0.03888697, 0.00424439,-0.00224121,
 -0.01689482, 0.02635788, 0.01221239, 0.00416328,-0.00949606, 0.02450969,
  0.40827647,-0.00198282, 0.24845849, 0.06161156, 0.09462649,-0.07018068,
  0.13109615, 0.50170035, 0.5001101 , 0.49722939, 0.50094868]

qacc:
[ -5.87688631, -4.70126877, 24.23130817,-56.60618299,  2.94312204,
  -2.83856676, 11.64220175,-21.46238068, -2.068645  , -2.98046324,
  11.72389134,-21.62227777, -1.28884264,  2.41421281,-20.83522427,
  64.81099678, -0.92474087, -1.76695995, -0.96044922,-14.09773026,
   2.03976032, 25.20238084]

qfrc_actuator:
[ 8.77173467e-04,-9.23208061e-05, 2.01439299e-04, 3.15978091e-03,
  3.41523574e-04,-4.63533655e-04,-1.58085968e-03, 2.10946729e-03,
  9.76870776e-04, 2.87081155e-04,-8.13260190e-04, 1.96449701e-03,
  8.53927946e-02,-4.49471826e-04, 6.51001194e-02, 4.62972445e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031753567292718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74818630e-13,  1.74818630e-13,  1.00000000e+00, -3.05615533e-26,
        1.00000000e+00, -1.74818630e-13, -1.00000000e+00,  0.00000000e+00,
        1.74818630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11025295, -0.03411706,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44712213e-05,-3.19504310e-05, 1.21806651e-06,-9.61134321e-05,
  1.71436165e-05,-4.28469750e-05, 1.27042937e-05,-2.92915744e-05,
 -1.22519811e-05,-8.25021554e-05,-2.40946172e-06,-3.28132312e-05,
 -5.73089236e-04,-5.19571537e-05,-2.75391784e-04, 2.33739680e-04,
 -2.72330034e-07, 3.89988897e-06,-1.21644938e+00,-4.83904710e-04,
  7.12859467e-06,-5.53209731e-04]


--- Step 129 ---
qpos:
[ 0.01116377,-0.00104044, 0.00227129, 0.03894862, 0.00425137,-0.00224493,
 -0.01692064, 0.02640026, 0.01223124, 0.0041701 ,-0.00951032, 0.02454869,
  0.41003821,-0.00198689, 0.25017519, 0.06171469, 0.09462844,-0.070216  ,
  0.13108989, 0.5015643 , 0.50023172, 0.49711287, 0.50107911]

qacc:
[ -7.82772364, -0.54709837,  3.99996131,-12.90665469,  1.45723527,
  -4.04399842, 14.19095604,-20.14479659, -5.64021241, -0.36201445,
   2.24059648, -7.41847301, -1.02503982,  0.16659629, -2.242346  ,
   2.12872041, -0.64209461,  1.27173288,  1.31984712, -8.01844686,
  -1.38104797,-18.05061838]

qfrc_actuator:
[ 0.00083237,-0.00010041, 0.00018795, 0.00313326, 0.00034934,-0.00051604,
 -0.00154192, 0.00209411, 0.00094425, 0.00029572,-0.00081748, 0.00194955,
  0.08523731,-0.00046845, 0.06495457, 0.00042463, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031128277851780184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78330300e-13,  1.00310794e-13,  1.00000000e+00, -1.78884539e-26,
        1.00000000e+00, -1.00310794e-13, -1.00000000e+00,  0.00000000e+00,
        1.78330300e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204661, -0.09004924,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58032244e-05,-2.99884478e-05,-2.34353973e-05,-2.98623939e-05,
  8.29032530e-06,-7.47650883e-05, 3.08891125e-05,-1.73501162e-05,
 -3.29782856e-05,-3.95212928e-05,-2.26746778e-05,-1.92773344e-05,
 -5.71979925e-04,-6.72293771e-05,-2.38586130e-04,-5.94538363e-05,
  4.49753143e-07, 5.08727890e-06,-1.21645321e+00,-4.85391184e-04,
  5.91620324e-06,-5.54279897e-04]


--- Step 130 ---
qpos:
[ 0.01118125,-0.00104287, 0.00227426, 0.03900946, 0.00425839,-0.00224936,
 -0.01694548, 0.0264421 , 0.01224989, 0.00417719,-0.00952537, 0.02458753,
  0.41179697,-0.00199077, 0.25188923, 0.06181361, 0.09462794,-0.07024639,
  0.13108769, 0.501455  , 0.50032918, 0.49700465, 0.50119854]

qacc:
[  6.25355053, -1.27418971,  7.70106121,-21.24864352,  0.38880202,
  -4.74839089, 17.79928851,-27.99164923, -1.72538177,  2.28143242,
  -6.89062186,  5.09490244, -1.52993116,  4.37155356,  8.75851798,
 -36.3367752 , -0.61311771,  1.23327326,  1.0174929 , -7.93632628,
  -1.26464701,-17.53960577]

qfrc_actuator:
[ 0.00087032,-0.00010425, 0.00017875, 0.00309301, 0.00035114,-0.00054559,
 -0.001491  , 0.00206813, 0.00093528, 0.00033383,-0.00084968, 0.00194292,
  0.08508609,-0.00046027, 0.06478961, 0.00020094, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032768586611545136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69403557e-13, -1.69403557e-13,  1.00000000e+00,  2.86975651e-26,
        1.00000000e+00,  1.69403557e-13, -1.00000000e+00,  0.00000000e+00,
        1.69403557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204664, -0.09004471,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66355965e-05,-2.68932320e-05,-1.94792724e-05,-4.30640086e-05,
  2.00921903e-06,-6.53787357e-05, 3.89361677e-05,-2.84859106e-05,
 -9.90690141e-06, 1.03773960e-05,-4.38033175e-05,-9.54194928e-06,
 -5.68202447e-04,-4.08917150e-05,-2.77197925e-04,-2.57225267e-04,
  5.19623669e-07, 3.69808350e-06,-1.21645005e+00,-4.84381331e-04,
  4.77850568e-06,-5.55224287e-04]


--- Step 131 ---
qpos:
[ 0.01119973,-0.00104545, 0.00227739, 0.03906898, 0.00426573,-0.00225414,
 -0.01696966, 0.02648363, 0.01226829, 0.00418461,-0.00954052, 0.02462558,
  0.41355268,-0.00199378, 0.25360015, 0.06190975, 0.09462508,-0.07027198,
  0.13108854, 0.50137186, 0.5004029 , 0.49690448, 0.50130743]

qacc:
[  8.86994525, -3.40762057, 17.43872207,-40.51545098,  2.75991171,
  -2.95954389, 11.20983076,-17.48436312, -2.232565  , -0.93185698,
   7.26803847,-20.95470864, -2.21239326,  9.91090055,  3.83574264,
 -20.03418817, -0.58956476,  1.20098973,  0.76260972, -7.86080656,
  -1.17009668,-17.10997195]

qfrc_actuator:
[ 9.21181765e-04,-1.05512534e-04, 1.89910887e-04, 3.02726134e-03,
  3.67138616e-04,-5.43370913e-04,-1.45109208e-03, 2.05387142e-03,
  9.22550229e-04, 3.71438463e-04,-8.44737231e-04, 1.90575940e-03,
  8.49268730e-02,-4.18418762e-04, 6.46397243e-02, 6.51843975e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6786251 , -0.21971864,  4.67346302, -0.21971864, 10.05713836,
        0.25286594,  4.67346302,  0.25286594,  4.69051337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033836926953831337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.20274715e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.20274715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204693, -0.09004182,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18882913e-05,-2.22945809e-05, 1.55804886e-06,-6.85584322e-05,
  1.60338570e-05,-2.71582652e-05, 3.04636261e-05,-1.62956655e-05,
 -1.29902995e-05, 3.38448793e-05, 1.38213802e-06,-3.84840515e-05,
 -5.71465404e-04,-6.12218440e-06,-3.00952278e-04,-1.85059216e-04,
  5.42644605e-07, 2.55279820e-06,-1.21644746e+00,-4.83517844e-04,
  3.95554364e-06,-5.56014474e-04]


--- Step 132 ---
qpos:
[ 0.01121834,-0.00104786, 0.00228022, 0.03912723, 0.00427285,-0.00225907,
 -0.01699326, 0.02652465, 0.01228605, 0.0041918 ,-0.00955499, 0.02466257,
  0.4153053 ,-0.00199587, 0.25530778, 0.06200577, 0.09461994,-0.07029287,
  0.13109158, 0.50131438, 0.50045324, 0.49681215, 0.50140616]

qacc:
[  1.04986976, -1.52869992, 11.07501734,-32.51062813, -1.82327834,
  -2.90062406, 12.22347803,-21.96871198, -5.60695635, -4.39539052,
  19.76103258,-39.20974262, -2.28265263, 10.37317137, -4.47736778,
   8.68389223, -0.57047155,  1.17396604,  0.54805916, -7.79300063,
  -1.0928525 ,-16.74943665]

qfrc_actuator:
[ 9.25946458e-04,-8.74004422e-05, 1.77501624e-04, 2.96479994e-03,
  3.55865278e-04,-5.39915685e-04,-1.41786796e-03, 2.02889519e-03,
  8.89951316e-04, 3.37583718e-04,-8.17909769e-04, 1.85095844e-03,
  8.47629771e-02,-3.74866144e-04, 6.45043446e-02, 7.12142477e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70258604, -0.38776357,  4.68657176, -0.38776357, 13.08151901,
        0.69326688,  4.68657176,  0.69326688,  4.75994644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003443950925719752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.61184501e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.61184501e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204743, -0.09004025,  0.06199018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22885105e-06, 2.91258367e-06,-1.93550665e-05,-6.48369528e-05,
 -1.08262143e-05,-5.76738331e-06, 3.10494178e-05,-2.54319600e-05,
 -3.29391058e-05,-1.64149115e-05, 3.26820109e-05,-5.41152435e-05,
 -5.75650786e-04,-3.60720431e-06,-2.87804176e-04,-4.19449004e-05,
  5.16131026e-07, 1.63186673e-06,-1.21644539e+00,-4.82772833e-04,
  3.42976917e-06,-5.56657580e-04]


--- Step 133 ---
qpos:
[ 0.01123617,-0.00105002, 0.00228255, 0.03918394, 0.00427909,-0.00226371,
 -0.01701645, 0.0265643 , 0.01230363, 0.00419852,-0.00956889, 0.02469899,
  0.41705487,-0.00199737, 0.25701211, 0.06209914, 0.09461258,-0.07030915,
  0.1310961 , 0.50128215, 0.50048051, 0.49672748, 0.50149505]

qacc:
[ -6.8515644 , -1.43641117, 12.15684432,-38.34352917, -7.71391963,
  -3.54195001, 18.96379573,-43.37115017, -1.58823352, -3.34211227,
  13.41377604,-23.71929227, -1.9614879 ,  7.68739807,  3.1389661 ,
 -18.0087061 , -0.55505407,  1.15142702,  0.36780272, -7.7335155 ,
  -1.02930312,-16.44775917]

qfrc_actuator:
[ 8.85785199e-04,-7.56645123e-05, 1.51355304e-04, 2.88702510e-03,
  3.10872787e-04,-5.00267798e-04,-1.38884524e-03, 1.96230791e-03,
  8.81424283e-04, 2.96783524e-04,-7.96433071e-04, 1.82167873e-03,
  8.46017117e-02,-3.48455106e-04, 6.43192136e-02,-7.00226510e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7117483 , -0.60910128,  4.67221229, -0.60910128, 18.05509676,
        1.7395294 ,  4.67221229,  1.7395294 ,  4.93852515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034665703712354057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.60132769e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.60132769e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204811, -0.09003975,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99862741e-05, 6.45626371e-06,-3.03259873e-05,-7.97165497e-05,
 -4.53033748e-05, 4.21071203e-05, 3.10196366e-05,-6.62825157e-05,
 -9.45238412e-06,-4.56764771e-05, 2.02611261e-05,-2.99669469e-05,
 -5.75689418e-04,-2.13328035e-05,-3.15600802e-04,-1.79547627e-04,
  4.38388138e-07, 9.19733557e-07,-1.21644380e+00,-4.82125128e-04,
  3.18680915e-06,-5.57159302e-04]


--- Step 134 ---
qpos:
[ 0.01125303,-0.00105212, 0.00228483, 0.03923995, 0.00428475,-0.00226782,
 -0.01703923, 0.02660248, 0.01232132, 0.00420501,-0.00958279, 0.02473513,
  0.4188015 ,-0.00199917, 0.25871356, 0.06218506, 0.09460304,-0.07032091,
  0.13110148, 0.50127481, 0.50048496, 0.49665033, 0.50157434]

qacc:
[ -8.48341777, -1.19071   ,  7.3103439 ,-19.28310555, -5.15370017,
  -3.46574719, 19.65441541,-46.36411943,  0.93717478, -0.91725884,
   3.99740585, -8.6839298 , -1.06283826,  0.44264391, 18.25127711,
 -70.03647471, -0.54267288,  1.13271398,  0.21670493, -7.682578  ,
  -0.97657375,-16.19634444]

qfrc_actuator:
[ 8.37270680e-04,-6.79083771e-05, 1.52791421e-04, 2.85411160e-03,
  2.81908442e-04,-4.57051490e-04,-1.36240769e-03, 1.88955492e-03,
  8.87139761e-04, 2.87642087e-04,-7.96077187e-04, 1.80763242e-03,
  8.44474587e-02,-3.67870722e-04, 6.41469576e-02,-4.56816189e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70869367, -0.9083931 ,  4.62024005, -0.9083931 , 27.68307876,
        4.51703215,  4.62024005,  4.51703215,  5.59679489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003459054567140768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.0240352e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.0240352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204894, -0.0900401 ,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.96517321e-05, 1.54101702e-06,-3.86852800e-06,-3.53664970e-05,
 -3.02398438e-05, 7.06653298e-05, 3.69020605e-05,-7.11897492e-05,
  5.44567828e-06,-3.18928620e-05,-7.59950249e-06,-1.59473293e-05,
 -5.70259054e-04,-6.81698193e-05,-3.30117021e-04,-4.36181948e-04,
  3.08362036e-07, 4.04038807e-07,-1.21644266e+00,-4.81558586e-04,
  3.21504516e-06,-5.57524196e-04]


--- Step 135 ---
qpos:
[ 0.01126918,-0.00105431, 0.0022877 , 0.03929545, 0.00429036,-0.00227123,
 -0.01706158, 0.02663877, 0.01233893, 0.00421122,-0.00959681, 0.02477049,
  0.42054526,-0.00200183, 0.26041163, 0.06226889, 0.09459138,-0.07032819,
  0.13110722, 0.50129209, 0.50046679, 0.49658058, 0.50164426]

qacc:
[ -6.24683714, -2.82838799, 12.11345379,-21.92884781, -0.40955387,
  -4.13855229, 24.04096165,-57.81994668, -0.60438167, -1.61050644,
   8.48961789,-21.56456134, -0.48319467, -4.10087648,  1.33312269,
 -11.91830794, -0.5328051 ,  1.11726564,  0.09038141, -7.64013811,
  -0.93237226,-15.98794224]

qfrc_actuator:
[ 8.01995401e-04,-6.24498642e-05, 1.88277391e-04, 2.83012580e-03,
  2.80373356e-04,-4.12045779e-04,-1.33767615e-03, 1.79601761e-03,
  8.83432072e-04, 2.61950398e-04,-8.08064475e-04, 1.76716350e-03,
  8.42975129e-02,-4.14117524e-04, 6.40251135e-02,-5.41262424e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034276865504538623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.09746609e-14, -3.23898644e-13,  1.00000000e+00,  2.62275828e-26,
        1.00000000e+00,  3.23898644e-13, -1.00000000e+00,  0.00000000e+00,
        8.09746609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204988, -0.09004112,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66920521e-05, 3.85967139e-06, 3.39618838e-05,-2.48686120e-05,
 -2.37116143e-06, 8.94136927e-05, 4.16414010e-05,-9.06415681e-05,
 -3.54967417e-06,-4.58748267e-05,-2.00392423e-05,-4.24698917e-05,
 -5.66032336e-04,-9.67262648e-05,-3.15513327e-04,-1.50132005e-04,
  1.25398952e-07, 7.49841280e-08,-1.21644195e+00,-4.81060829e-04,
  3.50524078e-06,-5.57755908e-04]


--- Step 136 ---
qpos:
[ 0.01128444,-0.00105653, 0.00229074, 0.03934991, 0.00429556,-0.00227435,
 -0.01708331, 0.02667369, 0.01235636, 0.00421717,-0.00961116, 0.02480476,
  0.42228606,-0.00200464, 0.26210576, 0.06235339, 0.09457762,-0.07033106,
  0.13111291, 0.50133372, 0.50042619, 0.49651813, 0.50170497]

qacc:
[-7.85119217e+00,-2.63595744e+00, 1.37790291e+01,-3.21269025e+01,
 -3.55381476e+00,-4.16164128e+00, 2.11811991e+01,-4.60508968e+01,
 -1.59995698e+00,-1.67140934e+00, 1.01178686e+01,-2.84048272e+01,
 -1.19845291e+00, 1.61171763e+00,-7.83870781e+00, 1.89726081e+01,
 -5.25022132e-01, 1.10460286e+00,-1.49203891e-02,-7.60595214e+00,
 -8.94868293e-01,-1.58164140e+01]

qfrc_actuator:
[ 7.57045123e-04,-7.60017124e-05, 1.90308697e-04, 2.77609053e-03,
  2.59484454e-04,-4.19599214e-04,-1.31414916e-03, 1.72650865e-03,
  8.74202805e-04, 2.44224721e-04,-8.27319438e-04, 1.71145261e-03,
  8.41449254e-02,-4.22533971e-04, 6.38431261e-02,-4.99937947e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003377710625944996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64345491e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.64345491e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205091, -0.09004266,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59998293e-05,-5.58593942e-06, 6.00403956e-06,-5.33058752e-05,
 -2.09232060e-05, 4.74676778e-05, 4.42101363e-05,-6.60237760e-05,
 -9.33127684e-06,-4.94235581e-05,-3.26381062e-05,-5.92546156e-05,
 -5.67740935e-04,-6.00374097e-05,-3.36428761e-04,-6.37852642e-06,
 -1.10918666e-07,-7.51715412e-08,-1.21644166e+00,-4.80622306e-04,
  4.05021221e-06,-5.57857351e-04]


--- Step 137 ---
qpos:
[ 0.01129938,-0.00105848, 0.00229313, 0.03940331, 0.00430047,-0.00227734,
 -0.01710453, 0.02670823, 0.01237321, 0.00422305,-0.00962605, 0.02483808,
  0.42402388,-0.00200747, 0.26379627, 0.0624357 , 0.09456178,-0.07032955,
  0.13111818, 0.50139953, 0.50036328, 0.49646289, 0.50175662]

qacc:
[-2.77627955e+00, 7.45888647e-03, 4.92306741e+00,-2.22995887e+01,
 -2.53467363e+00,-2.05192862e+00, 9.20002066e+00,-1.67935902e+01,
 -5.21677982e+00,-5.60614368e-01, 5.85705618e+00,-2.13146021e+01,
 -1.34905441e+00, 2.69648835e+00, 1.28040436e+00,-1.22049055e+01,
 -5.18972035e-01, 1.09431637e+00,-1.02416890e-01,-7.57964806e+00,
 -8.62598051e-01,-1.56765488e+01]

qfrc_actuator:
[ 7.42261145e-04,-6.54772904e-05, 1.54707443e-04, 2.72251427e-03,
  2.45114735e-04,-4.23059076e-04,-1.29171560e-03, 1.70715824e-03,
  8.44047787e-04, 2.49110179e-04,-8.50687332e-04, 1.66497845e-03,
  8.39855372e-02,-4.26374455e-04, 6.36518555e-02,-6.15858521e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033134878843797677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.37654357e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.37654357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205201, -0.0900446 ,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60991379e-05, 6.21585534e-06,-3.80048849e-05,-5.47698193e-05,
 -1.49487712e-05, 2.96692851e-05, 3.56138232e-05,-1.70930670e-05,
 -3.04226555e-05,-3.21059245e-05,-3.96074275e-05,-5.09286154e-05,
 -5.72628940e-04,-5.44037621e-05,-3.37578658e-04,-1.57892433e-04,
 -4.00881898e-07,-5.25160615e-08,-1.21644177e+00,-4.80235585e-04,
  4.84453874e-06,-5.57830849e-04]


--- Step 138 ---
qpos:
[ 0.01131403,-0.00106035, 0.00229538, 0.03945563, 0.00430551,-0.00227971,
 -0.01712581, 0.02674259, 0.01238956, 0.00422873,-0.00964084, 0.02487055,
  0.42575867,-0.00200993, 0.26548366, 0.06251616, 0.09454388,-0.07032369,
  0.13112276, 0.50148934, 0.50027815, 0.49641479, 0.50179933]

qacc:
[ -2.58884556, -1.72665141, 10.86584474,-29.3170122 ,  1.1624041 ,
   0.62053693, -0.28398864, -3.15159793, -4.32565526, -2.23561676,
  11.18489368,-25.83188042, -1.75878536,  5.85945969,  0.97554951,
 -10.07105262, -0.51436533,  1.0860565 , -0.17486653, -7.56077596,
  -0.83438926,-15.5639158 ]

qfrc_actuator:
[ 7.27600962e-04,-5.85354182e-05, 1.50537955e-04, 2.66963967e-03,
  2.52455671e-04,-3.70758549e-04,-1.28782960e-03, 1.69971597e-03,
  8.19572336e-04, 2.49735221e-04,-8.40687308e-04, 1.62433193e-03,
  8.38275039e-02,-4.09781400e-04, 6.35243618e-02,-6.99269859e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032386294562801454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57016092e-14, -3.42806437e-13,  1.00000000e+00,  2.93790633e-26,
        1.00000000e+00,  3.42806437e-13, -1.00000000e+00,  0.00000000e+00,
        8.57016092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205316, -0.09004683,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51188388e-05, 9.16966165e-08,-9.60011535e-06,-5.51116617e-05,
  6.92432663e-06, 7.57903650e-05, 1.40171746e-05,-5.29367447e-06,
 -2.53372867e-05,-2.77632506e-05,-3.22325268e-06,-4.44337440e-05,
 -5.74427254e-04,-3.44673208e-05,-2.91976609e-04,-1.34156366e-04,
 -7.44727139e-07, 1.38190097e-07,-1.21644227e+00,-4.79894826e-04,
  5.88431007e-06,-5.57678252e-04]


--- Step 139 ---
qpos:
[ 0.01132805,-0.00106245, 0.00229825, 0.03950691, 0.00431095,-0.00228153,
 -0.01714692, 0.02677693, 0.01240549, 0.00423386,-0.009655  , 0.02490264,
  0.42749038,-0.00201144, 0.26716795, 0.06259657, 0.09452394,-0.07031352,
  0.13112639, 0.50160302, 0.5001709 , 0.49637378, 0.50183319]

qacc:
[ -5.55543653, -4.18577705, 18.95987984,-38.05179409,  3.44660867,
   0.20260518,  0.43535172, -1.49463549, -3.66915191, -3.2888872 ,
  12.29282493,-19.58072107, -2.34577291, 10.43061511, -4.3583562 ,
   8.71287639, -0.5109636 ,  1.07952475, -0.23463466, -7.548846  ,
  -0.80930174,-15.47474429]

qfrc_actuator:
[ 6.95368487e-04,-7.14281965e-05, 1.82718202e-04, 2.61762842e-03,
  2.72514598e-04,-3.38796920e-04,-1.27694762e-03, 1.69936589e-03,
  7.98642210e-04, 2.12446602e-04,-8.11071468e-04, 1.60521368e-03,
  8.36703954e-02,-3.63558585e-04, 6.33979402e-02,-6.91631890e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003156110752652458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63827012e-13, -1.75884674e-13,  1.00000000e+00,  4.64031281e-26,
        1.00000000e+00,  1.75884674e-13, -1.00000000e+00,  0.00000000e+00,
        2.63827012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205434, -0.09004928,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26664518e-05,-1.73128921e-05, 2.89743281e-05,-5.35320467e-05,
  2.02824742e-05, 7.72735154e-05, 2.82807228e-05, 3.25563248e-06,
 -2.16483977e-05,-5.54464208e-05, 2.19982373e-05,-2.13322132e-05,
 -5.72940448e-04,-4.49615747e-06,-2.69633788e-04,-3.64621507e-05,
 -1.14268155e-06, 4.93249918e-07,-1.21644315e+00,-4.79595376e-04,
  7.16690731e-06,-5.57401029e-04]


--- Step 140 ---
qpos:
[ 0.01134157,-0.00106469, 0.00230148, 0.03955751, 0.00431659,-0.00228331,
 -0.01716745, 0.02681035, 0.01242104, 0.00423828,-0.00966829, 0.02493391,
  0.42921908,-0.00201202, 0.26884911, 0.06267579, 0.09450197,-0.07029904,
  0.13112889, 0.50174048, 0.50004156, 0.4963398 , 0.50185828]

qacc:
[ -4.34200372, -2.56081557, 11.6902286 ,-23.77314137,  1.75817844,
  -3.45563601, 16.2758101 ,-33.16938742, -3.25792702, -5.03953958,
  20.10916234,-35.23952155, -2.30368714, 10.24100528, -0.97979066,
  -3.21078076, -0.50857032,  1.0744665 , -0.28374818, -7.54335625,
  -0.78658041,-15.40582437]

qfrc_actuator:
[ 6.70803618e-04,-7.81902248e-05, 2.00508004e-04, 2.58429832e-03,
  2.82138529e-04,-3.72489156e-04,-1.26208069e-03, 1.64992807e-03,
  7.79964241e-04, 1.70607764e-04,-7.70262380e-04, 1.56338597e-03,
  8.35246070e-02,-3.18036138e-04, 6.32349905e-02,-7.54685266e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030683693916382093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205553, -0.09005188,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55053804e-05,-1.28799771e-05, 1.57934676e-05,-3.42288388e-05,
  1.02279581e-05, 1.57438638e-05, 3.46157012e-05,-4.51107667e-05,
 -1.93042911e-05,-6.92636090e-05, 3.13785526e-05,-4.39052575e-05,
 -5.57779535e-04,-4.12279823e-06,-2.85760193e-04,-9.90075081e-05,
 -1.59499042e-06, 1.00981530e-06,-1.21644441e+00,-4.79333462e-04,
  8.69081487e-06,-5.57000336e-04]


--- Step 141 ---
qpos:
[ 0.01135503,-0.00106677, 0.00230397, 0.039607  , 0.0043223 ,-0.00228519,
 -0.01718753, 0.02684294, 0.0124366 , 0.00424261,-0.00968176, 0.02496408,
  0.43094491,-0.00201236, 0.27052688, 0.06275005, 0.09447796,-0.07028029,
  0.1311301 , 0.50190163, 0.49989015, 0.49631282, 0.50187466]

qacc:
[-5.10512457e-01,-9.35937553e-03, 5.01617448e+00,-2.30963462e+01,
  6.45672650e-01,-3.10257347e+00, 1.43434961e+01,-2.92706700e+01,
 -6.43428120e-03,-1.89796711e+00, 1.12106588e+01,-2.98364034e+01,
 -1.57798146e+00, 4.73887991e+00, 9.93537642e+00,-4.20090169e+01,
 -5.07023328e-01, 1.07066484e+00,-3.23942141e-01,-7.54381250e+00,
 -7.65617886e-01,-1.53544243e+01]

qfrc_actuator:
[ 6.68706680e-04,-8.12602540e-05, 1.56421797e-04, 2.52670978e-03,
  2.85538997e-04,-3.92013316e-04,-1.24529133e-03, 1.60745181e-03,
  7.80512676e-04, 1.79662425e-04,-7.76484276e-04, 1.50852433e-03,
  8.33803887e-02,-3.08803287e-04, 6.30236104e-02,-1.01876297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002977389083265447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.32211909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.32211909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205672, -0.09005457,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83224220e-06,-8.59786047e-06,-4.61230448e-05,-5.83768332e-05,
  3.69808600e-06,-5.26900749e-06, 2.29310198e-05,-4.15070259e-05,
 -1.70525969e-08,-2.51097132e-05,-1.81327856e-05,-5.76447521e-05,
 -5.45121107e-04,-3.93007270e-05,-3.48075493e-04,-3.05475932e-04,
 -2.10193233e-06, 1.68571224e-06,-1.21644604e+00,-4.79105961e-04,
  1.04554599e-05,-5.56477083e-04]


--- Step 142 ---
qpos:
[ 0.01136837,-0.00106895, 0.00230602, 0.03965509, 0.004328  ,-0.00228716,
 -0.017207  , 0.02687545, 0.01245204, 0.00424754,-0.00969588, 0.02499364,
  0.43266794,-0.00201353, 0.27220038, 0.06282261, 0.09445193,-0.07025726,
  0.13112988, 0.50208642, 0.49971668, 0.4962928 , 0.50188239]

qacc:
[-1.15524037e+00,-1.79381349e+00, 1.21481958e+01,-3.57327687e+01,
 -1.07987758e-02,-1.97752969e+00, 7.25203501e+00,-9.63983963e+00,
 -1.04280366e+00, 1.37497115e+00,-1.16702875e+00,-8.74704102e+00,
 -4.74003697e-01,-3.83443884e+00,-1.13913563e+00,-5.19449505e+00,
 -5.06188766e-01, 1.06793531e+00,-3.56699715e-01,-7.54974177e+00,
 -7.45924814e-01,-1.53182209e+01]

qfrc_actuator:
[ 0.0006621 ,-0.00010012, 0.00012941, 0.00245527, 0.00028525,-0.00038516,
 -0.0012097 , 0.00160493, 0.00077462, 0.00025443,-0.00079248, 0.00148195,
  0.08322123,-0.00035653, 0.06282059,-0.00109743, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000288477140667015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62141248e-14, -5.77284749e-13,  1.00000000e+00,  5.55429469e-26,
        1.00000000e+00,  5.77284749e-13, -1.00000000e+00,  0.00000000e+00,
        9.62141248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205791, -0.09005731,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69600366e-06,-3.58061255e-05,-3.66140239e-05,-7.46551137e-05,
 -1.81907068e-07, 7.09937191e-06, 3.60715195e-05,-2.78608906e-06,
 -5.89317233e-06, 5.44970160e-05,-2.53526851e-05,-2.94435999e-05,
 -5.54115077e-04,-9.68404323e-05,-3.89149137e-04,-1.39072266e-04,
 -2.66382618e-06, 2.51929817e-06,-1.21644804e+00,-4.78910216e-04,
  1.24610765e-05,-5.55831974e-04]


--- Step 143 ---
qpos:
[ 0.01138117,-0.00107162, 0.00230842, 0.03970229, 0.00433332,-0.00228934,
 -0.01722608, 0.02690735, 0.01246694, 0.00425271,-0.00970971, 0.02502195,
  0.43438806,-0.00201521, 0.27386994, 0.06289647, 0.09442388,-0.07022997,
  0.13112812, 0.5022948 , 0.49952112, 0.4962797 , 0.5018815 ]

qacc:
[ -4.61932358, -3.45956784, 15.15781795,-30.78267425, -3.4257308 ,
  -2.61602484, 11.4608845 ,-22.31036342, -4.70628879, -3.07669158,
  16.75663192,-39.19433289, -0.84363004, -1.12024129, -9.76673048,
  25.73904947, -0.5059561 ,  1.06612126, -0.38328673, -7.56070098,
  -0.72710622,-15.29523988]

qfrc_actuator:
[ 0.00063512,-0.00012826, 0.00014816, 0.00241177, 0.00026505,-0.00041571,
 -0.00119868, 0.00157271, 0.00074722, 0.00026145,-0.00077828, 0.00141904,
  0.08306386,-0.00038419, 0.06267604,-0.00101285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002791797140315605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94183109e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.94183109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205908, -0.09006005,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71782539e-05,-5.90191953e-05, 4.13802242e-06,-4.78654940e-05,
 -2.02083908e-05,-1.90252276e-05, 1.70185530e-05,-3.07434476e-05,
 -2.75347015e-05, 3.09608471e-05, 2.13667068e-05,-6.20682112e-05,
 -5.63891393e-04,-8.03507990e-05,-3.28053482e-04, 2.88672109e-05,
 -3.28103307e-06, 3.50934543e-06,-1.21645041e+00,-4.78743905e-04,
  1.47085918e-05,-5.55065550e-04]


--- Step 144 ---
qpos:
[ 0.0113939 ,-0.00107443, 0.00231117, 0.0397482 , 0.00433834,-0.00229169,
 -0.01724514, 0.02693865, 0.01248106, 0.00425713,-0.00972221, 0.02504864,
  0.43610523,-0.00201681, 0.27553643, 0.06296963, 0.09439381,-0.07019842,
  0.13112475, 0.50252675, 0.49930346, 0.49627352, 0.50187202]

qacc:
[ -0.67571869, -3.8128514 , 18.76847085,-41.46999539, -2.4818976 ,
  -1.52156066,  7.69381021,-18.20324063, -6.88345558, -8.00307685,
  33.89627639,-63.32121805, -1.44122922,  3.3913129 , -2.37353382,
   1.75278812, -0.50623406,  1.06508993, -0.40478163, -7.57628201,
  -0.70884262,-15.28380612]

qfrc_actuator:
[ 0.00063188,-0.00010827, 0.00017599, 0.00234957, 0.00025104,-0.00043304,
 -0.00120242, 0.00154098, 0.00070739, 0.00017469,-0.0007289 , 0.00133522,
  0.08291299,-0.00038207, 0.06254007,-0.0010457 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026994785789187514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02818284e-13, -2.05636569e-13,  1.00000000e+00,  2.11431992e-26,
        1.00000000e+00,  2.05636569e-13, -1.00000000e+00,  0.00000000e+00,
        1.02818284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206022, -0.09006278,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03383224e-06,-1.42957187e-05, 1.43792649e-05,-6.56212211e-05,
 -1.45944188e-05,-2.55495501e-05,-6.46342793e-06,-3.25819173e-05,
 -4.05927310e-05,-6.77490289e-05, 5.63131633e-05,-8.30002598e-05,
 -5.62777297e-04,-5.11075964e-05,-2.75110473e-04,-7.19023914e-05,
 -3.95395493e-06, 4.65494598e-06,-1.21645316e+00,-4.78604928e-04,
  1.71995310e-05,-5.54178221e-04]


--- Step 145 ---
qpos:
[ 0.01140718,-0.00107686, 0.00231402, 0.03979262, 0.00434317,-0.00229449,
 -0.01726373, 0.02696967, 0.01249459, 0.00426069,-0.0097336 , 0.02507415,
  0.43781946,-0.00201866, 0.27720065, 0.06304098, 0.0943617 ,-0.07016261,
  0.13111969, 0.50278225, 0.49906362, 0.49627422, 0.50185397]

qacc:
[  4.84230352, -2.85146924, 17.1856851 ,-43.49522916, -1.79308931,
  -2.47024455,  9.13466373,-14.34781624, -5.1170505 , -6.68247599,
  27.21512734,-48.91026084, -1.13768548,  1.01645936,  2.09592283,
 -12.188663  , -0.50694724,  1.064729  , -0.42210146, -7.59611401,
  -0.69087501,-15.28249987]

qfrc_actuator:
[ 6.60399073e-04,-5.95697855e-05, 1.91372346e-04, 2.27690326e-03,
  2.40787291e-04,-4.60154254e-04,-1.17930180e-03, 1.52754056e-03,
  6.78321220e-04, 1.21316318e-04,-6.77317862e-04, 1.27521580e-03,
  8.27554908e-02,-3.97950171e-04, 6.24519204e-02,-1.12974931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026086040794839893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12800216e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12800216e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206134, -0.09006546,  0.06199256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83969550e-05, 4.07888526e-05, 1.18152707e-05,-7.41624995e-05,
 -1.06723650e-05,-4.38942824e-05, 1.61024050e-05,-1.54125073e-05,
 -3.02414254e-05,-8.32229102e-05, 4.17078252e-05,-6.26115840e-05,
 -5.65907526e-04,-6.80570936e-05,-2.17531373e-04,-1.22697180e-04,
 -4.68303126e-06, 5.95543352e-06,-1.21645628e+00,-4.78491332e-04,
  1.99359389e-05,-5.53170287e-04]


--- Step 146 ---
qpos:
[ 0.01142036,-0.001079  , 0.00231703, 0.03983582, 0.00434783,-0.00229756,
 -0.01728223, 0.02700029, 0.01250801, 0.00426355,-0.0097443 , 0.0250991 ,
  0.43953066,-0.00202029, 0.2788622 , 0.06311308, 0.09432757,-0.07012254,
  0.13111288, 0.50306131, 0.49880156, 0.49628179, 0.50182737]

qacc:
[ -0.93609421, -2.58264131, 14.88806113,-36.37043889, -1.39978804,
  -1.44984967,  6.29974705,-13.10158028, -0.92527133, -4.01112678,
  15.31986982,-25.62059799, -1.64049178,  4.69574223, -6.16374361,
  15.9010124 , -0.5080334 ,  1.0649436 , -0.4360245 , -7.61986386,
  -0.67299275,-15.29011997]

qfrc_actuator:
[ 6.54113939e-04,-4.73550186e-05, 1.99409610e-04, 2.21643649e-03,
  2.32833324e-04,-4.75039330e-04,-1.17603107e-03, 1.50723534e-03,
  6.73570952e-04, 8.83805015e-05,-6.42482583e-04, 1.24747289e-03,
  8.25941093e-02,-3.88837045e-04, 6.23392405e-02,-1.08337017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002519775915157396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40603872e-13,  1.65226452e-13,  1.00000000e+00, -7.27994145e-26,
        1.00000000e+00, -1.65226452e-13, -1.00000000e+00,  0.00000000e+00,
        4.40603872e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206242, -0.09006809,  0.06199281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46446536e-06, 3.42108173e-05, 1.52332154e-05,-5.98577463e-05,
 -8.27361835e-06,-3.65187582e-05,-4.16375960e-06,-2.19502542e-05,
 -5.63289382e-06,-7.35629162e-05, 2.06648594e-05,-3.11203262e-05,
 -5.73422782e-04,-4.44209580e-05,-2.24564224e-04, 1.15316438e-05,
 -5.46873493e-06, 7.41031973e-06,-1.21645978e+00,-4.78401246e-04,
  2.29203161e-05,-5.52041963e-04]


--- Step 147 ---
qpos:
[ 0.01143266,-0.00108081, 0.00232038, 0.03987794, 0.00435236,-0.00230065,
 -0.01730095, 0.02703042, 0.01252127, 0.00426646,-0.00975486, 0.02512415,
  0.44123884,-0.00202141, 0.28052045, 0.06318595, 0.09428902,-0.07009038,
  0.1311066 , 0.50332483, 0.49854929, 0.49624785, 0.50184737]

qacc:
[ -7.62030145, -2.72544418, 14.93131926,-34.43160809, -1.1634077 ,
  -0.37905775,  3.42562726,-11.61552049, -1.42247527, -0.09993015,
   0.04058636,  1.45671804, -1.91549816,  6.79583447, -7.17565623,
  18.0838875 , -1.10154097, -1.97783122,  0.13108743,-15.63980219,
   2.577425  , 28.40083937]

qfrc_actuator:
[ 6.09631937e-04,-2.15911707e-05, 2.20679203e-04, 2.16360425e-03,
  2.26292609e-04,-4.64815276e-04,-1.18447924e-03, 1.48304077e-03,
  6.65417894e-04, 1.38911581e-04,-6.17715001e-04, 1.25668978e-03,
  8.24411664e-02,-3.65103839e-04, 6.21587027e-02,-1.04932450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002516582650110566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20581475e-13,  2.20581475e-13,  1.00000000e+00, -4.86561870e-26,
        1.00000000e+00, -2.20581475e-13, -1.00000000e+00,  0.00000000e+00,
        2.20581475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028482, -0.03408629,  0.06199282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46283975e-05, 4.53790802e-05, 2.80215065e-05,-5.21052414e-05,
 -6.78830308e-06,-1.17404697e-05,-1.70787713e-05,-2.63507662e-05,
 -8.33528358e-06, 1.23357943e-05, 1.10906760e-05, 6.13844842e-06,
 -5.68224984e-04,-2.97811342e-05,-2.79746531e-04, 6.00185280e-06,
 -6.31156759e-06, 9.01924203e-06,-1.21646366e+00,-4.78332830e-04,
  2.61555670e-05,-5.50793393e-04]


--- Step 148 ---
qpos:
[ 0.01144434,-0.00108224, 0.00232363, 0.03991981, 0.00435677,-0.00230362,
 -0.01731943, 0.02705928, 0.01253433, 0.00427002,-0.00976507, 0.02514903,
  0.4429441 ,-0.00202254, 0.28217577, 0.063255  , 0.0942462 ,-0.07006596,
  0.13109994, 0.50357353, 0.49830657, 0.4961731 , 0.50191286]

qacc:
[ -5.53752212,  0.2911266 ,  0.77259643, -5.22617907, -0.99324158,
  -3.143887  , 16.78403394,-39.18203375, -1.7718361 , -0.46224511,
   3.63468649, -7.71881742, -1.37403012,  2.84314607,  7.22284898,
 -31.51894598, -1.07003568, -1.93233181, -0.09434086,-15.42889098,
   2.34866645, 27.71298969]

qfrc_actuator:
[ 5.78540719e-04,-5.60576101e-06, 2.14143310e-04, 2.15120989e-03,
  2.20635382e-04,-4.39686952e-04,-1.16416489e-03, 1.42126446e-03,
  6.55319832e-04, 2.21288127e-04,-5.80961984e-04, 1.25213822e-03,
  8.22933954e-02,-3.68469911e-04, 6.19855360e-02,-1.25378555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4357487 ,  1.83469248,  4.03853562,  1.83469248,  9.27555871,
       -2.19870861,  4.03853562, -2.19870861,  5.43461426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026554680355897475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09044698e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.09044698e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028334, -0.03409363,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23497477e-05, 4.47953231e-05, 4.36327333e-06,-1.05927852e-05,
 -5.85311007e-06, 1.41682757e-05, 1.50625649e-05,-6.34015738e-05,
 -1.03279053e-05, 9.18299435e-05, 4.09269962e-05,-3.55561070e-06,
 -5.58034822e-04,-5.60106718e-05,-2.95558686e-04,-2.39256095e-04,
 -7.09655946e-06, 6.83567228e-06,-1.21646171e+00,-4.75773880e-04,
  2.41489324e-05,-5.50451871e-04]


--- Step 149 ---
qpos:
[ 0.0114559 ,-0.00108354, 0.00232688, 0.03996192, 0.00436074,-0.00230617,
 -0.01733741, 0.02708677, 0.01254716, 0.00427378,-0.00977432, 0.02517366,
  0.44464638,-0.00202298, 0.2838285 , 0.06331765, 0.0941992 ,-0.0700491 ,
  0.13109214, 0.50380797, 0.49807319, 0.49605809, 0.5020229 ]

qacc:
[ -1.04623146,  0.69224577, -3.24193615,  7.34041349, -3.9151413 ,
  -3.63655929, 19.56916332,-44.369803  , -1.92847177, -2.91987116,
  11.806503  ,-17.60770337, -2.12458399,  8.35591084, 15.53618405,
 -59.84458228, -1.04470236, -1.8940303 , -0.28458086,-15.25215439,
   2.15538627, 27.13849128]

qfrc_actuator:
[ 5.73345003e-04,-1.34286814e-05, 2.08981968e-04, 2.16267934e-03,
  1.97790369e-04,-3.87986692e-04,-1.12698218e-03, 1.35566072e-03,
  6.44158843e-04, 2.15647200e-04,-5.37274937e-04, 1.23956364e-03,
  8.21435012e-02,-3.34523256e-04, 6.18488314e-02,-1.57931670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46215149,  2.04623964,  3.965312  ,  2.04623964, 11.77008536,
       -3.7711494 ,  3.965312  , -3.7711494 ,  6.40819644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002747843956966284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02017116e-13,  1.01008558e-13,  1.00000000e+00, -2.04054576e-26,
        1.00000000e+00, -1.01008558e-13, -1.00000000e+00,  0.00000000e+00,
        2.02017116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028258, -0.03409852,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.10703053e-06, 1.75462549e-05, 4.13713134e-06, 1.32350075e-05,
 -2.30049393e-05, 6.02754555e-05, 3.99581817e-05,-6.57256275e-05,
 -1.14181466e-05, 5.39854973e-05, 6.76099448e-05,-7.33001385e-06,
 -5.55267808e-04,-1.91500765e-05,-2.94107305e-04,-3.76129946e-04,
 -7.66699041e-06, 4.86032430e-06,-1.21646111e+00,-4.73609081e-04,
  2.13663332e-05,-5.50385395e-04]


--- Step 150 ---
qpos:
[ 0.01146731,-0.00108489, 0.00233019, 0.04000317, 0.00436475,-0.00230826,
 -0.0173549 , 0.02711395, 0.01255942, 0.00427742,-0.00978306, 0.02519872,
  0.4463457 ,-0.00202328, 0.28547816, 0.06337944, 0.0941481 ,-0.0700397 ,
  0.13108257, 0.50402866, 0.49784898, 0.49590329, 0.50217669]

qacc:
[ -1.3365833 , -2.07103689, 10.92499169,-25.96894972,  0.35993191,
  -1.42839462,  7.28990457,-13.85596514, -5.06865165, -0.70728221,
   0.5340546 ,  6.00967498, -1.53810958,  3.98041419, -1.9562095 ,
   0.29382756, -1.02447538, -1.86184089, -0.44513292,-15.10640792,
   1.98987242, 26.65986015]

qfrc_actuator:
[ 5.65675385e-04,-3.54311838e-05, 2.04593713e-04, 2.11706540e-03,
  2.00517054e-04,-3.56201107e-04,-1.09777857e-03, 1.34162714e-03,
  6.14708888e-04, 1.75131603e-04,-5.25695938e-04, 1.25781127e-03,
  8.19817916e-02,-3.32145735e-04, 6.17447305e-02,-1.60057201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4782679 ,  2.27307536,  3.85849864,  2.27307536, 15.89008151,
       -6.72279939,  3.85849864, -6.72279939,  8.43872792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002802266108416218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.98093789e-13,  1.98093789e-13,  1.00000000e+00, -3.92411494e-26,
        1.00000000e+00, -1.98093789e-13, -1.00000000e+00,  0.00000000e+00,
        1.98093789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028242, -0.03410143,  0.061992  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84538967e-06,-1.08924885e-05, 7.53318824e-08,-4.45617251e-05,
  2.09284226e-06, 7.11624316e-05, 4.44819338e-05,-1.13616351e-05,
 -2.97506281e-05, 3.27874319e-06, 3.08272579e-05, 2.27181159e-05,
 -5.61741666e-04,-4.90935944e-05,-2.76921546e-04,-7.94884904e-05,
 -8.04313353e-06, 3.07223295e-06,-1.21646176e+00,-4.71770717e-04,
  1.78397278e-05,-5.50580781e-04]


--- Step 151 ---
qpos:
[ 0.01147853,-0.00108637, 0.00233294, 0.04004361, 0.00436876,-0.00230978,
 -0.01737197, 0.02714109, 0.01257157, 0.00428117,-0.00979215, 0.02522349,
  0.44804209,-0.00202384, 0.2871241 , 0.06344482, 0.09409296,-0.07003763,
  0.13107067, 0.50423598, 0.49763377, 0.49570907, 0.50237359]

qacc:
[-1.60381292e+00,-2.38708743e-01, 4.06328623e+00,-1.71700893e+01,
  1.39070529e-02,-4.99633498e-01, 3.07470130e+00,-4.95135925e+00,
 -9.21606634e-01, 5.13026389e-01,-3.94804626e-01,-4.16175674e+00,
 -1.11923870e+00, 9.08965368e-01,-1.62803646e+01, 4.90258628e+01,
 -1.00848150e+00,-1.83484084e+00,-5.80640499e-01,-1.49886906e+01,
  1.84600576e+00, 2.62625538e+01]

qfrc_actuator:
[ 5.56602567e-04,-6.58075586e-05, 1.65081436e-04, 2.07371631e-03,
  2.00525478e-04,-3.18811342e-04,-1.07355806e-03, 1.34027663e-03,
  6.10235584e-04, 1.67188601e-04,-5.51065105e-04, 1.24073088e-03,
  8.18237499e-02,-3.48433768e-04, 6.15910936e-02,-1.40674983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.4854022 ,   2.51919176,   3.71113268,   2.51919176,
        24.81095548, -13.7973958 ,   3.71113268, -13.7973958 ,
        13.85135294,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028259113714977635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96436278e-13,  1.96436278e-13,  1.00000000e+00, -3.85872114e-26,
        1.00000000e+00, -1.96436278e-13, -1.00000000e+00,  0.00000000e+00,
        1.96436278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028274, -0.03410273,  0.06199193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.30511663e-06,-3.84817402e-05,-4.34211191e-05,-4.47788566e-05,
  9.16202203e-08, 8.61059489e-05, 4.41744875e-05, 3.00008825e-06,
 -5.31204821e-06, 1.17466658e-06,-2.00913600e-05,-1.54720108e-05,
 -5.65231264e-04,-7.00447749e-05,-2.84954894e-04, 1.54472880e-04,
 -8.24001141e-06, 1.45542775e-06,-1.21646361e+00,-4.70206172e-04,
  1.35926886e-05,-5.51027485e-04]


--- Step 152 ---
qpos:
[ 0.01148991,-0.00108778, 0.00233509, 0.04008318, 0.00437274,-0.00231069,
 -0.01738888, 0.02716766, 0.01258392, 0.0042853 ,-0.00980187, 0.0252475 ,
  0.4497355 ,-0.0020242 , 0.28876698, 0.06351095, 0.09403385,-0.07004281,
  0.13105598, 0.50443027, 0.49742743, 0.49547572, 0.50261303]

qacc:
[ 1.28548849e+00, 2.18233032e-03, 3.75216891e+00,-1.76996309e+01,
 -2.78178381e-01,-7.71532368e-01, 6.30410884e+00,-1.67117750e+01,
  1.70259312e+00, 7.19524450e-01, 1.37050356e+00,-1.37631595e+01,
 -1.59572660e+00, 4.35645083e+00,-6.77019263e+00, 1.71766234e+01,
 -9.96002772e-01,-1.81224344e+00,-6.95038802e-01,-1.48962597e+01,
  1.71892459e+00, 2.59344197e+01]

qfrc_actuator:
[ 5.64529630e-04,-4.78637886e-05, 1.40617811e-04, 2.03202247e-03,
  1.98925845e-04,-2.96113753e-04,-1.07020054e-03, 1.31088750e-03,
  6.20504677e-04, 1.96364502e-04,-5.80197269e-04, 1.20299701e-03,
  8.16733397e-02,-3.40084707e-04, 6.14398582e-02,-1.37201507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.48506149,  -2.77791731,  -3.52121456,  -2.77791731,
        31.14320481, -21.03084507,  -3.52121456, -21.03084507,
        21.07648119,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028247881919571394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.96514384e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.96514384e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028346, -0.03410275,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.64650659e-06,-1.45707350e-05,-3.94258103e-05,-4.58113388e-05,
 -1.56887419e-06, 8.02957762e-05, 2.68457581e-05,-2.41313030e-05,
  1.01274996e-05, 2.49714575e-05,-3.18797861e-05,-3.87205920e-05,
 -5.61889114e-04,-4.69959248e-05,-2.58628569e-04, 7.75939736e-06,
 -8.26861265e-06,-1.98887696e-09,-1.21646660e+00,-4.68873933e-04,
  8.64193299e-06,-5.51716908e-04]


--- Step 153 ---
qpos:
[ 0.0115006 ,-0.00108916, 0.00233719, 0.04012157, 0.00437632,-0.00231142,
 -0.01740593, 0.02719306, 0.0125963 , 0.00428962,-0.00981159, 0.0252712 ,
  0.45142604,-0.00202476, 0.29040718, 0.06357626, 0.09397078,-0.07005517,
  0.13103814, 0.50461182, 0.49722985, 0.49520345, 0.50289455]

qacc:
[ -6.01029607, -2.26441342, 13.13647462,-33.61852501, -3.46720665,
  -1.80456377, 11.71823238,-31.91175029,  0.23651546, -0.40517824,
   3.11368548, -8.66120789, -1.16696967,  1.34433599, -1.45473431,
  -0.6291415 , -0.98644716, -1.79337643, -0.79167232,-14.82658758,
   1.60476122, 25.66526322]

qfrc_actuator:
[ 5.29141747e-04,-3.65796795e-05, 1.43192600e-04, 1.97393870e-03,
  1.78640517e-04,-3.35762614e-04,-1.09701910e-03, 1.24745588e-03,
  6.21608057e-04, 2.11985510e-04,-5.75654434e-04, 1.18896069e-03,
  8.15276167e-02,-3.52798683e-04, 6.13114417e-02,-1.41358459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028039145671303334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95954655e-13,  2.96965991e-13,  1.00000000e+00, -1.17585067e-25,
        1.00000000e+00, -2.96965991e-13, -1.00000000e+00,  0.00000000e+00,
        3.95954655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028449, -0.03410174,  0.06199199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51774713e-05,-7.06645289e-06,-6.98471536e-06,-6.10563423e-05,
 -2.03021188e-05, 9.93463313e-06,-7.61154897e-06,-5.95508232e-05,
  1.41060494e-06, 2.12937031e-05, 4.45852936e-06,-1.48619582e-05,
 -5.52615678e-04,-6.69874131e-05,-2.42233834e-04,-7.38503663e-05,
 -8.13679753e-06,-1.30854620e-06,-1.21647071e+00,-4.67740642e-04,
  2.99855763e-06,-5.52641882e-04]


--- Step 154 ---
qpos:
[ 0.01151043,-0.00109067, 0.00233932, 0.04015932, 0.00437964,-0.00231234,
 -0.01742272, 0.02721753, 0.01260825, 0.00429368,-0.00982128, 0.02529459,
  0.45311369,-0.0020251 , 0.29204436, 0.06363864, 0.0939038 ,-0.07007464,
  0.1310168 , 0.50478087, 0.49704093, 0.4948924 , 0.50321775]

qacc:
[ -7.486299  , -1.5531009 ,  8.03368749,-19.09365861, -2.36287866,
  -2.89672806, 13.94544063,-30.47288962, -3.7550711 , -1.03756293,
   4.49004217, -9.55328618, -1.61044149,  4.59993356,  4.39351286,
 -21.82483733, -0.97932519, -1.77766457, -0.87338924,-14.77735899,
   1.50043483, 25.44650688]

qfrc_actuator:
[ 4.86290238e-04,-4.70189456e-05, 1.43929182e-04, 1.94219757e-03,
  1.65272368e-04,-3.59361053e-04,-1.08845862e-03, 1.19993874e-03,
  5.99550063e-04, 1.66264635e-04,-5.86793621e-04, 1.17124785e-03,
  8.13848049e-02,-3.42328089e-04, 6.11328827e-02,-1.57067116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027674690756687714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01169081e-13,  1.00292270e-13,  1.00000000e+00, -4.02341578e-26,
        1.00000000e+00, -1.00292270e-13, -1.00000000e+00,  0.00000000e+00,
        4.01169081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11028578, -0.03409993,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38570724e-05,-1.85556731e-05,-3.79933879e-06,-3.35618597e-05,
 -1.39408415e-05,-2.20045416e-05, 7.76696843e-06,-4.85299445e-05,
 -2.20016494e-05,-3.35850420e-05,-6.68284311e-06,-1.69737538e-05,
 -5.44787871e-04,-4.40952592e-05,-2.95219421e-04,-1.92109440e-04,
 -7.84997567e-06,-2.46994735e-06,-1.21647591e+00,-4.66778904e-04,
 -3.33095990e-06,-5.53796273e-04]


--- Step 155 ---
qpos:
[ 0.01152003,-0.00109235, 0.00234122, 0.04019607, 0.00438311,-0.00231372,
 -0.01743888, 0.02724159, 0.0126195 , 0.00429744,-0.00983125, 0.02531763,
  0.45479847,-0.00202526, 0.29367777, 0.06369741, 0.09383412,-0.07008915,
  0.13099939, 0.50497701, 0.49682679, 0.49458912, 0.5035305 ]

qacc:
[ -2.16181305, -1.63164759,  9.69165281,-26.42735043,  1.42095121,
  -3.19470409, 12.1862136 ,-19.80453573, -6.1810479 , -0.33984558,
   2.1993607 , -7.87269697, -1.56874376,  4.27283546,  5.33142062,
 -26.68747978, -0.67577925,  1.23915236,  0.98258669, -8.55878599,
  -1.00062408,-17.62939671]

qfrc_actuator:
[ 4.74907784e-04,-7.03619397e-05, 1.25746344e-04, 1.89068453e-03,
  1.73841151e-04,-3.90795357e-04,-1.05901140e-03, 1.17995850e-03,
  5.64038912e-04, 1.37359515e-04,-6.07375001e-04, 1.15144089e-03,
  8.12331920e-02,-3.36044254e-04, 6.09190405e-02,-1.75912606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027519702427783455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05142640e-13,  1.13464245e-13,  1.00000000e+00, -6.86620527e-26,
        1.00000000e+00, -1.13464245e-13, -1.00000000e+00,  0.00000000e+00,
        6.05142640e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206887, -0.09006227,  0.06199214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26397302e-05,-3.60432878e-05,-2.37447277e-05,-5.31784745e-05,
  8.16526372e-06,-4.40439761e-05, 2.43331707e-05,-2.16135311e-05,
 -3.61394071e-05,-4.98497576e-05,-2.89026025e-05,-2.18442086e-05,
 -5.45927984e-04,-4.67078114e-05,-3.65912792e-04,-2.36387429e-04,
 -7.41161497e-06,-3.48948865e-06,-1.21648219e+00,-4.65965649e-04,
 -1.03439472e-05,-5.55174689e-04]


--- Step 156 ---
qpos:
[ 0.01152906,-0.00109417, 0.00234259, 0.04023194, 0.00438631,-0.00231536,
 -0.01745465, 0.02726555, 0.01263023, 0.0043014 ,-0.00984136, 0.02534017,
  0.4564804 ,-0.00202562, 0.29530748, 0.06375435, 0.09376182,-0.07009883,
  0.13098491, 0.50519972, 0.49658768, 0.49429332, 0.50383334]

qacc:
[ -4.90475522, -0.53420613,  5.38836119,-19.81113241, -2.34629898,
  -1.59974143,  5.63468334, -7.70992556, -4.52730643, -0.34282689,
   3.68935228,-12.12775876, -1.1533746 ,  1.30462975,  0.10641868,
  -8.27681429, -0.65391426,  1.20767753,  0.73268423, -8.5674845 ,
  -0.85308252,-17.22184411]

qfrc_actuator:
[ 4.46635660e-04,-8.35918307e-05, 9.64624988e-05, 1.84567273e-03,
  1.59745425e-04,-3.91066200e-04,-1.03525197e-03, 1.17634040e-03,
  5.38654057e-04, 1.89703204e-04,-5.97810643e-04, 1.13056347e-03,
  8.10817277e-02,-3.50071278e-04, 6.07640905e-02,-1.84029065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50276664, -0.12713292,  4.50097152, -0.12713292, 11.19952462,
        0.18915436,  4.50097152,  0.18915436,  4.50810943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028823743455455575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92588278e-13, -1.44441209e-13,  1.00000000e+00,  2.78176837e-26,
        1.00000000e+00,  1.44441209e-13, -1.00000000e+00,  0.00000000e+00,
        1.92588278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206901, -0.09005866,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86449068e-05,-4.06468813e-05,-4.15872966e-05,-4.84965218e-05,
 -1.38783324e-05,-2.06112111e-05, 1.70632295e-05,-5.09920387e-06,
 -2.64206716e-05, 1.75131199e-05,-5.01440023e-06,-2.44727288e-05,
 -5.47027913e-04,-6.74813315e-05,-3.41019829e-04,-1.39851607e-04,
 -9.20140743e-06,-3.05021330e-06,-1.21648370e+00,-4.63795109e-04,
 -5.42171352e-06,-5.55022819e-04]


--- Step 157 ---
qpos:
[ 0.01153769,-0.00109609, 0.00234382, 0.04026695, 0.00438967,-0.00231698,
 -0.01747016, 0.02728961, 0.01264092, 0.0043056 ,-0.00985108, 0.02536189,
  0.45815946,-0.00202642, 0.29693401, 0.06381264, 0.09368697,-0.07010378,
  0.13097251, 0.50544852, 0.4963238 , 0.49400477, 0.50412673]

qacc:
[ -3.60100515, -1.48026422,  8.69772278,-23.16340182,  1.33182845,
  -0.56254888,  1.64633113, -0.53865971, -0.37084246, -2.46757434,
  12.70514184,-27.64015051, -0.91949375, -0.43678433, -8.78222593,
  23.91084374, -0.63701567,  1.18134672,  0.52163946, -8.57589618,
  -0.72657775,-16.88061291]

qfrc_actuator:
[ 4.26391507e-04,-7.29608539e-05, 9.64127340e-05, 1.80485181e-03,
  1.67921129e-04,-3.72673444e-04,-1.01491895e-03, 1.18239197e-03,
  5.37189990e-04, 2.19408727e-04,-5.70186962e-04, 1.09156321e-03,
  8.09251278e-02,-3.75969412e-04, 6.06659081e-02,-1.75088750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52936648, -0.24850308,  4.5225443 , -0.24850308, 14.69448304,
        0.55854903,  4.5225443 ,  0.55854903,  4.56005743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002966050338790577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87155122e-13,  2.80732683e-13,  1.00000000e+00, -5.25405594e-26,
        1.00000000e+00, -2.80732683e-13, -1.00000000e+00,  0.00000000e+00,
        1.87155122e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206935, -0.09005639,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10721213e-05,-2.28357989e-05,-1.53286116e-05,-4.50248330e-05,
  7.77226553e-06, 1.03590076e-05, 1.81523307e-05, 5.64534064e-06,
 -2.20073507e-06, 3.73638852e-05, 2.98105979e-05,-3.89328906e-05,
 -5.54753499e-04,-8.07256157e-05,-2.62899788e-04, 3.91064278e-05,
 -1.10238592e-05,-2.44155287e-06,-1.21648572e+00,-4.61706799e-04,
 -2.94658246e-07,-5.54779283e-04]


--- Step 158 ---
qpos:
[ 0.0115467 ,-0.00109782, 0.00234512, 0.04030149, 0.00439309,-0.00231849,
 -0.01748533, 0.02731319, 0.01265186, 0.0043098 ,-0.0098606 , 0.02538337,
  0.4598357 ,-0.00202783, 0.29855773, 0.06387245, 0.09361256,-0.07010425,
  0.13096435, 0.50571095, 0.49604606, 0.49373443, 0.50440168]

qacc:
[  3.3350429 , -0.91785271,  5.63922074,-14.06636633,  0.63654781,
  -1.75068496,  8.48135302,-17.36656957,  2.15720234, -1.07484827,
   4.89565905, -9.53276616, -0.72493513, -1.72521651, -8.72838419,
  24.49904895,  0.10797574,  1.12244631,  1.05783698,  2.26034244,
   0.15763861,-16.04029978]

qfrc_actuator:
[ 4.46544911e-04,-3.02483261e-05, 1.13730043e-04, 1.78461837e-03,
  1.71394402e-04,-3.60995244e-04,-9.96680659e-04, 1.15859431e-03,
  5.49813300e-04, 1.99904224e-04,-5.67714331e-04, 1.07771578e-03,
  8.07815283e-02,-4.08677810e-04, 6.05486155e-02,-1.66811761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068798346539392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80888885e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80888885e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141543, -0.08808858,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95464869e-05, 2.47897214e-05, 9.07659209e-06,-2.26959335e-05,
  3.69756345e-06, 2.16521150e-05, 2.29561663e-05,-2.26316006e-05,
  1.25818752e-05, 5.82525221e-06, 1.25424879e-05,-1.20064150e-05,
 -5.48251690e-04,-8.92714544e-05,-2.29400731e-04, 5.17425971e-05,
 -1.28853999e-05,-1.67094885e-06,-1.21648822e+00,-4.59676011e-04,
  5.04628972e-06,-5.54443117e-04]


--- Step 159 ---
qpos:
[ 0.01155622,-0.0010992 , 0.00234655, 0.04033515, 0.00439619,-0.00231978,
 -0.01749994, 0.02733627, 0.01266252, 0.00431384,-0.00987018, 0.02540455,
  0.46150906,-0.00202924, 0.30017861, 0.06392626, 0.09353856,-0.07010033,
  0.13095943, 0.50598677, 0.49575453, 0.49348184, 0.5046588 ]

qacc:
[  4.53371877, -1.73573435, 10.52818736,-26.19133001, -2.87894788,
  -2.32267698, 10.80609423,-20.50769511, -2.44855202, -0.65013203,
   3.22631096, -8.04894929, -1.40948975,  3.00802716, 13.93148291,
 -54.79438066,  0.10538987,  1.09494718,  0.8115209 ,  2.0695493 ,
   0.23808063,-15.69009247]

qfrc_actuator:
[ 4.72558985e-04,-4.05204617e-06, 1.23556479e-04, 1.74119307e-03,
  1.54312468e-04,-3.35701701e-04,-9.62112385e-04, 1.13517158e-03,
  5.35113506e-04, 1.68760371e-04,-5.80299320e-04, 1.06096684e-03,
  8.06351763e-02,-4.09622968e-04, 6.03347258e-02,-1.99834045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60059167,  0.39665282,  4.58346051,  0.39665282, 10.65766914,
       -0.52417968,  4.58346051, -0.52417968,  4.6459542 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031752902205162137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37055729e-14,  1.74822291e-13,  1.00000000e+00,  7.64070840e-27,
        1.00000000e+00, -1.74822291e-13, -1.00000000e+00,  0.00000000e+00,
       -4.37055729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141652, -0.08808607,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65766725e-05, 4.09097323e-05, 1.51975249e-05,-4.25696439e-05,
 -1.69689157e-05, 4.13545806e-05, 4.12281296e-05,-2.21565574e-05,
 -1.43324870e-05,-2.58599792e-05,-1.02274123e-05,-1.63334492e-05,
 -5.46963272e-04,-5.75632830e-05,-3.10913570e-04,-3.56640690e-04,
 -1.36422451e-05,-8.82550696e-07,-1.21648727e+00,-4.57761995e-04,
  1.05045931e-05,-5.54246915e-04]


--- Step 160 ---
qpos:
[ 0.01156529,-0.00110026, 0.00234808, 0.04036803, 0.00439906,-0.00232073,
 -0.0175138 , 0.02735886, 0.01267257, 0.00431796,-0.00987989, 0.0254243 ,
  0.46317944,-0.00203024, 0.30179582, 0.06397639, 0.09346498,-0.07009213,
  0.13095693, 0.50627579, 0.49544928, 0.49324661, 0.50489862]

qacc:
[ -3.97563701, -1.46349108,  9.16084878,-23.11356981, -1.98950956,
  -2.63680193, 12.15026497,-22.11083874, -5.32099495, -2.4504098 ,
  14.96833872,-39.60526094, -1.88254539,  6.13059361,  5.70990517,
 -27.7965035 ,  0.10217808,  1.07217654,  0.60397837,  1.90594045,
   0.30910704,-15.39798219]

qfrc_actuator:
[ 4.48543236e-04, 1.20205373e-05, 1.28804896e-04, 1.70220210e-03,
  1.43023031e-04,-3.02383075e-04,-9.18116321e-04, 1.11218535e-03,
  5.04444865e-04, 1.84068275e-04,-5.83982501e-04, 9.89360710e-04,
  8.04713015e-02,-3.91872137e-04, 6.01535189e-02,-2.17889439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62293064,  0.17743382,  4.61952432,  0.17743382, 14.44062692,
       -0.37709323,  4.61952432, -0.37709323,  4.63741462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032369848564864356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28617727e-13,  8.57451513e-14,  1.00000000e+00,  1.10283464e-26,
        1.00000000e+00, -8.57451513e-14, -1.00000000e+00,  0.00000000e+00,
       -1.28617727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141731, -0.08808468,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32479811e-05, 4.02025354e-05, 1.40112854e-05,-3.76191949e-05,
 -1.17596553e-05, 6.41712513e-05, 5.69855347e-05,-2.02340015e-05,
 -3.10766120e-05,-2.01834361e-06,-1.08207711e-05,-7.34183312e-05,
 -5.60973761e-04,-3.74351493e-05,-3.59057319e-04,-2.39721584e-04,
 -1.43816041e-05,-3.00255497e-08,-1.21648671e+00,-4.55877377e-04,
  1.57516365e-05,-5.53987832e-04]


--- Step 161 ---
qpos:
[ 0.01157401,-0.00110106, 0.00234968, 0.04040054, 0.00440211,-0.00232135,
 -0.01752725, 0.02738067, 0.01268253, 0.00432222,-0.00988938, 0.02544336,
  0.46484692,-0.00203131, 0.30340956, 0.06402741, 0.09339334,-0.07007958,
  0.13095714, 0.50657214, 0.49513541, 0.49303495, 0.50511595]

qacc:
[ -3.15001188, -0.59321134,  4.18673866,-10.87407186,  1.64825869,
  -2.29387782, 12.05748167,-26.28543115, -0.88312507, -1.85729898,
   9.81795427,-22.31723337, -1.3129102 ,  2.29919444, -7.78914984,
  19.86139356,  0.48620901,  1.08525806,  0.6750861 ,  7.49724201,
   0.7545356 ,-15.50660544]

qfrc_actuator:
[ 4.30776553e-04, 2.18904663e-05, 1.31277053e-04, 1.68387803e-03,
  1.52992643e-04,-2.99974386e-04,-9.04376580e-04, 1.07190052e-03,
  5.00137101e-04, 2.09301572e-04,-5.64478061e-04, 9.57106739e-04,
  8.03236560e-02,-3.98825034e-04, 6.00453574e-02,-2.10979185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032732620898780207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69589693e-13,  2.17286794e-13,  1.00000000e+00, -3.68496006e-26,
        1.00000000e+00, -2.17286794e-13, -1.00000000e+00,  0.00000000e+00,
        1.69589693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593187, -0.08811906,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84176218e-05, 3.35441141e-05, 1.11132621e-05,-1.69243330e-05,
  9.65519558e-06, 4.93390044e-05, 3.34376591e-05,-3.59736994e-05,
 -5.18085313e-06, 1.86642308e-05, 1.52470952e-05,-3.41720845e-05,
 -5.52969520e-04,-6.28672949e-05,-2.92097616e-04, 1.09745041e-05,
 -1.51075503e-05, 8.87187426e-07,-1.21648651e+00,-4.54011031e-04,
  2.08166151e-05,-5.53662441e-04]


--- Step 162 ---
qpos:
[ 0.01158313,-0.00110201, 0.00235181, 0.04043225, 0.0044056 ,-0.00232223,
 -0.01754015, 0.02740225, 0.01269235, 0.00432654,-0.00989833, 0.02546256,
  0.46651153,-0.0020321 , 0.30502018, 0.06407551, 0.0933236 ,-0.07006278,
  0.13095926, 0.50687578, 0.49481293, 0.49284639, 0.50531134]

qacc:
[  3.61529337, -3.32076777, 14.89197449,-29.38876827,  3.8883103 ,
  -2.39041355,  9.01836971,-13.84778152, -1.11986565, -1.16579303,
   3.6846442 , -2.18765397, -1.6954204 ,  5.03688098,  4.2516969 ,
 -21.52460648,  0.47465187,  1.06450743,  0.48169878,  7.25910607,
   0.80896024,-15.24064284]

qfrc_actuator:
[ 4.52351468e-04,-7.53354063e-06, 1.49831462e-04, 1.64234806e-03,
  1.75393094e-04,-3.51735880e-04,-8.90996525e-04, 1.05721796e-03,
  4.93631693e-04, 2.22660629e-04,-5.31353351e-04, 9.66055031e-04,
  8.01858477e-02,-3.84768053e-04, 5.98692950e-02,-2.26680113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6525751 ,  0.31310808,  4.64202741,  0.31310808, 16.08766156,
       -0.77130478,  4.64202741, -0.77130478,  4.70460017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003316278671986195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67389887e-13, -3.66165378e-14,  1.00000000e+00,  6.12923812e-27,
        1.00000000e+00,  3.66165378e-14, -1.00000000e+00,  0.00000000e+00,
        1.67389887e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593269, -0.08811818,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10574745e-05,-9.19196047e-06, 2.61763496e-05,-4.01130176e-05,
  2.26931646e-05,-1.86712819e-05, 2.65612695e-05,-1.21290052e-05,
 -6.63775283e-06, 2.54253784e-05, 3.77047982e-05, 9.58197749e-06,
 -5.39376616e-04,-4.26024122e-05,-3.03540378e-04,-1.93071496e-04,
 -1.52449940e-05, 1.80019384e-06,-1.21648472e+00,-4.52146210e-04,
  2.55640722e-05,-5.53364225e-04]


--- Step 163 ---
qpos:
[ 0.01159209,-0.0011029 , 0.00235383, 0.04046324, 0.004409  ,-0.00232316,
 -0.01755283, 0.02742348, 0.01270167, 0.00433082,-0.00990672, 0.02548137,
  0.46817322,-0.00203199, 0.30662731, 0.06412362, 0.09325571,-0.07004179,
  0.13096267, 0.50718662, 0.49448178, 0.49268056, 0.50548527]

qacc:
[ -1.39029417, -1.1174989 ,  7.1709473 ,-19.64652155, -0.9012903 ,
  -1.39153761,  6.3698022 ,-12.75647855, -4.37427997, -2.34836848,
   9.93016823,-17.34239877, -2.3454247 ,  9.49694791, -5.17751052,
  10.74321691,  0.46423915,  1.04756637,  0.31935807,  7.05502494,
   0.85896316,-15.0213671 ]

qfrc_actuator:
[ 4.43649355e-04,-6.96239863e-06, 1.42045965e-04, 1.60522302e-03,
  1.69418071e-04,-3.46775665e-04,-8.78139142e-04, 1.03992180e-03,
  4.68123697e-04, 2.11160823e-04,-5.08230296e-04, 9.45908749e-04,
  8.00380657e-02,-3.40684021e-04, 5.97218214e-02,-2.25421777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033260287697448043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.86651954e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.86651954e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593309, -0.08811813,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.11109231e-06,-9.63391062e-07,-7.94286271e-06,-3.74699966e-05,
 -5.33494432e-06,-3.71074105e-07, 1.19654456e-05,-1.74317153e-05,
 -2.56813217e-05, 1.08515422e-05, 3.33723305e-05,-1.75959026e-05,
 -5.37631925e-04,-1.04685857e-05,-3.03408711e-04,-3.64341757e-05,
 -1.53751353e-05, 2.75302048e-06,-1.21648337e+00,-4.50291666e-04,
  2.99531790e-05,-5.52989581e-04]


--- Step 164 ---
qpos:
[ 0.01160088,-0.00110369, 0.00235543, 0.04049355, 0.00441229,-0.00232367,
 -0.01756572, 0.02744396, 0.01271062, 0.00433453,-0.00991472, 0.02549954,
  0.46983204,-0.00203196, 0.30823154, 0.06417431, 0.09318965,-0.07001666,
  0.13096681, 0.50750465, 0.49414195, 0.49253716, 0.50563812]

qacc:
[ -1.54346004, -0.08339904,  3.34878353,-14.41219819, -0.87397057,
  -0.39177086,  5.32446802,-18.17665043, -3.30052427, -3.19166875,
  13.01312476,-24.45847027, -1.29869101,  2.26686905,-12.00259726,
  35.82441894,  0.45485267,  1.03386413,  0.18341173,  6.87912406,
   0.90570408,-14.84228687]

qfrc_actuator:
[ 4.34936830e-04,-6.29625389e-06, 1.18880793e-04, 1.57099132e-03,
  1.64538692e-04,-3.07903158e-04,-8.83240617e-04, 1.00351053e-03,
  4.49388405e-04, 1.31550875e-04,-5.09083707e-04, 9.08767220e-04,
  7.98790821e-02,-3.50321908e-04, 5.96342526e-02,-2.10615594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003309253861091266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35490437e-13,  2.56859866e-13,  1.00000000e+00, -8.61740287e-26,
        1.00000000e+00, -2.56859866e-13, -1.00000000e+00,  0.00000000e+00,
        3.35490437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593316, -0.08811876,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.94702157e-06,-3.21022607e-06,-2.57299863e-05,-3.53501832e-05,
 -5.03140754e-06, 4.05223362e-05,-4.19510438e-06,-3.63692634e-05,
 -1.94530346e-05,-6.74808650e-05, 4.90637383e-06,-3.58941701e-05,
 -5.44233291e-04,-6.27595177e-05,-2.25285708e-04, 1.07962831e-04,
 -1.54987771e-05, 3.74815723e-06,-1.21648243e+00,-4.48440734e-04,
  3.40130269e-05,-5.52536045e-04]


--- Step 165 ---
qpos:
[ 0.01160916,-0.00110438, 0.00235696, 0.04052388, 0.0044155 ,-0.00232387,
 -0.01757829, 0.02746347, 0.01271928, 0.00433737,-0.00992249, 0.02551752,
  0.47148801,-0.00203199, 0.30983301, 0.06422538, 0.09312638,-0.07000019,
  0.13097222, 0.50778331, 0.49384577, 0.49237048, 0.50581002]

qacc:
[ -4.55557763,  0.37094879, -1.22253203,  1.62225791, -0.73353575,
  -2.46590131, 13.48313158,-30.96982302, -2.56424815, -2.17998158,
   6.94260363,-10.02875956, -1.32742778,  2.42333848, -5.21863884,
  12.38280272,  0.69901153, -2.16501694,  0.31893748, 10.22696883,
  -2.54967586, 31.2863943 ]

qfrc_actuator:
[ 4.08544719e-04, 1.21050664e-05, 1.22340950e-04, 1.57423649e-03,
  1.60352579e-04,-2.84616957e-04,-8.63262286e-04, 9.56165377e-04,
  4.34794838e-04, 6.49008436e-05,-5.06628473e-04, 8.97356803e-04,
  7.97294546e-02,-3.56073095e-04, 5.94868349e-02,-2.09239003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033231989077554813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67041314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.67041314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273222, -0.03118755,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66503285e-05, 9.68786191e-06,-1.68083503e-06, 1.45850821e-06,
 -4.31377235e-06, 4.36435087e-05, 2.66848889e-05,-4.64771649e-05,
 -1.51613682e-05,-1.04970036e-04,-1.21018482e-05,-1.48594607e-05,
 -5.44444264e-04,-6.24064391e-05,-2.36509969e-04,-9.02374779e-06,
 -1.56166121e-05, 4.78784053e-06,-1.21648189e+00,-4.46587488e-04,
  3.77674114e-05,-5.52001650e-04]


--- Step 166 ---
qpos:
[ 0.01161739,-0.00110498, 0.00235883, 0.04055329, 0.00441829,-0.00232391,
 -0.01759043, 0.02748159, 0.01272838, 0.00433964,-0.00993055, 0.02553522,
  0.47314111,-0.00203204, 0.31143147, 0.06427331, 0.09306579,-0.06999215,
  0.13097784, 0.50802369, 0.49359207, 0.49218122, 0.50600044]

qacc:
[ -0.30729115, -2.69522785, 13.66956241,-30.16492483, -3.67167401,
  -3.86740348, 20.01033947,-45.02902458,  3.93886288, -0.54589861,
   1.9962368 , -5.90218053, -1.39293769,  2.82799674,  5.02714297,
 -24.01363351,  0.67009822, -2.10842834,  0.05121583,  9.9696334 ,
  -2.47360038, 30.42252206]

qfrc_actuator:
[ 4.07463707e-04, 2.33685820e-05, 1.41598732e-04, 1.52853220e-03,
  1.38855085e-04,-2.88506094e-04,-8.46438007e-04, 8.85027549e-04,
  4.58258935e-04, 4.20440289e-05,-5.19938602e-04, 8.83435803e-04,
  7.95802180e-02,-3.59474130e-04, 5.92982740e-02,-2.26456360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034575789646136557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60549193e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.60549193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827331 , -0.03119506,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84104556e-06, 1.63003264e-05, 2.10174879e-05,-4.53890580e-05,
 -2.16044233e-05, 2.41459808e-05, 2.76243112e-05,-6.92635856e-05,
  2.30024158e-05,-8.47233030e-05,-3.69708752e-05,-1.91541486e-05,
 -5.44240638e-04,-6.03122194e-05,-2.95897600e-04,-2.02942382e-04,
 -1.26999084e-05, 2.53941138e-06,-1.21647583e+00,-4.45884274e-04,
  2.92226350e-05,-5.51210982e-04]


--- Step 167 ---
qpos:
[ 0.01162624,-0.00110557, 0.00236101, 0.04058125, 0.00442114,-0.00232393,
 -0.01760245, 0.02749806, 0.01273803, 0.00434159,-0.00993884, 0.02555223,
  0.47479128,-0.00203205, 0.31302634, 0.06432114, 0.09300778,-0.06999236,
  0.13098276, 0.50822667, 0.49337988, 0.49196995, 0.50620897]

qacc:
[  5.3931718 , -3.86657809, 19.92097913,-45.58253253,  0.57864282,
  -3.70639497, 20.21188113,-48.90957561,  4.88236303, -1.18525102,
   6.50774135,-17.78593965, -1.45988394,  3.17481395, -4.94024225,
   9.6262637 ,  0.64573349, -2.06114593, -0.17427006,  9.74633336,
  -2.42093748, 29.70191515]

qfrc_actuator:
[ 4.39047147e-04, 1.25557766e-05, 1.52207494e-04, 1.45438971e-03,
  1.42845515e-04,-3.08670068e-04,-8.49499494e-04, 8.00431861e-04,
  4.86181134e-04, 4.55235224e-05,-5.24531241e-04, 8.50417386e-04,
  7.94206674e-02,-3.61482873e-04, 5.91384069e-02,-2.26089383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035376228800247655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56916532e-13,  1.56916532e-13,  1.00000000e+00, -2.46227979e-26,
        1.00000000e+00, -1.56916532e-13, -1.00000000e+00,  0.00000000e+00,
        1.56916532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273341, -0.03119954,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15320157e-05, 6.06692362e-07, 1.49050898e-05,-7.36704131e-05,
  3.38450435e-06,-3.82804477e-06, 3.03542076e-06,-8.39654405e-05,
  2.85508533e-05,-5.23463620e-05,-2.72732868e-05,-3.83269410e-05,
 -5.54464015e-04,-5.90041638e-05,-3.14021154e-04,-4.50591191e-05,
 -1.01112473e-05, 8.73769915e-07,-1.21647130e+00,-4.44962215e-04,
  2.16577018e-05,-5.50653743e-04]


--- Step 168 ---
qpos:
[ 0.01163471,-0.00110591, 0.00236261, 0.04060883, 0.00442471,-0.00232425,
 -0.01761432, 0.02751447, 0.01274726, 0.00434377,-0.00994637, 0.02556926,
  0.47643845,-0.00203169, 0.31461838, 0.06436681, 0.09295228,-0.07000066,
  0.13098623, 0.50839303, 0.49320836, 0.49173712, 0.50643523]

qacc:
[ -3.36554507,  1.14920691, -1.98226892, -3.96830346,  6.28261876,
  -0.93892268,  3.0177697 , -4.10742156, -3.77059604, -1.76503422,
   6.67655197, -7.73702389, -1.88632425,  5.86364994,  2.33672012,
 -14.17214844,  0.62515492, -2.02178285, -0.36397658,  9.55256599,
  -2.38732452, 29.10284387]

qfrc_actuator:
[ 4.18584538e-04, 2.40532317e-05, 1.22011282e-04, 1.43509919e-03,
  1.79563630e-04,-3.38529638e-04,-8.46607405e-04, 7.97331175e-04,
  4.63233706e-04, 1.35784733e-04,-4.52818413e-04, 8.59719826e-04,
  7.92603629e-02,-3.44947428e-04, 5.90118944e-02,-2.36651650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7564036 , -3.4506138 ,  3.27362789, -3.4506138 , 26.77891329,
       23.2131379 ,  3.27362789, 23.2131379 , 29.22454001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003573664872286997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55333959e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55333959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273326, -0.03120156,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95687994e-05, 1.16758087e-05,-3.08753429e-05,-2.02517503e-05,
  3.68166737e-05,-3.48656747e-05,-3.25867075e-07,-4.80390015e-06,
 -2.21508039e-05, 5.37416885e-05, 5.62594701e-05, 5.34646695e-06,
 -5.62384550e-04,-4.17434165e-05,-2.69732749e-04,-1.47484498e-04,
 -7.81717881e-06,-2.57020049e-07,-1.21646815e+00,-4.43843415e-04,
  1.49826119e-05,-5.50318336e-04]


--- Step 169 ---
qpos:
[ 0.01164253,-0.00110611, 0.00236382, 0.0406363 , 0.0044287 ,-0.00232479,
 -0.01762617, 0.02753209, 0.01275614, 0.00434675,-0.00995302, 0.02558653,
  0.47808263,-0.00203108, 0.31620824, 0.06440609, 0.0928992 ,-0.07001691,
  0.1309876 , 0.5085234 , 0.49307684, 0.49148309, 0.50667894]

qacc:
[ -5.77806688,  1.06033734, -3.05605204,  1.77952526,  3.61976422,
   2.13525935,-13.17538644, 34.32458349, -3.03867905, -0.89824086,
   3.72462428, -1.56339582, -1.76648867,  4.9997431 , 16.09358832,
 -60.9506435 ,  0.60773163, -1.98915846, -0.52337464,  9.38447073,
  -2.3692234 , 28.60715699]

qfrc_actuator:
[ 3.85394886e-04, 3.09402428e-05, 1.03598971e-04, 1.43047972e-03,
  1.99736950e-04,-3.38383738e-04,-8.40208551e-04, 8.59956925e-04,
  4.46033585e-04, 2.24430456e-04,-3.89482346e-04, 8.76229599e-04,
  7.91050445e-02,-3.35401295e-04, 5.88894778e-02,-2.69540823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.75670498, -3.8193777 ,  2.83524184, -3.8193777 , 18.1878045 ,
       18.09314508,  2.83524184, 18.09314508, 29.13013013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000357437062644711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55303288e-13,  1.55303288e-13,  1.00000000e+00, -2.41191114e-26,
        1.00000000e+00, -1.55303288e-13, -1.00000000e+00,  0.00000000e+00,
        1.55303288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273274, -0.03120163,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37461096e-05, 6.06942748e-06,-2.05879885e-05,-5.64687082e-06,
  2.12113220e-05,-1.94970733e-05,-9.04317025e-07, 6.10158299e-05,
 -1.78106032e-05, 1.30541063e-04, 8.15865425e-05, 2.08401728e-05,
 -5.61287124e-04,-4.90125483e-05,-2.59595931e-04,-3.71445479e-04,
 -5.79130642e-06,-8.89959033e-07,-1.21646631e+00,-4.42541922e-04,
  9.12440491e-06,-5.50195835e-04]


--- Step 170 ---
qpos:
[ 0.01164988,-0.00110645, 0.0023652 , 0.0406635 , 0.00443289,-0.00232528,
 -0.01763795, 0.02754994, 0.01276474, 0.00435003,-0.00995915, 0.02560361,
  0.47972388,-0.00203032, 0.31779461, 0.06444514, 0.0928485 ,-0.07004102,
  0.13098634, 0.50861833, 0.49298476, 0.49120813, 0.50693983]

qacc:
[ -4.02368434, -1.17357469,  5.07803431, -9.94047414,  1.85056134,
   0.34414732, -2.10822053,  5.93932427, -2.40647978, -1.46969541,
   6.64927701,-11.09399997, -1.59283263,  4.01170551, -4.41534313,
   8.03854625,  0.5929399 , -1.96226354, -0.65712186,  9.23871763,
  -2.36375391, 28.19960592]

qfrc_actuator:
[ 3.62749207e-04, 1.73135056e-05, 1.10046460e-04, 1.41678047e-03,
  2.10000422e-04,-3.20195263e-04,-8.31643111e-04, 8.72003013e-04,
  4.32370315e-04, 1.87184578e-04,-3.84850726e-04, 8.61330077e-04,
  7.89581498e-02,-3.30066091e-04, 5.87429338e-02,-2.69158599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003546988572052795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56502199e-13,  1.56502199e-13,  1.00000000e+00, -2.44929384e-26,
        1.00000000e+00, -1.56502199e-13, -1.00000000e+00,  0.00000000e+00,
        1.56502199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273194, -0.03120013,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36084544e-05,-1.48321253e-05, 4.89033672e-06,-1.43251432e-05,
  1.08590811e-05, 9.84041731e-06, 6.64315622e-06, 1.23541098e-05,
 -1.41218424e-05, 5.34525242e-05, 4.23810809e-05,-6.10457655e-06,
 -5.52880120e-04,-5.37231941e-05,-3.05701423e-04,-5.03038199e-05,
 -4.01282523e-06,-1.05327768e-06,-1.21646570e+00,-4.41065742e-04,
  4.02392782e-06,-5.50279438e-04]


--- Step 171 ---
qpos:
[ 0.01165691,-0.00110707, 0.00236673, 0.04069034, 0.00443717,-0.00232595,
 -0.01764941, 0.02756711, 0.01277311, 0.00435257,-0.00996461, 0.02562085,
  0.48136228,-0.0020298 , 0.31937766, 0.06448254, 0.09280013,-0.07007261,
  0.13098246, 0.5086792 , 0.49293061, 0.49091344, 0.50721681]

qacc:
[ -2.88077484, -1.54084569,  6.47712287,-12.73213963,  0.80844218,
  -2.5269466 , 11.52343413,-23.58837902, -1.98763705, -2.52511925,
   6.89870934, -4.64000398, -1.16582121,  1.23952065,  0.07869624,
  -7.371454  ,  0.58399908, -1.87336433, -0.65671979,  9.0916005 ,
  -2.30747283, 26.90493269]

qfrc_actuator:
[ 3.46495082e-04,-8.39677773e-06, 1.13270921e-04, 1.39784395e-03,
  2.14354441e-04,-3.44620141e-04,-8.21831539e-04, 8.36447775e-04,
  4.20895760e-04, 7.45798914e-05,-3.79936910e-04, 8.63429309e-04,
  7.88110863e-02,-3.45007332e-04, 5.85767829e-02,-2.77578356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034972979175960684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.94680470e-07,  9.94680329e-07,  1.00000000e+00, -9.89389098e-13,
        1.00000000e+00, -9.94680329e-07, -1.00000000e+00,  0.00000000e+00,
        9.94680470e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283089, -0.0329747 ,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69361503e-05,-3.37041372e-05, 1.87998700e-07,-1.97450630e-05,
  4.66635769e-06,-1.69005908e-05, 1.31935524e-05,-3.46761788e-05,
 -1.18510728e-05,-7.42839705e-05, 2.09686024e-05, 5.70803754e-06,
 -5.47283358e-04,-7.36234467e-05,-3.06724154e-04,-1.25407440e-04,
 -2.46539669e-06,-7.68108027e-07,-1.21646627e+00,-4.39418328e-04,
 -3.66728099e-07,-5.50564035e-04]


--- Step 172 ---
qpos:
[ 0.01166403,-0.00110778, 0.00236825, 0.04071639, 0.00444148,-0.00232689,
 -0.01766031, 0.02758373, 0.01278128, 0.00435447,-0.00996958, 0.02563763,
  0.48299774,-0.00202908, 0.32095762, 0.06451854, 0.0927538 ,-0.07009967,
  0.13098342, 0.50874871, 0.49286566, 0.49064289, 0.50747192]

qacc:
[  0.8362665 , -1.71492191,  9.29853653,-22.9652711 ,  0.18863481,
  -3.06245761, 12.76306447,-23.16755074, -1.75775238, -3.10814377,
  11.79343397,-19.96393481, -1.6759886 ,  4.51775088, -0.29635832,
  -5.54302372,  0.50881782,  1.13382597,  1.21113584,  6.61051631,
   1.37288808,-16.35113947]

qfrc_actuator:
[ 3.51882204e-04,-5.65416703e-06, 1.14499539e-04, 1.35820794e-03,
  2.15198582e-04,-3.58904768e-04,-7.93804458e-04, 8.08649222e-04,
  4.10799327e-04, 4.19555419e-05,-3.57455825e-04, 8.39944524e-04,
  7.86586947e-02,-3.36282687e-04, 5.84415849e-02,-2.84027564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036582402311947926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.31937313e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.31937313e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593286, -0.08811001,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88953032e-06,-1.69956038e-05,-6.47042239e-06,-4.15204213e-05,
  9.72233269e-07,-2.23744879e-05, 2.50651532e-05,-2.87526846e-05,
 -1.04542946e-05,-6.96325318e-05, 9.92170892e-06,-2.58613780e-05,
 -5.50603800e-04,-5.06157282e-05,-2.84942987e-04,-1.10097212e-04,
 -1.16928780e-06,-7.38838884e-08,-1.21646782e+00,-4.37622949e-04,
 -3.91040151e-06,-5.51044254e-04]


--- Step 173 ---
qpos:
[ 0.01167116,-0.00110852, 0.00236973, 0.04074175, 0.0044461 ,-0.00232783,
 -0.01767122, 0.02760057, 0.01278927, 0.00435644,-0.0099748 , 0.02565362,
  0.48463029,-0.0020282 , 0.32253417, 0.06455739, 0.09270941,-0.07012232,
  0.1309881 , 0.50882662, 0.49279027, 0.49039586, 0.50770575]

qacc:
[  0.07781775, -1.3766329 ,  7.7158547 ,-19.46933786,  2.81840365,
   0.47219843, -2.67190247,  6.68355536, -1.63742485, -0.87629506,
   6.61729736,-20.08298824, -1.57751156,  3.92652051,-13.63807721,
  40.47604881,  0.48622766,  1.10313074,  0.92889214,  6.46916978,
   1.32429074,-15.90651607]

qfrc_actuator:
[ 3.52209035e-04,-3.67341724e-06, 1.14638884e-04, 1.32448498e-03,
  2.31724845e-04,-3.49180737e-04,-7.90710105e-04, 8.21167175e-04,
  4.01594593e-04, 7.52568607e-05,-3.60016808e-04, 8.01660335e-04,
  7.85085413e-02,-3.31465109e-04, 5.83144064e-02,-2.67949280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003764817078205779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47447140e-13,  7.83312933e-14,  1.00000000e+00,  1.15497252e-26,
        1.00000000e+00, -7.83312933e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47447140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593286, -0.08810724,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57559133e-07,-1.07098168e-05,-5.67984278e-06,-3.55446807e-05,
  1.65463672e-05, 1.28268866e-06, 6.67263836e-07, 1.18560861e-05,
 -9.52113128e-06,-4.72236205e-06,-1.66100051e-05,-4.14568167e-05,
 -5.48278973e-04,-5.40135767e-05,-2.66340276e-04, 1.18570466e-04,
 -1.43347691e-06,-3.39890422e-07,-1.21646405e+00,-4.37024946e-04,
  4.56176943e-07,-5.51826488e-04]


--- Step 174 ---
qpos:
[ 0.0116772 ,-0.00110927, 0.0023712 , 0.04076616, 0.00445054,-0.00232833,
 -0.01768248, 0.02761706, 0.01279743, 0.00435868,-0.00998075, 0.02566937,
  0.48626009,-0.00202825, 0.32410788, 0.06459615, 0.0926669 ,-0.07014066,
  0.13099554, 0.50891272, 0.49270474, 0.49017184, 0.50791875]

qacc:
[ -9.5492984 , -1.89701558, 10.81709542,-27.32571722, -1.62412314,
   0.83332578, -0.6046909 , -5.38191554,  1.4897427 ,  1.90817662,
  -5.30467252,  2.24701198, -0.38905704, -3.71923784, -3.87492261,
   7.44694857,  0.46727454,  1.07739839,  0.69136919,  6.34332018,
   1.28810227,-15.53392513]

qfrc_actuator:
[ 2.96289916e-04,-2.16182030e-06, 1.14146717e-04, 1.27676404e-03,
  2.21845053e-04,-3.07462852e-04,-8.02242471e-04, 8.04048957e-04,
  4.10740933e-04, 9.44135238e-05,-3.94824840e-04, 7.90526619e-04,
  7.83651606e-02,-3.82270925e-04, 5.81708760e-02,-2.68904640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86778408, -1.27766368, -4.69711585, -1.27766368, 10.01401014,
       -1.39982626, -4.69711585, -1.39982626,  5.24855118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038205394543902593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13512993e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13512993e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593259, -0.08810581,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.59122589e-05,-7.24281665e-06,-4.70629888e-06,-4.91278127e-05,
 -9.40797892e-06, 4.32114008e-05,-1.06743190e-05,-1.68213007e-05,
  8.88062375e-06, 1.12844030e-05,-3.92529130e-05,-1.27440916e-05,
 -5.39890800e-04,-1.09870631e-04,-2.48529369e-04,-3.65914954e-05,
 -1.67958557e-06,-5.14561048e-07,-1.21646078e+00,-4.36377921e-04,
  4.45157573e-06,-5.52489980e-04]


--- Step 175 ---
qpos:
[ 0.01168287,-0.00111009, 0.00237241, 0.04078948, 0.00445414,-0.00232842,
 -0.01769382, 0.02763285, 0.01280529, 0.00436103,-0.00998676, 0.0256845 ,
  0.48788709,-0.00202854, 0.32567913, 0.0646298 , 0.09262618,-0.07015477,
  0.13100495, 0.50900686, 0.49260929, 0.48997038, 0.50811134]

qacc:
[ -3.27850218, -1.59739651, 10.14658448,-28.43795771, -7.39711731,
  -0.63606073,  6.02869903,-18.26597416, -2.63327063, -0.94705713,
   6.24853458,-17.08635022, -1.17388869,  1.34207253, 11.74689601,
 -46.35795223,  0.45134688,  1.05592451,  0.49195654,  6.23142233,
   1.26202846,-15.2225944 ]

qfrc_actuator:
[ 2.78725542e-04,-1.87067227e-05, 9.55232120e-05, 1.22118797e-03,
  1.78745007e-04,-2.82494485e-04,-8.04445245e-04, 7.69647149e-04,
  3.95109192e-04, 1.04848439e-04,-3.95142908e-04, 7.59931867e-04,
  7.82259337e-02,-3.94426639e-04, 5.80176058e-02,-2.95875213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.87483077, -1.57808776, -4.61233282, -1.57808776, 13.01552133,
       -2.78529859, -4.61233282, -2.78529859,  5.82780744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038352894639941126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34213520e-13,  1.13076437e-13,  1.00000000e+00, -4.90993179e-26,
        1.00000000e+00, -1.13076437e-13, -1.00000000e+00,  0.00000000e+00,
        4.34213520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859321 , -0.08810547,  0.06198905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91590995e-05,-2.37552129e-05,-2.24657982e-05,-5.70603901e-05,
 -4.33521396e-05, 4.63166438e-05, 4.92731639e-06,-3.32568784e-05,
 -1.53692679e-05, 8.07311227e-06,-3.24675821e-06,-3.17430442e-05,
 -5.35480737e-04,-7.34049677e-05,-2.69049336e-04,-3.03498436e-04,
 -1.90853605e-06,-6.05376985e-07,-1.21645796e+00,-4.35690771e-04,
  8.10676636e-06,-5.53040119e-04]


--- Step 176 ---
qpos:
[ 0.01168898,-0.00111107, 0.00237284, 0.04081235, 0.0044572 ,-0.00232857,
 -0.01770464, 0.02764812, 0.01281256, 0.00436311,-0.00999227, 0.02569846,
  0.48951124,-0.00202827, 0.32724737, 0.06466158, 0.09258722,-0.07016474,
  0.13101566, 0.5091089 , 0.49250411, 0.48979112, 0.50828387]

qacc:
[  3.80017298,  1.01842891, -2.04172383, -4.43353296, -4.75436112,
  -2.6003264 , 11.35203937,-21.09668344, -5.19795804, -4.18199269,
  19.31975543,-40.12589705, -2.01520712,  6.87105946,  1.27136619,
 -10.81274836,  0.43793955,  1.03810509,  0.32501841,  6.13205271,
   1.24421081,-14.96349268]

qfrc_actuator:
[ 3.01646971e-04,-4.60190935e-05, 4.85134465e-05, 1.19691477e-03,
  1.51950865e-04,-3.03234156e-04,-7.83428121e-04, 7.43107433e-04,
  3.65012807e-04, 7.45966469e-05,-3.75134355e-04, 7.00395598e-04,
  7.80893025e-02,-3.65955749e-04, 5.78905145e-02,-3.04222038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003817365112487592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90834906e-13,  4.08986587e-14,  1.00000000e+00,  1.18947576e-26,
        1.00000000e+00, -4.08986587e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90834906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593145, -0.08810599,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23681837e-05,-4.77429283e-05,-5.67195280e-05,-2.72321427e-05,
 -2.80131606e-05, 4.83881277e-06, 3.01407506e-05,-2.50395120e-05,
 -3.05244930e-05,-2.77972679e-05, 2.01956530e-05,-5.99438215e-05,
 -5.26127748e-04,-3.06619225e-05,-2.82375093e-04,-1.34856581e-04,
 -2.12125508e-06,-6.17994322e-07,-1.21645555e+00,-4.34969754e-04,
  1.14473765e-05,-5.53481165e-04]


--- Step 177 ---
qpos:
[ 0.01169531,-0.00111227, 0.00237293, 0.04083542, 0.00446025,-0.00232889,
 -0.01771475, 0.02766296, 0.01281941, 0.00436501,-0.0099981 , 0.02571233,
  0.49113248,-0.00202693, 0.32881226, 0.06469667, 0.09254997,-0.0701706 ,
  0.13102712, 0.50921873, 0.49238935, 0.48963375, 0.50843663]

qacc:
[ 1.98842202e+00, 1.06019472e+00,-5.05206285e+00, 9.19821178e+00,
  2.24666605e-02,-3.09709683e+00, 1.25324213e+01,-2.10364167e+01,
 -3.67879911e+00, 5.29953333e-01,-1.84240416e+00, 9.92549145e-01,
 -2.57132150e+00, 1.04036459e+01,-1.49014925e+01, 4.50702248e+01,
  4.26634143e-01, 1.02342072e+00, 1.85729577e-01, 6.04390093e+00,
  1.23313833e+00,-1.47490069e+01]

qfrc_actuator:
[ 3.12696407e-04,-4.41638360e-05, 3.83545763e-05, 1.20897994e-03,
  1.52731615e-04,-3.15583118e-04,-7.49054102e-04, 7.21383845e-04,
  3.44404010e-04, 5.57821346e-05,-3.96739183e-04, 6.95294353e-04,
  7.79383561e-02,-3.13809053e-04, 5.77739427e-02,-2.85534740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037737136213344957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41298600e-13, -3.21780229e-14,  1.00000000e+00,  1.42001164e-26,
        1.00000000e+00,  3.21780229e-14, -1.00000000e+00,  0.00000000e+00,
        4.41298600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08593067, -0.08810719,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16706788e-05,-3.77577860e-05,-2.80003631e-05, 7.47525785e-06,
 -1.66519700e-08,-4.40218637e-06, 3.83154625e-05,-2.09691058e-05,
 -2.14803537e-05,-3.27856015e-05,-2.69156886e-05,-6.78110282e-06,
 -5.29069558e-04,-4.05478674e-06,-2.57717410e-04, 1.43524064e-04,
 -2.31863593e-06,-5.56651663e-07,-1.21645353e+00,-4.34219121e-04,
  1.44946166e-05,-5.53816470e-04]


--- Step 178 ---
qpos:
[ 0.01170138,-0.00111378, 0.00237344, 0.04085876, 0.00446364,-0.0023289 ,
 -0.01772514, 0.02767777, 0.0128263 , 0.00436705,-0.01000408, 0.02572667,
  0.49275092,-0.00202527, 0.33037384, 0.0647321 , 0.09251438,-0.07017243,
  0.13103885, 0.50933627, 0.49226511, 0.48949801, 0.50856989]

qacc:
[ -2.2805226 , -1.02366737,  1.94430599,  2.21394389,  2.87855708,
   1.14264204, -3.34679201,  3.08936517,  0.38245143,  1.53922309,
  -7.18889883, 15.39226013, -1.72715938,  5.06629653, -5.85387113,
  13.49005083,  0.41708335,  1.0114241 ,  0.06994771,  5.96576584,
   1.22757845,-14.57269359]

qfrc_actuator:
[ 2.98903937e-04,-4.24349925e-05, 6.79319414e-05, 1.22462484e-03,
  1.69730990e-04,-2.87249389e-04,-7.60312930e-04, 7.20426883e-04,
  3.47301807e-04, 9.70936214e-05,-3.89415983e-04, 7.22240964e-04,
  7.77949076e-02,-3.01454767e-04, 5.75892618e-02,-2.84801083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037101310569258306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99240918e-13,  7.94858689e-14,  1.00000000e+00, -2.37854244e-26,
        1.00000000e+00, -7.94858689e-14, -1.00000000e+00,  0.00000000e+00,
        2.99240918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592979, -0.08810892,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34736411e-05,-2.48740183e-05, 1.85427208e-05, 1.31532400e-05,
  1.69966909e-05, 3.29848939e-05,-8.08465938e-06,-2.37801516e-07,
  2.28023455e-06, 1.71098061e-05,-2.97607928e-06, 2.44583685e-05,
 -5.20542769e-04,-4.31097189e-05,-2.83450874e-04,-1.73123857e-05,
 -2.50151792e-06,-4.24485291e-07,-1.21645188e+00,-4.33441601e-04,
  1.72660320e-05,-5.54048650e-04]


--- Step 179 ---
qpos:
[ 0.0117069 ,-0.00111542, 0.00237425, 0.04088208, 0.0044672 ,-0.00232886,
 -0.01773523, 0.0276928 , 0.01283283, 0.00436947,-0.01000974, 0.02574013,
  0.4943668 ,-0.00202447, 0.33193269, 0.06476428, 0.09248043,-0.07017024,
  0.13105048, 0.50946144, 0.49213147, 0.48938369, 0.50868385]

qacc:
[-4.88798048e+00,-9.99202534e-01, 3.37415004e+00,-3.93819554e+00,
  1.56551762e+00,-3.37861006e-01, 3.73504517e-01, 2.84041547e+00,
 -3.20205488e+00,-2.21882372e+00, 1.23874351e+01,-2.85542361e+01,
 -3.93662436e-01,-3.23238549e+00, 5.76631416e+00,-2.60819249e+01,
  4.08998481e-01, 1.00172997e+00,-2.58881940e-02, 5.89655307e+00,
  1.22652260e+00,-1.44290842e+01]

qfrc_actuator:
[ 2.70604142e-04,-4.06091379e-05, 8.52228294e-05, 1.22451753e-03,
  1.78378738e-04,-2.88195694e-04,-7.44992942e-04, 7.31696845e-04,
  3.28503769e-04, 1.38730164e-04,-3.64795299e-04, 6.79134321e-04,
  7.76667025e-02,-3.48155763e-04, 5.74437172e-02,-3.01775790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003631433601389844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52862911e-13,  4.29926938e-14,  1.00000000e+00, -6.57198833e-27,
        1.00000000e+00, -4.29926938e-14, -1.00000000e+00,  0.00000000e+00,
        1.52862911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592885, -0.08811104,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86933688e-05,-7.71738088e-06, 1.48456872e-05,-3.25853397e-07,
  9.14433482e-06, 1.59134251e-05, 2.12171337e-05, 1.23885546e-05,
 -1.87249954e-05, 5.16243263e-05, 2.86555881e-05,-4.20223716e-05,
 -5.03396059e-04,-1.03453210e-04,-2.73506696e-04,-2.06545077e-04,
 -2.67067743e-06,-2.23774820e-07,-1.21645058e+00,-4.32638756e-04,
  1.97761191e-05,-5.54179726e-04]


--- Step 180 ---
qpos:
[ 0.01171203,-0.00111692, 0.00237517, 0.04090486, 0.00447015,-0.00232915,
 -0.01774457, 0.02770752, 0.01283908, 0.00437189,-0.01001518, 0.02575301,
  0.49598003,-0.00202385, 0.33348876, 0.06479506, 0.09244809,-0.07016408,
  0.13106169, 0.50959421, 0.49198849, 0.48929063, 0.50877869]

qacc:
[ -3.35944435, -1.27637037,  7.16675917,-17.03202358, -5.34852122,
  -3.18088703, 12.02650612,-18.3766812 , -2.41894352, -1.74964456,
   8.65294566,-18.82153711, -1.14136694,  1.48927444,  0.11660401,
  -6.33941227,  0.40213934,  0.99400671, -0.10484045,  5.83527249,
   1.22914321,-14.31352966]

qfrc_actuator:
[ 2.51753097e-04,-2.10277980e-05, 9.51006971e-05, 1.19737619e-03,
  1.46530662e-04,-3.24310044e-04,-7.14190146e-04, 7.14566669e-04,
  3.14831619e-04, 1.09263627e-04,-3.65703580e-04, 6.48422031e-04,
  7.75317462e-02,-3.58230466e-04, 5.73323745e-02,-3.07726642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003541604702117368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.61638239e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.61638239e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592786, -0.08811345,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96707629e-05, 1.82887750e-05, 1.00541574e-05,-2.70147279e-05,
 -3.15831017e-05,-2.22156864e-05, 3.72159369e-05,-1.54844864e-05,
 -1.41810135e-05, 3.48318553e-06, 1.18462553e-05,-2.83470109e-05,
 -5.04233285e-04,-6.83006410e-05,-2.57223955e-04,-1.05906042e-04,
 -2.82682616e-06, 4.38640179e-08,-1.21644961e+00,-4.31811255e-04,
  2.20368330e-05,-5.54211233e-04]


--- Step 181 ---
qpos:
[ 0.01171724,-0.00111798, 0.00237581, 0.04092677, 0.00447269,-0.00232973,
 -0.01775339, 0.02772123, 0.01284616, 0.00437384,-0.01002038, 0.02576618,
  0.49759057,-0.00202329, 0.33504176, 0.06482651, 0.09241734,-0.07015397,
  0.13107222, 0.50973452, 0.4918362 , 0.48921867, 0.50885457]

qacc:
[  0.67446897, -0.40022444,  5.87580604,-20.58544601, -3.52587611,
  -3.87089136, 17.5070465 ,-35.46942935,  7.25619918, -0.75544975,
   0.57304653,  4.28442575, -1.27973319,  2.30498825, -6.52744795,
  16.28768351,  0.39630599,  0.9879693 , -0.16954139,  5.78103473,
   1.23475952,-14.22207443]

qfrc_actuator:
[ 2.56371813e-04, 8.98652022e-06, 8.28341385e-05, 1.15456080e-03,
  1.26610381e-04,-3.45658676e-04,-6.92426737e-04, 6.63082960e-04,
  3.57549958e-04, 5.51054392e-05,-3.64198578e-04, 6.60685808e-04,
  7.73875130e-02,-3.64412443e-04, 5.71990489e-02,-3.03568550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034439215461989914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61185876e-13,  5.03705863e-15,  1.00000000e+00,  8.11902710e-28,
        1.00000000e+00, -5.03705863e-15, -1.00000000e+00,  0.00000000e+00,
       -1.61185876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592685, -0.08811607,  0.06199017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06557922e-06, 4.11303963e-05,-8.23376411e-06,-4.22595228e-05,
 -2.08296319e-05,-2.66717403e-05, 2.13045664e-05,-5.14594680e-05,
  4.23220063e-05,-5.10161410e-05, 2.71632912e-06, 1.22510559e-05,
 -5.10208359e-04,-6.29413105e-05,-2.60938472e-04, 2.79292338e-06,
 -2.97061397e-06, 3.77327174e-07,-1.21644898e+00,-4.30959082e-04,
  2.40580082e-05,-5.54144307e-04]


--- Step 182 ---
qpos:
[ 0.01172315,-0.00111894, 0.00237665, 0.0409487 , 0.00447532,-0.00233055,
 -0.01776188, 0.02773458, 0.01285369, 0.00437546,-0.01002497, 0.02577935,
  0.49919833,-0.00202273, 0.33659203, 0.0648591 , 0.09238815,-0.07013993,
  0.13108186, 0.50988234, 0.49167462, 0.48916771, 0.50891161]

qacc:
[  6.19824239, -0.40715419,  1.57322354, -1.7033848 ,  0.76906902,
  -1.99051455,  8.16425259,-14.85581207,  4.04392424, -2.13751779,
   6.94885323, -7.60680671, -1.40013592,  2.87553745, -7.4315151 ,
  20.21319235,  0.39133199,  0.98337317, -0.22225143,  5.73304652,
   1.24281029,-14.1513524 ]

qfrc_actuator:
[ 2.92516928e-04, 9.40835204e-06, 9.31429182e-05, 1.15612572e-03,
  1.31635875e-04,-3.58070642e-04,-6.76153283e-04, 6.45059846e-04,
  3.79856574e-04, 5.76182552e-05,-3.25862521e-04, 6.62607567e-04,
  7.72324877e-02,-3.68305161e-04, 5.70899407e-02,-2.97045781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003341063720367632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66148137e-13,  5.19212928e-15,  1.00000000e+00, -8.62662606e-28,
        1.00000000e+00, -5.19212928e-15, -1.00000000e+00,  0.00000000e+00,
        1.66148137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592583, -0.08811883,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62756399e-05, 1.98779873e-05, 1.62790877e-05, 2.17047067e-06,
  4.42341251e-06,-2.50451246e-05, 1.16884114e-05,-1.94392699e-05,
  2.34940611e-05,-2.49317124e-05, 2.85705402e-05, 4.53766099e-08,
 -5.24623101e-04,-6.12908927e-05,-2.25640233e-04, 3.21831683e-05,
 -3.10263424e-06, 7.75901587e-07,-1.21644866e+00,-4.30081693e-04,
  2.58477067e-05,-5.53979760e-04]


--- Step 183 ---
qpos:
[ 0.01172911,-0.00111934, 0.00237741, 0.04097044, 0.00447765,-0.00233122,
 -0.01777062, 0.02774828, 0.01286075, 0.00437702,-0.01002887, 0.02579205,
  0.50080324,-0.00202215, 0.33813951, 0.0648909 , 0.09236051,-0.07012196,
  0.13109045, 0.51003767, 0.49150374, 0.48913765, 0.5089499 ]

qacc:
[  0.35645593,  0.53686493, -0.02864188, -3.60876518, -2.68905787,
   1.62330323, -6.96435969, 13.36872064, -4.21013466, -2.93494632,
  12.3527578 ,-21.52307967, -1.46732302,  3.13542232, -1.73513053,
   0.13881961,  0.38707883,  0.98000896, -0.26490874,  5.69060518,
   1.25283195,-14.09850033]

qfrc_actuator:
[ 2.93662440e-04, 6.32390219e-05, 9.88713398e-05, 1.14828428e-03,
  1.15794727e-04,-3.29530230e-04,-6.80936695e-04, 6.64632922e-04,
  3.54447821e-04, 7.64360104e-05,-2.83634508e-04, 6.40738257e-04,
  7.70764177e-02,-3.70867824e-04, 5.69368584e-02,-3.01604908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003235206471541713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.1154303e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.1154303e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592481, -0.08812167,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18151316e-06, 6.83720533e-05, 1.18594443e-05,-6.43564063e-06,
 -1.57233964e-05, 1.62178630e-05,-9.11007025e-06, 1.85166784e-05,
 -2.47481092e-05, 1.07772966e-05, 4.06108751e-05,-2.19705458e-05,
 -5.35708986e-04,-6.17619290e-05,-2.51889774e-04,-7.28719766e-05,
 -3.22343060e-06, 1.23916908e-06,-1.21644866e+00,-4.29178141e-04,
  2.74125080e-05,-5.53718132e-04]


--- Step 184 ---
qpos:
[ 0.01173469,-0.00111907, 0.00237793, 0.04099122, 0.00447977,-0.00233161,
 -0.01777917, 0.02776241, 0.01286675, 0.00437867,-0.01003283, 0.02580408,
  0.50240526,-0.0020212 , 0.33968366, 0.06492067, 0.0923344 ,-0.07010009,
  0.13109783, 0.51020049, 0.49132356, 0.48912843, 0.50896954]

qacc:
[ -3.33642255, -0.3596416 ,  6.6272762 ,-23.29152401, -1.82244132,
   0.73708241, -3.9163063 , 10.85055596, -9.23438948, -1.11270123,
   7.03630198,-18.75744551, -1.85886086,  5.50007107,  1.27711124,
 -11.52767388,  0.3834313 ,  0.97769784, -0.29917223,  5.65309226,
   1.26444096,-14.06108466]

qfrc_actuator:
[ 2.74189123e-04, 9.53613600e-05, 8.42900772e-05, 1.09949534e-03,
  1.05543497e-04,-2.94487346e-04,-6.62416248e-04, 6.88434860e-04,
  3.01164844e-04, 6.93824064e-05,-2.92649641e-04, 6.05064030e-04,
  7.69251523e-02,-3.54901813e-04, 5.67468442e-02,-3.12666671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031281006340608264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.42754168e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.42754168e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859238 , -0.08812454,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93913943e-05, 7.24692264e-05, 7.20696829e-07,-4.56251950e-05,
 -1.06944026e-05, 4.31141077e-05, 2.14690554e-05, 2.45331106e-05,
 -5.39796087e-05, 6.39487290e-06,-2.53970484e-06,-3.42554771e-05,
 -5.39066450e-04,-4.47146722e-05,-3.11811807e-04,-1.46948244e-04,
 -3.33350410e-06, 1.76692960e-06,-1.21644897e+00,-4.28247172e-04,
  2.87577495e-05,-5.53359744e-04]


--- Step 185 ---
qpos:
[ 0.01174   ,-0.00111919, 0.00237931, 0.04101097, 0.00448209,-0.00233189,
 -0.01778707, 0.02777636, 0.01287172, 0.00438078,-0.0100376 , 0.02581594,
  0.50400437,-0.00201969, 0.34122431, 0.06495014, 0.09230981,-0.0700743 ,
  0.13110392, 0.51037079, 0.49113406, 0.48914   , 0.50897058]

qacc:
[ -2.39280079, -5.07734689, 21.70145644,-40.65685555,  1.82005875,
  -2.05223018,  8.29851724,-12.58412685, -9.10223358,  2.56021128,
  -7.51808525,  5.55099598, -2.08160798,  6.88883875, -4.26326936,
   7.50336504,  0.38029366,  0.97628746, -0.32645896,  5.6199667 ,
   1.27731955,-14.03703944]

qfrc_actuator:
[ 2.60499629e-04, 2.53559668e-05, 1.10994074e-04, 1.04473209e-03,
  1.16423539e-04,-2.91219784e-04,-6.30238630e-04, 6.79052870e-04,
  2.49670382e-04, 9.99350213e-05,-3.31953667e-04, 5.97006729e-04,
  7.67768768e-02,-3.28162234e-04, 5.65934032e-02,-3.13270870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003021141007977929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51227014e-13,  5.16775326e-14,  1.00000000e+00, -2.84860520e-26,
        1.00000000e+00, -5.16775326e-14, -1.00000000e+00,  0.00000000e+00,
        5.51227014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592282, -0.08812741,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42194365e-05,-3.13728351e-05, 4.01229557e-05,-5.25700183e-05,
  1.05881971e-05, 3.29420174e-05, 4.46502399e-05,-6.32518915e-06,
 -5.30207418e-05, 3.20956656e-05,-3.94728196e-05,-8.55608858e-06,
 -5.36843602e-04,-3.36056975e-05,-3.08337938e-04,-5.35755056e-05,
 -3.43332040e-06, 2.35913985e-06,-1.21644959e+00,-4.27287293e-04,
  2.98877262e-05,-5.52904732e-04]


--- Step 186 ---
qpos:
[ 0.01174509,-0.00111982, 0.00238112, 0.04103064, 0.00448487,-0.00233208,
 -0.01779469, 0.02778908, 0.01287639, 0.00438328,-0.0100426 , 0.02582792,
  0.50560061,-0.00201815, 0.34276202, 0.06498047, 0.09228673,-0.07004462,
  0.1311086 , 0.51054858, 0.49093519, 0.48917232, 0.50895307]

qacc:
[ -1.7828218 , -2.0168765 ,  6.52283318, -8.10035034,  4.01494624,
  -3.20864218, 16.78234207,-38.5407695 , -2.75295224,  1.39823068,
  -4.74007364,  6.91238036, -1.47722486,  3.14867211, -6.86092916,
  17.7620369 ,  0.37758642,  0.97564837, -0.34797675,  5.59075789,
   1.29120416,-14.02461329]

qfrc_actuator:
[ 2.50330117e-04,-1.63606353e-05, 1.25941246e-04, 1.04009957e-03,
  1.39651989e-04,-3.06966457e-04,-6.25914438e-04, 6.14696000e-04,
  2.35155448e-04, 1.34902971e-04,-3.35382575e-04, 6.05282285e-04,
  7.66251753e-02,-3.30817826e-04, 5.64886707e-02,-3.07694247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002915424739174943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80810044e-13,  1.48753924e-13,  1.00000000e+00, -5.66469883e-26,
        1.00000000e+00, -1.48753924e-13, -1.00000000e+00,  0.00000000e+00,
        3.80810044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592186, -0.08813026,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05893000e-05,-5.33025232e-05, 1.15258024e-05,-5.65899282e-06,
  2.35403845e-05, 1.17014436e-05, 1.64740812e-05,-6.15366297e-05,
 -1.60040202e-05, 4.43459272e-05,-1.94520543e-06, 8.10133439e-06,
 -5.37309395e-04,-6.24268634e-05,-2.47388881e-04, 1.39448406e-05,
 -3.52331658e-06, 3.01586394e-06,-1.21645051e+00,-4.26296835e-04,
  3.08058565e-05,-5.52353078e-04]


--- Step 187 ---
qpos:
[ 0.01175003,-0.00112054, 0.00238264, 0.04105079, 0.0044879 ,-0.00233243,
 -0.01780205, 0.02780062, 0.01288084, 0.00438599,-0.010047  , 0.02583987,
  0.50719394,-0.00201625, 0.34429747, 0.06500942, 0.09226614,-0.0700234 ,
  0.13111347, 0.51068981, 0.49077871, 0.48918064, 0.5089543 ]

qacc:
[ -1.43083456,  1.68343647, -8.16999377, 16.92918851,  2.26396464,
  -3.37013134, 16.70348618,-37.45405301, -1.83735575, -1.46203498,
   5.73252477, -7.34234463, -1.88365537,  5.51380567,  0.82104169,
  -7.62833133,  0.62062631, -2.11551626,  0.04478345,  9.1050796 ,
  -3.36947331, 30.34667343]

qfrc_actuator:
[ 2.42312323e-04,-5.32441252e-06, 1.16177215e-04, 1.06499967e-03,
  1.52202905e-04,-3.34142566e-04,-6.20442048e-04, 5.53977759e-04,
  2.24768559e-04, 1.54647574e-04,-2.99802205e-04, 6.05381908e-04,
  7.64715179e-02,-3.15295559e-04, 5.63866097e-02,-3.14488188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030481124071918275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82116483e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82116483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271376, -0.03117332,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.34156542e-06,-1.66945093e-05,-1.96129643e-05, 2.28580281e-05,
  1.32282738e-05,-1.97909095e-05, 7.85165882e-06,-6.08563284e-05,
 -1.08211904e-05, 4.44387319e-05, 4.47891758e-05, 2.07080246e-06,
 -5.42439321e-04,-4.61648621e-05,-2.12036288e-04,-9.88249000e-05,
 -3.60390743e-06, 3.73723383e-06,-1.21645174e+00,-4.25273994e-04,
  3.15148184e-05,-5.51704637e-04]


--- Step 188 ---
qpos:
[ 0.01175518,-0.0011214 , 0.00238406, 0.04107073, 0.00449072,-0.00233309,
 -0.01780896, 0.02781204, 0.01288547, 0.00438833,-0.01005061, 0.02585145,
  0.50878447,-0.00201449, 0.34583043, 0.06503471, 0.09224794,-0.07001045,
  0.13111766, 0.51079518, 0.49066366, 0.48916568, 0.50897386]

qacc:
[  1.84803049, -0.36427803,  1.89798944, -5.27179706, -1.88946774,
  -1.91093296,  6.70900251, -9.24459298,  1.67037722, -3.44402962,
  13.15090933,-20.62065689, -1.30022019,  2.0739875 ,  7.41555772,
 -31.26274048,  0.5988257 , -2.0688244 , -0.17112418,  8.96858841,
  -3.22388811, 29.65295345]

qfrc_actuator:
[ 2.53376928e-04,-1.61162722e-05, 1.09885640e-04, 1.05384135e-03,
  1.40611912e-04,-3.50216250e-04,-5.96619784e-04, 5.49145574e-04,
  2.34634901e-04, 9.42779011e-05,-2.77055712e-04, 5.82925141e-04,
  7.63327732e-02,-3.24708995e-04, 5.62382638e-02,-3.33843138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59041947,  2.001158  , -4.13126101,  2.001158  ,  9.01281122,
        2.14217998, -4.13126101,  2.14217998,  5.62807857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031466119023089434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76415627e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.76415627e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271378, -0.03117879,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08180961e-05,-2.32547348e-05,-1.14237282e-05,-1.21545840e-05,
 -1.12184094e-05,-2.80491758e-05, 1.86598959e-05,-6.60215198e-06,
  9.57894545e-06,-2.62417175e-05, 3.75123890e-05,-1.89839063e-05,
 -5.29353732e-04,-7.10752819e-05,-2.57120986e-04,-2.26755865e-04,
 -2.39766364e-06, 2.06073013e-06,-1.21644720e+00,-4.25910362e-04,
  2.79630021e-05,-5.50958521e-04]


--- Step 189 ---
qpos:
[ 0.01176076,-0.00112246, 0.00238518, 0.04108971, 0.00449373,-0.00233403,
 -0.01781557, 0.02782401, 0.01289054, 0.00439001,-0.01005395, 0.02586239,
  0.51037235,-0.00201382, 0.34736038, 0.06505976, 0.09223206,-0.07000562,
  0.13112043, 0.51086531, 0.49058926, 0.48912801, 0.5090114 ]

qacc:
[  3.83797371, -1.38404174,  8.61465996,-24.59359062,  1.6289264 ,
  -0.06370255, -2.59534203, 11.78159982,  3.78162132, -2.94655694,
  11.89666013,-22.76177893, -0.1783458 , -4.61535545, -3.74082284,
   6.59421442,  0.58087859, -2.02985808, -0.3528386 ,  8.84962535,
  -3.10822196, 29.07494525]

qfrc_actuator:
[ 2.75583442e-04,-3.99089109e-05, 8.78462703e-05, 1.00379154e-03,
  1.50413070e-04,-3.59402754e-04,-5.79830943e-04, 5.77254237e-04,
  2.56340520e-04, 2.18380593e-05,-2.80181320e-04, 5.47293199e-04,
  7.61924180e-02,-3.84234521e-04, 5.61155076e-02,-3.33820355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61017473,  2.31986316, -3.98396109,  2.31986316, 11.45644293,
        3.98658646, -3.98396109,  3.98658646,  6.93156664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003201968567272534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73365697e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73365697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827135 , -0.03118186,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25044908e-05,-3.97195449e-05,-2.87270963e-05,-5.17251338e-05,
  9.47093754e-06,-2.12243849e-05, 1.31290791e-05, 2.74156366e-05,
  2.19738641e-05,-8.02293565e-05,-4.58908549e-06,-3.58504772e-05,
 -5.24474230e-04,-1.21236938e-04,-2.64772711e-04,-4.55007067e-05,
 -1.45200854e-06, 8.96196737e-07,-1.21644403e+00,-4.26198559e-04,
  2.51356121e-05,-5.50456151e-04]


--- Step 190 ---
qpos:
[ 0.01176657,-0.00112354, 0.00238564, 0.04110829, 0.00449682,-0.00233513,
 -0.01782195, 0.02783621, 0.01289548, 0.00439136,-0.0100577 , 0.02587318,
  0.5119575 ,-0.00201414, 0.34888674, 0.06508501, 0.09221845,-0.07000879,
  0.13112118, 0.51090069, 0.49055483, 0.4890681 , 0.50906664]

qacc:
[ 1.93683059, 0.98778568,-1.90096393,-3.90525894, 0.83395912,-0.39363784,
  0.0843775 , 3.74169291,-1.10028937, 0.37766846,-1.29140767,-0.60659066,
 -0.33381695,-3.79058073,-5.91150687,12.93748716, 0.5661119 ,-1.99745269,
 -0.50564147, 8.74673751,-3.01659904,28.59525721]

qfrc_actuator:
[ 2.86411184e-04,-3.58979194e-05, 5.66045951e-05, 9.84498856e-04,
  1.54982029e-04,-3.64383214e-04,-5.67292513e-04, 5.89004379e-04,
  2.49328724e-04, 1.36023360e-05,-2.98638352e-04, 5.39667064e-04,
  7.60405328e-02,-4.37312509e-04, 5.59283543e-02,-3.33019239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61761784,  2.65044038, -3.78121148,  2.65044038, 15.71812188,
        7.78089886, -3.78121148,  7.78089886, 10.07163928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032224682841973384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.72262832e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.72262832e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271297, -0.031183  ,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14558563e-05,-2.63774846e-05,-4.48236436e-05,-2.30396629e-05,
  4.82999457e-06,-1.28743901e-05, 1.07816647e-05, 1.18180963e-05,
 -6.40976346e-06,-5.56071680e-05,-3.68358767e-05,-1.19414539e-05,
 -5.37883370e-04,-1.17234968e-04,-3.11154029e-04,-2.82787943e-05,
 -7.45435617e-07, 2.09320941e-07,-1.21644215e+00,-4.26179298e-04,
  2.29889326e-05,-5.50187359e-04]


--- Step 191 ---
qpos:
[ 0.01177246,-0.00112459, 0.00238591, 0.04112645, 0.00449961,-0.00233594,
 -0.0178286 , 0.02784844, 0.0129003 , 0.00439242,-0.01006172, 0.02588412,
  0.5135399 ,-0.00201538, 0.35040922, 0.06510952, 0.09220706,-0.07001983,
  0.13111939, 0.51090173, 0.49055982, 0.48898632, 0.50913933]

qacc:
[ 0.73770235,-0.29620483, 2.87740603,-9.82677336,-2.76996966, 1.18995404,
 -3.77597037, 4.36940625,-1.07913685, 0.69569717,-3.6883261 , 7.01507693,
 -0.40171475,-3.37440028,-3.52709294, 3.99558459, 0.55397406,-1.97061677,
 -0.63401411, 8.65852148,-2.94429689,28.19932053]

qfrc_actuator:
[ 2.90451431e-04,-1.52894395e-05, 5.58256115e-05, 9.65729750e-04,
  1.38675603e-04,-3.31325529e-04,-5.75111671e-04, 5.91032121e-04,
  2.43219826e-04, 8.31693192e-06,-3.07968138e-04, 5.48626790e-04,
  7.58978099e-02,-4.86195113e-04, 5.57240272e-02,-3.37110764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61491551,  2.9999975 , -3.50677348,  2.9999975 , 26.70635117,
       18.89892579, -3.50677348, 18.89892579, 20.78269208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000321504764385111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45320862e-13,  1.72660431e-13,  1.00000000e+00, -5.96232490e-26,
        1.00000000e+00, -1.72660431e-13, -1.00000000e+00,  0.00000000e+00,
        3.45320862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271224, -0.03118259,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35901056e-06,-4.40992454e-06,-1.25858168e-05,-2.19401978e-05,
 -1.61740928e-05, 2.86809719e-05,-8.68116828e-06, 2.06827834e-06,
 -6.30586148e-06,-4.45176786e-05,-2.57572322e-05, 5.05226931e-06,
 -5.38042990e-04,-1.14580293e-04,-3.45289423e-04,-8.16376344e-05,
 -2.61450432e-07,-2.61317029e-08,-1.21644149e+00,-4.25882354e-04,
  2.14879017e-05,-5.50144210e-04]


--- Step 192 ---
qpos:
[ 0.01177766,-0.0011253 , 0.00238573, 0.04114388, 0.00450252,-0.0023363 ,
 -0.01783594, 0.02786026, 0.01290501, 0.0043938 ,-0.01006642, 0.02589503,
  0.51511949,-0.00201652, 0.35192889, 0.06513179, 0.09219784,-0.07003867,
  0.13111464, 0.51086879, 0.49060378, 0.48888297, 0.50922927]

qacc:
[ -6.06160325,  0.2086451 ,  3.01964289,-15.26824946,  1.0906035 ,
   1.70134129, -3.4726174 , -2.82000212, -1.00482606,  2.23943158,
  -7.25241672,  7.58638759, -1.57977171,  3.74201768,  2.66295353,
 -15.27881397,  0.54401191, -1.94850395, -0.74177153,  8.58363866,
  -2.88751033, 27.87487772]

qfrc_actuator:
[ 2.54962853e-04, 1.52290252e-05, 3.76096065e-05, 9.29701013e-04,
  1.45720044e-04,-3.11338198e-04,-6.12485401e-04, 5.69593023e-04,
  2.37700383e-04, 5.81532931e-05,-3.29547721e-04, 5.49533726e-04,
  7.57660093e-02,-4.78964101e-04, 5.56160662e-02,-3.47603580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003185498496106054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.48524109e-13,  1.74262054e-13,  1.00000000e+00, -6.07345272e-26,
        1.00000000e+00, -1.74262054e-13, -1.00000000e+00,  0.00000000e+00,
        3.48524109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271135, -0.03118095,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53652100e-05, 2.44898632e-05,-2.14737463e-05,-3.71203134e-05,
  6.59342189e-06, 3.43957184e-05,-3.23865180e-05,-2.04800954e-05,
 -5.71190559e-06, 1.98350760e-05,-3.37576770e-05,-1.81035023e-06,
 -5.27065620e-04,-5.85582785e-05,-2.69078611e-04,-1.52667973e-04,
  1.25084875e-08, 1.70167955e-07,-1.21644199e+00,-4.25329326e-04,
  2.06045982e-05,-5.50320525e-04]


--- Step 193 ---
qpos:
[ 0.0117824 ,-0.00112596, 0.00238513, 0.04116078, 0.00450514,-0.00233643,
 -0.01784335, 0.02787171, 0.01290961, 0.0043957 ,-0.01007094, 0.02590543,
  0.51669623,-0.00201686, 0.35344605, 0.06515346, 0.09219076,-0.07006523,
  0.13110656, 0.51080213, 0.49068632, 0.4887583 , 0.50933628]

qacc:
[ -4.1055657 ,  0.14986279,  1.83533872,-10.45859371, -2.48816386,
  -0.26944436,  2.91771513, -9.25296261, -0.91116123, -0.81081021,
   6.0320005 ,-15.44031548, -2.32394097,  8.26676389, -1.83092948,
   1.15031784,  0.53585233, -1.93039047, -0.83216884,  8.52082806,
  -2.84316585, 27.61158132]

qfrc_actuator:
[ 2.32000467e-04,-1.88194880e-06, 9.27109751e-06, 9.01552576e-04,
  1.30953239e-04,-2.99475379e-04,-6.13801422e-04, 5.52248329e-04,
  2.32572431e-04, 1.22819961e-04,-3.04709366e-04, 5.27978535e-04,
  7.56302157e-02,-4.38732212e-04, 5.55286878e-02,-3.49329425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003138641723272606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76863612e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.76863612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271033, -0.03117836,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39584526e-05,-9.48185240e-06,-2.72412578e-05,-2.86011788e-05,
 -1.45645921e-05, 2.36046409e-05, 1.15415577e-06,-1.73993425e-05,
 -5.28016545e-06, 6.87014602e-05, 2.47343877e-05,-2.19242489e-05,
 -5.16643741e-04,-2.15007666e-05,-2.25797799e-04,-6.01875998e-05,
  8.58942269e-08, 7.83932992e-07,-1.21644361e+00,-4.24535700e-04,
  2.03170092e-05,-5.50711508e-04]


--- Step 194 ---
qpos:
[ 0.01178786,-0.00112715, 0.00238502, 0.04117687, 0.00450723,-0.00233649,
 -0.01784987, 0.02788316, 0.01291412, 0.00439781,-0.01007474, 0.02591515,
  0.51827018,-0.00201667, 0.35496027, 0.06517836, 0.0921858 ,-0.07009946,
  0.13109484, 0.51070196, 0.49080714, 0.48861246, 0.50946022]

qacc:
[  6.37660377, -3.73099588, 15.66179541,-29.92570502, -4.72701142,
  -2.38325957,  8.67414928,-10.20210848, -0.83514351, -3.16513726,
  14.58678692,-27.76790804, -1.98848281,  6.34289416,-14.0719266 ,
  43.03501796,  0.52918749, -1.91565689, -0.90798725,  8.46891563,
  -2.80877505, 27.40067496]

qfrc_actuator:
[ 2.69864768e-04,-4.74222094e-05, 2.82645044e-05, 8.60473156e-04,
  1.03459544e-04,-2.74680262e-04,-5.58329823e-04, 5.55229951e-04,
  2.27715757e-04, 1.25041528e-04,-2.70341593e-04, 4.93434535e-04,
  7.54868047e-02,-4.14930466e-04, 5.54164527e-02,-3.31667457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030784752202500654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8032028e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.8032028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270923, -0.03117504,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71811127e-05,-5.77250842e-05, 1.26633236e-05,-4.30197095e-05,
 -2.79001696e-05, 3.75488297e-05, 5.99508964e-05, 3.68637922e-06,
 -4.97936308e-06, 4.47831642e-05, 5.08593866e-05,-3.11869253e-05,
 -5.12311855e-04,-3.49565677e-05,-2.22317439e-04, 1.43981163e-04,
 -3.43137962e-08, 1.80533537e-06,-1.21644632e+00,-4.23512384e-04,
  2.06080197e-05,-5.51313450e-04]


--- Step 195 ---
qpos:
[ 0.01179339,-0.0011285 , 0.00238555, 0.04119263, 0.00450897,-0.00233671,
 -0.01785523, 0.02789423, 0.01291819, 0.00440017,-0.01007835, 0.02592441,
  0.51984137,-0.00201615, 0.35647173, 0.0652055 , 0.09218281,-0.0701291 ,
  0.13108831, 0.510611  , 0.49091587, 0.48849049, 0.5095636 ]

qacc:
[  0.6017858 , -2.69727849, 10.67169609,-17.2564125 , -2.99158888,
  -4.23014614, 16.43598197,-24.89604088, -3.85355552, -1.15061817,
   6.51869332,-14.93566156, -1.76623164,  5.01906267,-10.77108276,
  31.85721013,  0.49008317,  1.14475417,  1.29523262,  5.75881928,
   1.87613303,-16.40772391]

qfrc_actuator:
[ 2.72212398e-04,-2.07000989e-05, 7.49154450e-05, 8.47622965e-04,
  8.64547491e-05,-2.95333060e-04,-5.05223693e-04, 5.34686145e-04,
  2.05304425e-04, 1.25403228e-04,-2.66390839e-04, 4.69231491e-04,
  7.53442470e-02,-4.01045044e-04, 5.52841071e-02,-3.20485561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003177369246381567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.91365972e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.91365972e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591529, -0.08812359,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38717871e-06,-4.78151205e-06, 3.47705084e-05,-1.57581601e-05,
 -1.77899949e-05, 1.29287361e-05, 6.84270286e-05,-1.67982804e-05,
 -2.25332101e-05, 3.45327198e-05, 1.83895219e-05,-2.11478867e-05,
 -5.09615594e-04,-4.53880799e-05,-2.17256992e-04, 9.12041281e-05,
 -3.43118147e-07, 3.22827695e-06,-1.21645010e+00,-4.22266864e-04,
  2.14645830e-05,-5.52123505e-04]


--- Step 196 ---
qpos:
[ 0.01179787,-0.00112958, 0.00238614, 0.04120845, 0.00451049,-0.00233685,
 -0.01786045, 0.02790466, 0.0129223 , 0.00440267,-0.01008181, 0.02593333,
  0.5214099 ,-0.00201576, 0.35798031, 0.0652338 , 0.09218167,-0.07015429,
  0.13108581, 0.51052894, 0.49101304, 0.48839181, 0.50964678]

qacc:
[ -9.22758374,  0.33682075, -0.83308143,  1.34474181, -1.90490887,
  -1.58542593,  8.46826162,-19.71951743,  0.39674785, -0.90541222,
   4.97512025,-11.29198353, -1.21987549,  1.85441773, -7.73331043,
  20.93229411,  0.46680871,  1.11293224,  1.00780999,  5.73358652,
   1.75952683,-15.95929459]

qfrc_actuator:
[ 2.18112604e-04, 1.37317237e-05, 8.45567961e-05, 8.51557551e-04,
  7.57636153e-05,-3.07546925e-04,-5.07416724e-04, 5.00414119e-04,
  2.08245433e-04, 1.24529133e-04,-2.62695027e-04, 4.51278980e-04,
  7.52076241e-02,-4.10876731e-04, 5.51344590e-02,-3.14995811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033213729338475717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34266295e-13,  1.30572771e-13,  1.00000000e+00, -4.36460765e-26,
        1.00000000e+00, -1.30572771e-13, -1.00000000e+00,  0.00000000e+00,
        3.34266295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591483, -0.08811985,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40051949e-05, 3.82564920e-05, 1.23595354e-05, 4.59148632e-06,
 -1.11960672e-05, 8.46947449e-06, 8.36647814e-06,-3.16887800e-05,
  2.31861069e-06, 2.12702526e-05, 1.23613218e-05,-1.62640649e-05,
 -5.02886693e-04,-6.96036992e-05,-2.38666194e-04, 3.18588507e-05,
 -3.35787795e-07, 2.48119920e-06,-1.21644752e+00,-4.23014110e-04,
  2.25469242e-05,-5.52864897e-04]


--- Step 197 ---
qpos:
[ 0.01180063,-0.00113017, 0.00238618, 0.0412242 , 0.00451187,-0.00233678,
 -0.017866  , 0.02791461, 0.01292676, 0.00440479,-0.01008494, 0.02594202,
  0.52297579,-0.00201545, 0.3594863 , 0.06526247, 0.09218234,-0.07017514,
  0.13108637, 0.51045552, 0.49109911, 0.48831593, 0.50971009]

qacc:
[-15.12464614,  2.06150872, -6.11300968,  5.51032946, -1.24292502,
   0.19233106,  1.77003828, -9.73758976,  3.0845085 , -1.92483661,
   7.07112146,-11.25839346, -1.27250638,  2.19687881, -4.91825087,
  11.70893987,  0.44793754,  1.08617675,  0.7655523 ,  5.70610321,
   1.66469851,-15.582956  ]

qfrc_actuator:
[ 1.31233505e-04, 3.46507028e-05, 5.45685359e-05, 8.47564314e-04,
  6.88708712e-05,-2.97104647e-04,-5.24475372e-04, 4.76059566e-04,
  2.26090080e-04, 6.96533427e-05,-2.59175674e-04, 4.37148280e-04,
  7.50746529e-02,-4.16851326e-04, 5.50171455e-02,-3.12903659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.68977246, -0.6773948 , -4.64059285, -0.6773948 , 11.00527451,
       -0.92188399, -4.64059285, -0.92188399,  4.82434135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034119289098881456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25394536e-13,  4.57586066e-14,  1.00000000e+00, -1.48896006e-26,
        1.00000000e+00, -4.57586066e-14, -1.00000000e+00,  0.00000000e+00,
        3.25394536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591427, -0.08811752,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.84030551e-05, 4.50256622e-05,-2.04368616e-05,-1.87003689e-06,
 -7.20812676e-06, 1.55878457e-05,-1.53350024e-05,-2.43296834e-05,
  1.79242791e-05,-4.11812964e-05, 8.86822303e-06,-1.31250454e-05,
 -4.97220507e-04,-6.65211984e-05,-2.21957076e-04,-7.98772166e-06,
 -3.30624893e-07, 1.84945299e-06,-1.21644540e+00,-4.23648928e-04,
  2.33782163e-05,-5.53487432e-04]


--- Step 198 ---
qpos:
[ 0.01180267,-0.00113031, 0.00238615, 0.0412394 , 0.00451316,-0.00233681,
 -0.01787132, 0.02792454, 0.01293106, 0.00440639,-0.01008814, 0.02595017,
  0.52453904,-0.00201518, 0.36098993, 0.06529077, 0.09218473,-0.07019173,
  0.13108918, 0.51039052, 0.49117444, 0.48826245, 0.50975382]

qacc:
[ -6.32293771, -0.31086272,  4.275718  ,-13.91359512, -0.80896847,
  -0.77154227,  2.63162912, -3.22260441, -1.44967115, -1.59673131,
   6.95362754,-15.73065534, -1.34378023,  2.602377  , -2.34612456,
   3.1826682 ,  0.43267283,  1.06375891,  0.56170541,  5.67862837,
   1.58732947,-15.26782556]

qfrc_actuator:
[ 9.67856690e-05, 6.49006067e-05, 5.46368769e-05, 8.21152135e-04,
  6.42667852e-05,-3.08755217e-04,-5.14551452e-04, 4.75507307e-04,
  2.17050004e-04, 1.83605842e-05,-2.73765479e-04, 4.07578814e-04,
  7.49386407e-02,-4.20507679e-04, 5.49086588e-02,-3.14592770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70869473, -0.84256476, -4.632698  , -0.84256476, 14.6289966 ,
       -1.8042395 , -4.632698  , -1.8042395 ,  5.03683799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034590571831231987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.81441748e-13,  2.05615747e-13,  1.00000000e+00, -9.89920045e-26,
        1.00000000e+00, -2.05615747e-13, -1.00000000e+00,  0.00000000e+00,
        4.81441748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591362, -0.08811634,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69473346e-05, 5.10730739e-05, 6.75914965e-06,-2.52574363e-05,
 -4.80259549e-06,-7.10655523e-06, 1.04549675e-05,-8.98092616e-07,
 -8.53978893e-06,-7.30913283e-05,-2.24618979e-05,-3.12998592e-05,
 -4.95764337e-04,-6.36002245e-05,-2.10993605e-04,-4.61315790e-05,
 -3.23915719e-07, 1.32182526e-06,-1.21644370e+00,-4.24192480e-04,
  2.39681135e-05,-5.53995740e-04]


--- Step 199 ---
qpos:
[ 0.01180566,-0.00113013, 0.00238645, 0.04125382, 0.00451473,-0.00233719,
 -0.0178761 , 0.02793474, 0.01293556, 0.00440783,-0.01009191, 0.02595755,
  0.52609961,-0.00201456, 0.36249127, 0.065314  , 0.0921888 ,-0.07020415,
  0.13109355, 0.51033377, 0.49123933, 0.48823103, 0.50977821]

qacc:
[  8.35545802, -2.14140925, 11.58412371,-26.06038088,  2.47627874,
  -1.44405009,  3.32987011,  0.72781142,  1.7725046 , -0.21642037,
   3.74282607,-16.13786074, -1.80377954,  5.19991865, 11.93400151,
 -46.57381922,  0.42036851,  1.04505754,  0.39054245,  5.65274804,
   1.52396868,-15.00482106]

qfrc_actuator:
[ 1.46741925e-04, 8.28423569e-05, 7.24882803e-05, 7.81795665e-04,
  7.87976655e-05,-3.33423451e-04,-4.88841201e-04, 4.88967258e-04,
  2.27758985e-04, 2.27670854e-05,-2.98949639e-04, 3.69144789e-04,
  7.48008990e-02,-4.05042981e-04, 5.47576094e-02,-3.41569436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71362933, -1.06110381, -4.59264196, -1.06110381, 20.95270146,
       -3.75194527, -4.59264196, -3.75194527,  5.58049495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003471186059298137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04897292e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04897292e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591288, -0.08811608,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89213155e-05, 4.67685644e-05, 2.83272390e-05,-3.74585280e-05,
  1.43910413e-05,-2.64815042e-05, 2.55399747e-05, 1.34896289e-05,
  1.04464410e-05,-4.24755995e-05,-4.41264978e-05,-4.29660753e-05,
 -4.96056273e-04,-4.43736929e-05,-2.53571297e-04,-2.99911183e-04,
 -3.13004696e-07, 8.89539868e-07,-1.21644240e+00,-4.24660775e-04,
  2.43247792e-05,-5.54393544e-04]


--- Step 200 ---
qpos:
[ 0.01180957,-0.00112983, 0.00238705, 0.04126802, 0.00451611,-0.00233794,
 -0.01788077, 0.0279454 , 0.0129405 , 0.00440935,-0.01009588, 0.0259647 ,
  0.52765746,-0.00201338, 0.36399013, 0.06533406, 0.09219451,-0.07021244,
  0.1310989 , 0.51028513, 0.49129402, 0.48822137, 0.50978345]

qacc:
[  8.09416835, -1.13043089,  5.11864007, -9.29362906, -1.59326501,
   0.15387825, -3.19698622, 11.2547256 ,  3.84657251,  0.18744915,
   0.4471211 , -4.15204512, -2.05344748,  6.65088048,  5.96382669,
 -26.10163026,  0.4104994 ,  1.02954122,  0.24718391,  5.62953284,
   1.4718519 ,-14.78631782]

qfrc_actuator:
[ 1.92701506e-04, 7.55860863e-05, 8.28823644e-05, 7.70645836e-04,
  6.89684803e-05,-3.65614675e-04,-4.89584374e-04, 5.10553702e-04,
  2.50014897e-04, 6.04337422e-05,-2.94458717e-04, 3.61351560e-04,
  7.46622184e-02,-3.78459698e-04, 5.46556608e-02,-3.56606025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034553882869643726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21301959e-13,  5.02034310e-15,  1.00000000e+00, -1.61304607e-27,
        1.00000000e+00, -5.02034310e-15, -1.00000000e+00,  0.00000000e+00,
        3.21301959e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591209, -0.08811655,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73643166e-05, 2.31088706e-05, 2.22046414e-05,-8.93101480e-06,
 -9.42957433e-06,-4.10940634e-05,-2.56308353e-06, 2.15859294e-05,
  2.25436118e-05, 2.95126520e-06,-1.11898265e-05,-1.19873275e-05,
 -4.95292853e-04,-3.23349050e-05,-2.51419864e-04,-1.99922326e-04,
 -2.95992791e-07, 5.45711592e-07,-1.21644147e+00,-4.25065972e-04,
  2.44549837e-05,-5.54683839e-04]


--- Step 201 ---
qpos:
[ 0.01181401,-0.00112979, 0.00238796, 0.04128237, 0.00451737,-0.00233862,
 -0.01788638, 0.02795556, 0.01294601, 0.00441058,-0.01009966, 0.02597171,
  0.52921267,-0.00201185, 0.36548598, 0.06535509, 0.09220184,-0.07021667,
  0.13110477, 0.51024447, 0.49133872, 0.48823323, 0.50976971]

qacc:
[  4.59429051, -0.93616193,  2.18994151,  0.09269136, -1.15839275,
   1.67071778, -3.72743143, -3.45072952,  5.05955263, -1.21269625,
   4.29048153, -6.60811321, -1.75000618,  5.00832469, -7.31502068,
  19.23634903,  0.40263764,  1.01675429,  0.12745814,  5.60966445,
   1.4287601 ,-14.60588532]

qfrc_actuator:
[ 2.18160416e-04, 3.55352777e-05, 8.86996191e-05, 7.76153728e-04,
  6.26266947e-05,-3.66654673e-04,-5.41485966e-04, 4.83459587e-04,
  2.78882875e-04, 2.91177245e-05,-2.90056431e-04, 3.53954637e-04,
  7.45283994e-02,-3.63322655e-04, 5.45406672e-02,-3.50262138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034175821798698713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62428139e-13,  5.07587933e-15,  1.00000000e+00,  8.24465632e-28,
        1.00000000e+00, -5.07587933e-15, -1.00000000e+00,  0.00000000e+00,
       -1.62428139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591124, -0.0881176 ,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68095085e-05,-2.29696238e-05, 1.29682901e-05, 7.05593100e-06,
 -6.62586359e-06,-2.35691523e-05,-5.99184288e-05,-2.85351454e-05,
  2.95126201e-05,-3.24918949e-05, 3.23567435e-06,-7.90138559e-06,
 -4.88339895e-04,-4.32432037e-05,-2.51995110e-04, 1.98207313e-05,
 -2.71522368e-07, 2.84926500e-07,-1.21644089e+00,-4.25417329e-04,
  2.43642216e-05,-5.54869027e-04]


--- Step 202 ---
qpos:
[ 0.01181837,-0.00112998, 0.00238871, 0.0412967 , 0.00451888,-0.00233921,
 -0.01789267, 0.02796565, 0.01295148, 0.00441135,-0.01010269, 0.02597857,
  0.53076518,-0.00200975, 0.36697839, 0.06537872, 0.09221075,-0.07021687,
  0.13111075, 0.51021169, 0.49137359, 0.48826643, 0.50973712]

qacc:
[-6.50784328e-01, 1.48403815e-01,-8.81653684e-01, 1.02357040e+00,
  2.24709770e+00, 1.87129046e+00,-6.16482521e+00, 5.82626956e+00,
 -3.34624793e-01,-2.98823734e+00, 1.04601319e+01,-1.40738247e+01,
 -1.99611822e+00, 6.38595286e+00,-1.28903425e+01, 3.78490260e+01,
  3.96433930e-01, 1.00630567e+00, 2.77910471e-02, 5.59353613e+00,
  1.39290832e+00,-1.44580819e+01]

qfrc_actuator:
[ 2.13597291e-04, 1.16469040e-05, 7.38807798e-05, 7.73628356e-04,
  7.61488801e-05,-3.49290262e-04,-5.69825146e-04, 4.81189151e-04,
  2.75901937e-04, 1.00126618e-05,-2.50518597e-04, 3.46786907e-04,
  7.43869378e-02,-3.37310903e-04, 5.43807023e-02,-3.36703157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033627034966678127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30157870e-13,  2.52777119e-13,  1.00000000e+00, -8.34563554e-26,
        1.00000000e+00, -2.52777119e-13, -1.00000000e+00,  0.00000000e+00,
        3.30157870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591035, -0.08811909,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81316295e-06,-3.38008775e-05,-1.77709295e-05,-2.95954288e-06,
  1.33285900e-05,-9.34904114e-06,-4.15243541e-05,-5.91749738e-06,
 -2.15217253e-06,-3.69332154e-05, 3.29698929e-05,-8.61210314e-06,
 -4.92015116e-04,-3.24228555e-05,-2.71624386e-04, 1.04415424e-04,
 -2.38623491e-07, 1.02916887e-07,-1.21644064e+00,-4.25721927e-04,
  2.40568383e-05,-5.54951037e-04]


--- Step 203 ---
qpos:
[ 0.01182195,-0.0011304 , 0.00238929, 0.0413109 , 0.0045202 ,-0.00233993,
 -0.01789926, 0.02797632, 0.01295584, 0.0044122 ,-0.01010518, 0.02598558,
  0.53231498,-0.00200728, 0.36846747, 0.06540476, 0.09222123,-0.07021308,
  0.13111651, 0.51018671, 0.49139875, 0.48832079, 0.50968578]

qacc:
[ -6.84074008, -0.13477701,  0.63249204, -2.63928866, -1.7126606 ,
   1.89848056, -9.47245462, 20.18197502, -9.78028522, -1.11662776,
   3.52868391, -1.91507958, -1.78736292,  5.10263607,-12.15588935,
  35.48467906,  0.39160267,  0.99785966, -0.05488293,  5.58133147,
   1.36285801,-14.33829164]

qfrc_actuator:
[ 1.73654856e-04,-2.47938543e-06, 6.47933490e-05, 7.66389271e-04,
  6.57480015e-05,-3.56444020e-04,-5.83901608e-04, 5.11346080e-04,
  2.18692152e-04, 5.17705297e-05,-2.08270903e-04, 3.57591786e-04,
  7.42409905e-02,-3.22883938e-04, 5.42258563e-02,-3.24343698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003294852647077462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68478403e-13,  2.15862954e-13,  1.00000000e+00, -3.63682458e-26,
        1.00000000e+00, -2.15862954e-13, -1.00000000e+00,  0.00000000e+00,
        1.68478403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590944, -0.08812093,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00648606e-05,-3.68746995e-05,-1.84033157e-05,-9.39359889e-06,
 -1.00220741e-05,-2.11349405e-05,-2.12696943e-05, 2.81965800e-05,
 -5.72840883e-05, 2.75546538e-05, 3.83984602e-05, 1.01862175e-05,
 -4.97813794e-04,-4.40389841e-05,-2.64713751e-04, 9.49368036e-05,
 -1.96604062e-07,-3.69242464e-09,-1.21644072e+00,-4.25985206e-04,
  2.35361554e-05,-5.54931409e-04]


--- Step 204 ---
qpos:
[ 0.01182468,-0.00113104, 0.00238974, 0.04132489, 0.00452104,-0.00234077,
 -0.01790599, 0.02798725, 0.01295948, 0.00441355,-0.0101076 , 0.02599264,
  0.53386211,-0.00200461, 0.36995395, 0.06543032, 0.09223326,-0.07020533,
  0.13112178, 0.51016946, 0.49141433, 0.4883962 , 0.50961578]

qacc:
[ -7.48461149, -0.31754802,  1.60324217, -4.77821115, -4.20709646,
   0.75980337, -4.06905224,  8.9800009 , -6.34066296,  0.62564615,
  -1.47681195,  1.92049311, -1.62538441,  4.13714761, -2.35263826,
   2.71051203,  0.38790997,  0.99112828, -0.12319389,  5.57308552,
   1.33744774,-14.24259377]

qfrc_actuator:
[ 1.30971409e-04,-1.06409020e-05, 5.92067162e-05, 7.56451804e-04,
  4.13432528e-05,-3.60377031e-04,-5.89526509e-04, 5.24820809e-04,
  1.83291314e-04, 9.41922924e-05,-2.00012971e-04, 3.61182044e-04,
  7.41031010e-02,-3.15434574e-04, 5.41008248e-02,-3.26990881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003217420907947327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45066143e-13,  1.34791462e-13,  1.00000000e+00, -4.65119701e-26,
        1.00000000e+00, -1.34791462e-13, -1.00000000e+00,  0.00000000e+00,
        3.45066143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590851, -0.08812301,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38369725e-05,-3.30343459e-05,-1.58306451e-05,-1.23679122e-05,
 -2.46982813e-05,-1.88606264e-05,-1.15725102e-05, 1.23746665e-05,
 -3.70191643e-05, 6.61751410e-05, 1.90420058e-05, 6.28920549e-06,
 -4.95193275e-04,-5.26194356e-05,-2.33223214e-04,-5.48752648e-05,
 -1.44971369e-07,-3.75833676e-08,-1.21644112e+00,-4.26211365e-04,
  2.28045912e-05,-5.54811369e-04]


--- Step 205 ---
qpos:
[ 0.01182825,-0.00113167, 0.00239003, 0.04133793, 0.00452193,-0.00234213,
 -0.01791177, 0.02799893, 0.01296335, 0.00441543,-0.01011025, 0.0260004 ,
  0.53540655,-0.00200149, 0.37143762, 0.0654547 , 0.09224682,-0.07019363,
  0.13112633, 0.51015988, 0.4914204 , 0.48849254, 0.50952716]

qacc:
[  7.43326312, -1.52624546,  9.44249661,-25.5818158 ,  0.44173103,
  -1.79224334,  2.27625426,  9.42120312,  2.06931412,  2.74254841,
 -11.70110253, 23.68170043, -1.91971262,  5.78692048, -0.53408348,
  -4.04003806,  0.38516409,  0.98586475, -0.17939755,  5.56873155,
   1.31573824,-14.16765509]

qfrc_actuator:
[ 1.75791145e-04, 2.59956476e-06, 5.57548277e-05, 7.09509415e-04,
  4.44044477e-05,-3.80074857e-04,-5.36872093e-04, 5.63876122e-04,
  1.96532925e-04, 1.18805739e-04,-2.11873593e-04, 3.95985097e-04,
  7.39648147e-02,-2.94402634e-04, 5.39564565e-02,-3.33122873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003133198673839349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77170863e-13,  9.41220209e-14,  1.00000000e+00, -1.66756796e-26,
        1.00000000e+00, -9.41220209e-14, -1.00000000e+00,  0.00000000e+00,
        1.77170863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590757, -0.08812527,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35611198e-05,-9.06965885e-06,-1.26831471e-05,-4.91756340e-05,
  2.35014071e-06,-3.20281773e-05, 4.78267062e-05, 3.80809330e-05,
  1.22151057e-05, 6.57842083e-05, 4.37383765e-06, 3.84091162e-05,
 -4.94673065e-04,-3.94498656e-05,-2.57191648e-04,-9.45920353e-05,
 -8.33761420e-08,-9.02053141e-10,-1.21644182e+00,-4.26403673e-04,
  2.18637712e-05,-5.54591888e-04]


--- Step 206 ---
qpos:
[ 0.01183303,-0.0011321 , 0.00239015, 0.04135064, 0.00452285,-0.00234369,
 -0.01791665, 0.02801061, 0.01296736, 0.00441731,-0.01011307, 0.02600892,
  0.53694829,-0.00199807, 0.37291798, 0.06547753, 0.09226193,-0.07017801,
  0.13112997, 0.51015794, 0.49141703, 0.48860973, 0.50941998]

qacc:
[ 10.52531924,  0.03577623,  1.62743084, -7.31214849,  0.28894811,
  -2.81572598,  9.65690377,-11.03602732,  1.12838142,  2.05000469,
 -10.55569518, 24.11055472, -1.74163429,  4.72964478, -0.18446497,
  -6.3552278 ,  0.3832077 ,  0.9818579 , -0.22542688,  5.56813632,
   1.29696869,-14.11064167]

qfrc_actuator:
[ 2.36250122e-04, 2.85379954e-05, 5.36551008e-05, 6.94447760e-04,
  4.58587740e-05,-3.73291057e-04,-4.85780181e-04, 5.64440834e-04,
  2.02785932e-04, 7.92471857e-05,-2.35550008e-04, 4.31101409e-04,
  7.38210633e-02,-2.83305331e-04, 5.37792941e-02,-3.41256981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030444682661076583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.54692835e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.54692835e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590664, -0.08812765,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16967099e-05, 1.61338971e-05,-7.26736462e-06,-1.68771382e-05,
  1.50666130e-06, 4.76280749e-07, 5.17429331e-05, 1.57785890e-06,
  6.62600357e-06,-2.60001974e-07,-8.22491849e-06, 3.88189547e-05,
 -4.98272954e-04,-4.87388888e-05,-3.04424616e-04,-1.19673267e-04,
 -1.15728069e-08, 1.04616257e-07,-1.21644284e+00,-4.26564700e-04,
  2.07146289e-05,-5.54273726e-04]


--- Step 207 ---
qpos:
[ 0.0118378 ,-0.00113251, 0.00239025, 0.04136342, 0.00452377,-0.00234469,
 -0.01792141, 0.02802111, 0.01297106, 0.00441904,-0.01011545, 0.02601708,
  0.53848736,-0.00199513, 0.37439521, 0.0655001 , 0.09227856,-0.07015847,
  0.13113257, 0.51016358, 0.49140428, 0.48874772, 0.50929424]

qacc:
[-1.79462489e-02, 2.26516331e-01,-1.04553271e+00, 2.28976606e+00,
  7.89004540e-02,-1.97786002e+00, 1.30771263e+01,-3.38877811e+01,
 -2.63174804e+00,-2.15346440e+00, 8.93901657e+00,-1.57823199e+01,
 -8.83441639e-01,-2.27288926e-01,-3.80121103e+00, 6.57675619e+00,
  3.81911571e-01, 9.78927404e-01,-2.62936267e-01, 5.57112640e+00,
  1.28052186e+00,-1.40691447e+01]

qfrc_actuator:
[ 2.34391287e-04, 2.64122159e-05, 5.24585078e-05, 6.98285591e-04,
  4.63472395e-05,-3.15209657e-04,-4.71468560e-04, 5.06855886e-04,
  1.87106524e-04, 7.25149122e-05,-2.13020968e-04, 4.12796890e-04,
  7.36688040e-02,-3.13692759e-04, 5.36518365e-02,-3.41632560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029530834348845403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87976914e-13,  1.46856964e-13,  1.00000000e+00, -2.76057190e-26,
        1.00000000e+00, -1.46856964e-13, -1.00000000e+00,  0.00000000e+00,
        1.87976914e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590571, -0.0881301 ,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82902116e-08, 4.66478715e-06, 6.25111428e-07, 3.91796709e-06,
  5.29449638e-07, 6.91916375e-05, 2.08878148e-05,-5.57552263e-05,
 -1.54877924e-05,-6.95209459e-06, 2.28012576e-05,-1.78611824e-05,
 -5.10586758e-04,-9.13788839e-05,-2.76908052e-04,-4.90160026e-05,
  7.06086283e-08, 2.77547511e-07,-1.21644415e+00,-4.26696496e-04,
  1.93574948e-05,-5.53857476e-04]


--- Step 208 ---
qpos:
[ 0.01184217,-0.00113311, 0.00239076, 0.04137579, 0.00452504,-0.00234508,
 -0.017926  , 0.02803049, 0.01297454, 0.0044206 ,-0.01011724, 0.0260253 ,
  0.54002371,-0.00199283, 0.37586952, 0.06552169, 0.09229671,-0.07013502,
  0.13113399, 0.51017679, 0.49138218, 0.48890647, 0.50914994]

qacc:
[ -3.53152783, -2.18869671,  9.11187721,-16.49369547,  3.00564067,
  -1.99413068, 13.01903679,-33.21241112, -1.8836141 , -1.76516684,
   5.71641589, -5.55048787, -0.7410624 , -1.17629691, -1.36042263,
  -1.49256693,  0.38116955,  0.97691952, -0.29333956,  5.57750728,
   1.26589626,-14.04111815]

qfrc_actuator:
[ 2.13615556e-04, 7.52449777e-06, 6.94580248e-05, 6.77681617e-04,
  6.40166338e-05,-2.80305633e-04,-4.61048933e-04, 4.51050405e-04,
  1.76398472e-04, 6.78648670e-05,-1.81064223e-04, 4.16518187e-04,
  7.35168600e-02,-3.50568856e-04, 5.35170257e-02,-3.46294496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002860537377616379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88116944e-13,  2.00122799e-13,  1.00000000e+00, -7.76710492e-26,
        1.00000000e+00, -2.00122799e-13, -1.00000000e+00,  0.00000000e+00,
        3.88116944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859048 , -0.08813258,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07784262e-05,-1.60124210e-05, 1.81457442e-05,-2.03349961e-05,
  1.77101219e-05, 7.55895804e-05, 2.53991926e-05,-5.32132656e-05,
 -1.11460050e-05,-4.64020013e-06, 3.27048544e-05, 3.84929241e-06,
 -5.23940767e-04,-1.02169217e-04,-2.64830404e-04,-8.46531581e-05,
  1.63282316e-07, 5.16699125e-07,-1.21644577e+00,-4.26800723e-04,
  1.77921742e-05,-5.53343585e-04]


--- Step 209 ---
qpos:
[ 0.01184625,-0.00113367, 0.00239109, 0.04138818, 0.00452652,-0.00234473,
 -0.01793079, 0.02803914, 0.01297753, 0.00442229,-0.01011903, 0.02603384,
  0.54155742,-0.00199131, 0.37734066, 0.06554155, 0.09231639,-0.07010767,
  0.13113414, 0.51019754, 0.49135077, 0.48908593, 0.50898707]

qacc:
[-2.49416576e+00, 5.75420614e-01,-1.99650783e+00, 2.40586466e+00,
  1.75010351e+00, 1.32360943e-02, 4.45881013e+00,-1.73748741e+01,
 -4.40731933e+00, 8.59025545e-01,-4.17900582e+00, 9.72577448e+00,
 -5.56343792e-01,-2.09494886e+00, 5.04012601e-01,-8.58697780e+00,
  3.80894365e-01, 9.75703492e-01,-3.17842973e-01, 5.58707710e+00,
  1.25268376e+00,-1.40248259e+01]

qfrc_actuator:
[ 1.99644792e-04, 1.43045498e-05, 6.14649088e-05, 6.78358902e-04,
  7.39042697e-05,-2.41819470e-04,-4.70815690e-04, 4.14490841e-04,
  1.50956585e-04, 8.23119897e-05,-1.79281592e-04, 4.33182088e-04,
  7.33865089e-02,-3.90983038e-04, 5.33512665e-02,-3.55222541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027680208440156173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01633669e-13,  2.56947713e-13,  1.00000000e+00, -1.54588395e-25,
        1.00000000e+00, -2.56947713e-13, -1.00000000e+00,  0.00000000e+00,
        6.01633669e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859039 , -0.08813506,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45683787e-05, 6.70026764e-07,-9.79946315e-06, 1.95894817e-07,
  1.04203262e-05, 8.37746735e-05, 7.17071075e-06,-3.34875262e-05,
 -2.57569366e-05, 1.87261915e-05, 4.97401540e-06, 1.76549001e-05,
 -5.13140375e-04,-1.08231468e-04,-2.95058594e-04,-1.27946782e-04,
  2.66520294e-07, 8.21045939e-07,-1.21644769e+00,-4.26878761e-04,
  1.60180138e-05,-5.52732389e-04]


--- Step 210 ---
qpos:
[ 0.01185014,-0.00113424, 0.00239108, 0.04140016, 0.00452844,-0.00234412,
 -0.01793547, 0.02804732, 0.01298053, 0.00442466,-0.01012132, 0.02604248,
  0.54308851,-0.00199027, 0.37880864, 0.06555979, 0.09233759,-0.07007642,
  0.13113294, 0.5102258 , 0.49131007, 0.48928611, 0.50880561]

qacc:
[ -1.76230704,  0.06896805,  1.47825532, -8.10889508,  3.96518757,
  -0.91614845,  5.72242982,-14.12514809,  0.11724743,  2.49720453,
  -7.99288205,  9.93706758, -0.87663565, -0.21552468,  0.24620975,
  -7.64368183,  0.3810143 ,  0.97516831, -0.33747368,  5.5996362 ,
   1.24055173,-14.01879636]

qfrc_actuator:
[ 1.89797917e-04, 8.14540857e-07, 3.88900333e-05, 6.56051061e-04,
  9.68797559e-05,-2.54815310e-04,-4.74642507e-04, 3.89536759e-04,
  1.52550359e-04, 1.43485545e-04,-1.95247038e-04, 4.39566300e-04,
  7.32585529e-02,-4.15374778e-04, 5.32043471e-02,-3.63046129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002676471685645748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.14808433e-13,  2.65736652e-13,  1.00000000e+00, -1.10229804e-25,
        1.00000000e+00, -2.65736652e-13, -1.00000000e+00,  0.00000000e+00,
        4.14808433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590304, -0.08813752,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02617007e-05,-1.51604921e-05,-2.36651793e-05,-2.26416987e-05,
  2.33030326e-05, 3.39245505e-05, 1.32340290e-05,-2.17773689e-05,
  8.72781920e-07, 7.33706218e-05,-1.08875393e-05, 7.68522483e-06,
 -5.03843814e-04,-9.14373138e-05,-2.93568504e-04,-1.22881356e-04,
  3.80361906e-07, 1.18967861e-06,-1.21644991e+00,-4.26931788e-04,
  1.40339589e-05,-5.52024127e-04]


--- Step 211 ---
qpos:
[ 0.01185422,-0.00113537, 0.00239159, 0.04141178, 0.00453062,-0.0023438 ,
 -0.0179396 , 0.02805518, 0.01298387, 0.00442768,-0.0101238 , 0.02605077,
  0.54461684,-0.00198881, 0.3802737 , 0.06557845, 0.09236032,-0.07004126,
  0.13113033, 0.51026157, 0.49126008, 0.48950699, 0.50860551]

qacc:
[  1.75629669, -2.91553427, 10.80315491,-17.28482945,  2.30918756,
  -2.57990578,  9.98756921,-16.19611147,  2.97974078,  0.67121088,
   0.32232315, -6.57633567, -1.90339172,  5.47426894, -5.51460431,
  13.17302694,  0.3814704 ,  0.97521998, -0.35310467,  5.61499343,
   1.22922853,-14.02178439]

qfrc_actuator:
[ 2.00207481e-04,-4.25459270e-05, 6.10558580e-05, 6.38125460e-04,
  1.09623910e-04,-2.98520724e-04,-4.57378038e-04, 3.71571168e-04,
  1.70048717e-04, 1.78829603e-04,-2.03610763e-04, 4.22130732e-04,
  7.31214764e-02,-3.94634365e-04, 5.31008000e-02,-3.59495855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002586617028844246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58436338e-13,  1.67663347e-13,  1.00000000e+00, -1.43928310e-25,
        1.00000000e+00, -1.67663347e-13, -1.00000000e+00,  0.00000000e+00,
        8.58436338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08590219, -0.08813994,  0.06199262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01137177e-05,-5.77184165e-05, 1.53127575e-05,-1.98603835e-05,
  1.34210055e-05,-2.29121343e-05, 2.51768481e-05,-1.64878392e-05,
  1.75557524e-05, 7.43850982e-05, 5.69960394e-06,-1.45373905e-05,
 -5.04247508e-04,-4.43816303e-05,-2.49029261e-04,-8.68458648e-06,
  5.04820114e-07, 1.62176187e-06,-1.21645244e+00,-4.26960841e-04,
  1.18386010e-05,-5.51218956e-04]


--- Step 212 ---
qpos:
[ 0.01185874,-0.00113673, 0.00239254, 0.04142306, 0.0045326 ,-0.0023435 ,
 -0.01794411, 0.02806279, 0.0129874 , 0.00443075,-0.0101261 , 0.02605849,
  0.54614246,-0.00198708, 0.38173614, 0.06559926, 0.09238557,-0.07001467,
  0.13112832, 0.5102602 , 0.491253  , 0.48970377, 0.50842427]

qacc:
[  3.863858  , -2.2595292 ,  9.01993217,-15.43065633, -1.84370353,
   0.51483965, -0.84560026, -2.78926843,  1.62706247, -1.63556937,
   8.32513456,-18.50532591, -1.72426864,  4.534686  ,-10.31042049,
  30.51777027,  0.63067551, -2.13936734,  0.15060565,  9.32503784,
  -3.3361853 , 30.67896006]

qfrc_actuator:
[ 2.22454393e-04,-3.22728397e-05, 9.15907040e-05, 6.22931013e-04,
  9.84872169e-05,-3.06944275e-04,-4.81200064e-04, 3.57840614e-04,
  1.79006448e-04, 1.45184634e-04,-2.07515793e-04, 3.90813287e-04,
  7.29843594e-02,-3.83018945e-04, 5.30073891e-02,-3.47485916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002732022976213583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03186985e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.03186985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269569, -0.03115672,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25154565e-05,-1.96917458e-05, 1.97879447e-05,-1.75498033e-05,
 -1.07622313e-05,-1.67182465e-05,-2.59971897e-05,-1.41718120e-05,
  9.49149049e-06, 8.42398401e-06, 1.16372292e-05,-2.82351883e-05,
 -4.98601332e-04,-5.10141820e-05,-2.07554810e-04, 8.75760422e-05,
  6.39885620e-07, 2.11650065e-06,-1.21645527e+00,-4.26966861e-04,
  9.43021773e-06,-5.50316971e-04]


--- Step 213 ---
qpos:
[ 0.01186315,-0.00113769, 0.00239302, 0.04143371, 0.00453477,-0.00234332,
 -0.01794888, 0.02807053, 0.01299066, 0.00443355,-0.01012822, 0.02606547,
  0.54766542,-0.00198549, 0.3831964 , 0.06561863, 0.09241327,-0.06999643,
  0.131126  , 0.51022239, 0.49128779, 0.48987726, 0.50826144]

qacc:
[ -1.02233019,  0.56316891,  1.48352306,-12.06736023,  1.71409631,
   0.83460082, -3.70339786,  6.33612562, -2.31702234, -2.35575053,
  11.02069401,-23.89804187, -1.26916513,  1.94635386,  1.15220572,
  -8.63646357,  0.61190085, -2.08887317, -0.08002477,  9.20137643,
  -3.14279781, 29.9384105 ]

qfrc_actuator:
[ 2.15978963e-04, 1.00877575e-05, 7.37609783e-05, 5.91753227e-04,
  1.08892859e-04,-3.12098749e-04,-4.93463140e-04, 3.64456655e-04,
  1.65107174e-04, 1.05987927e-04,-2.09052795e-04, 3.51524030e-04,
  7.28419874e-02,-3.94663073e-04, 5.28881858e-02,-3.55442644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49753308,  1.68335803, -4.1706246 ,  1.68335803,  8.44997837,
        1.59529595, -4.1706246 ,  1.59529595,  5.14143046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028655153321724414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269628, -0.03116412,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.84070859e-06, 3.46911540e-05,-2.00932173e-05,-3.17044570e-05,
  1.00944905e-05,-2.04589425e-05,-1.93761534e-05, 4.71707166e-06,
 -1.36170777e-05,-3.33790825e-05, 6.36500401e-07,-3.90937455e-05,
 -5.00320414e-04,-7.42565587e-05,-2.05259633e-04,-1.01788104e-04,
  2.31474481e-07, 7.65289067e-07,-1.21645177e+00,-4.28773235e-04,
  1.08071476e-05,-5.49893388e-04]


--- Step 214 ---
qpos:
[ 0.01186745,-0.00113847, 0.00239361, 0.04144389, 0.00453671,-0.00234351,
 -0.01795306, 0.02807757, 0.01299339, 0.00443629,-0.0101301 , 0.0260712 ,
  0.54918574,-0.00198434, 0.3846547 , 0.06563254, 0.09244336,-0.06998638,
  0.13112257, 0.51014872, 0.49136359, 0.49002811, 0.50811667]

qacc:
[ -0.97965588, -1.05691588,  6.05539865,-14.42301076, -2.05343456,
  -3.58515333, 14.98629093,-27.68005722, -4.71573021, -3.33266233,
  17.03389849,-38.96306889, -0.98502175,  0.31164325, 13.55813551,
 -51.65980871,  0.59687723, -2.04655522, -0.27448705,  9.09759587,
  -2.98000102, 29.32025137]

qfrc_actuator:
[ 2.10399119e-04, 1.78826350e-05, 8.09084757e-05, 5.69171063e-04,
  9.63969625e-05,-3.32956633e-04,-4.63253276e-04, 3.29751933e-04,
  1.37868720e-04, 1.17011560e-04,-1.91479158e-04, 2.90096169e-04,
  7.27018815e-02,-4.19945992e-04, 5.27642113e-02,-3.83983629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52468842,  2.32103014, -3.88402167,  2.32103014, 10.20385689,
        3.39378158, -3.88402167,  3.39378158,  6.55275881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002951570516464136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88073268e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88073268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269649, -0.03116888,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73132890e-06, 2.16747262e-05, 1.07191850e-05,-2.24315569e-05,
 -1.22145403e-05,-3.60632251e-05, 2.37964438e-05,-3.61676257e-05,
 -2.76272940e-05,-9.27271066e-06, 9.38479909e-06,-6.36130012e-05,
 -5.02198369e-04,-8.97110385e-05,-2.31148321e-04,-3.18145282e-04,
 -4.10001271e-07,-5.87404819e-08,-1.21644969e+00,-4.30220788e-04,
  1.27994138e-05,-5.49684652e-04]


--- Step 215 ---
qpos:
[ 0.01187095,-0.00113937, 0.00239467, 0.04145407, 0.00453813,-0.00234367,
 -0.01795699, 0.02808377, 0.01299645, 0.00443861,-0.01013137, 0.02607687,
  0.55070341,-0.00198345, 0.38611022, 0.06564488, 0.09247578,-0.06998437,
  0.13111739, 0.51003969, 0.49147968, 0.49015688, 0.50798963]

qacc:
[ -6.9264972 , -1.41870982,  4.85277393, -5.44640649, -4.46351405,
  -2.36092453, 12.08123638,-27.16735277,  3.04088473, -2.40039946,
   8.03582542, -9.89194072, -1.14878204,  1.24617044,  0.63217092,
  -8.12881715,  0.58495351, -2.01117438, -0.43839539,  9.01201662,
  -2.84157996, 28.80590869]

qfrc_actuator:
[ 1.69894623e-04, 5.02165122e-06, 1.02644101e-04, 5.69582253e-04,
  7.05149833e-05,-3.09656175e-04,-4.43811329e-04, 2.88776304e-04,
  1.56262837e-04, 8.70646969e-05,-1.62580360e-04, 2.87198642e-04,
  7.25632283e-02,-4.35317107e-04, 5.26480861e-02,-3.90685678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54013612,  2.61103522, -3.71420666,  2.61103522, 13.52079035,
        6.31327406, -3.71420666,  6.31327406,  8.97827931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002999017763842954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85097774e-13,  1.85097774e-13,  1.00000000e+00, -3.42611859e-26,
        1.00000000e+00, -1.85097774e-13, -1.00000000e+00,  0.00000000e+00,
        1.85097774e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269637, -0.0311715 ,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06595924e-05, 4.95997853e-07, 2.67322337e-05, 1.25115374e-06,
 -2.62423981e-05, 6.53540326e-06, 1.37088493e-05,-4.24070884e-05,
  1.76161128e-05,-3.60107848e-05, 2.59192802e-05,-4.22123407e-06,
 -5.04202119e-04,-8.11320231e-05,-2.59046144e-04,-1.15083244e-04,
 -1.26787162e-06,-3.91939430e-07,-1.21644892e+00,-4.31362359e-04,
  1.53839246e-05,-5.49684114e-04]


--- Step 216 ---
qpos:
[ 0.01187394,-0.00114028, 0.00239569, 0.04146455, 0.00453993,-0.00234352,
 -0.01796115, 0.02809046, 0.01300006, 0.00444063,-0.01013259, 0.02608282,
  0.5522184 ,-0.0019824 , 0.38756336, 0.06565453, 0.09251051,-0.06999029,
  0.1311099 , 0.50989566, 0.49163545, 0.49026404, 0.50788007]

qacc:
[ -4.50683109,  0.70219467, -3.76273088,  8.91222969,  3.21620273,
   2.04052122, -8.7721876 , 17.44357997,  4.77100333,  0.06763606,
  -2.02723044,  7.16481817, -1.62603902,  3.9201851 ,  4.67570151,
 -21.37934396,  0.57559696, -1.98167935, -0.57649616,  8.94303282,
  -2.72256214, 28.3798802 ]

qfrc_actuator:
[ 1.44663724e-04,-2.27372983e-06, 9.72298620e-05, 5.83504342e-04,
  9.02269488e-05,-2.77881951e-04,-4.48470714e-04, 3.15478498e-04,
  1.83619189e-04, 6.84223690e-05,-1.62849839e-04, 3.00988880e-04,
  7.24361962e-02,-4.26986408e-04, 5.25421395e-02,-4.03983504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54550354,  2.90449227, -3.49650213,  2.90449227, 20.75266392,
       13.46304686, -3.49650213, 13.46304686, 15.72905615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030152611671575846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84100641e-13,  1.84100641e-13,  1.00000000e+00, -3.38930459e-26,
        1.00000000e+00, -1.84100641e-13, -1.00000000e+00,  0.00000000e+00,
        1.84100641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082696  , -0.03117239,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63887994e-05,-1.47065274e-06,-2.00272913e-06, 1.48705211e-05,
  1.89669827e-05, 3.64719927e-05,-3.05290930e-06, 2.66276863e-05,
  2.78505668e-05,-3.36725295e-05,-4.68398147e-06, 1.30465848e-05,
 -4.92845571e-04,-5.73883563e-05,-2.36640311e-04,-1.72732452e-04,
 -2.32995811e-06,-2.61776193e-07,-1.21644938e+00,-4.32238872e-04,
  1.85436021e-05,-5.49886341e-04]


--- Step 217 ---
qpos:
[ 0.01187696,-0.0011409 , 0.00239652, 0.04147509, 0.00454194,-0.00234316,
 -0.01796561, 0.02809778, 0.01300397, 0.00444274,-0.01013503, 0.02608824,
  0.55373086,-0.00198157, 0.38901365, 0.06566119, 0.09254751,-0.07000403,
  0.13109964, 0.50971695, 0.49183039, 0.49034996, 0.50778776]

qacc:
[  0.15320522,  1.03815115, -3.39712882,  4.48424425,  1.9348044 ,
   2.40977295,-10.86228006, 22.11810075,  2.59975801,  2.39471739,
  -6.16614494, -1.1178663 , -1.13758535,  1.39856537,  4.81376652,
 -22.94043123,  0.56837027, -1.95717509, -0.69281783,  8.88912265,
  -2.61895988, 28.02916427]

qfrc_actuator:
[ 1.46388331e-04, 2.92286520e-05, 9.35972037e-05, 5.87489439e-04,
  1.01115763e-04,-2.76817418e-04,-4.67222643e-04, 3.46281016e-04,
  1.98264370e-04, 5.65990104e-05,-2.33562399e-04, 2.71204000e-04,
  7.23109066e-02,-4.40256576e-04, 5.23891061e-02,-4.19287128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030064965153893397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69274675e-13,  1.84637338e-13,  1.00000000e+00, -6.81818929e-26,
        1.00000000e+00, -1.84637338e-13, -1.00000000e+00,  0.00000000e+00,
        3.69274675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269541, -0.0311719 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.72628487e-07, 3.08823508e-05,-3.69524359e-06, 4.11914568e-06,
  1.14415278e-05, 2.20050450e-05,-1.06419599e-05, 3.27713146e-05,
  1.54306932e-05,-3.11129539e-05,-7.78137272e-05,-3.11515986e-05,
 -4.79996375e-04,-7.63270758e-05,-2.81347009e-04,-1.93469251e-04,
 -3.58754770e-06, 3.11455479e-07,-1.21645103e+00,-4.32882431e-04,
  2.22662956e-05,-5.50286832e-04]


--- Step 218 ---
qpos:
[ 0.01187996,-0.00114107, 0.00239718, 0.04148556, 0.00454373,-0.00234251,
 -0.01797027, 0.02810505, 0.01300768, 0.00444485,-0.01013838, 0.02609395,
  0.55524078,-0.00198119, 0.39046017, 0.06567061, 0.09258677,-0.07002553,
  0.13108622, 0.50950379, 0.49206408, 0.49041495, 0.50771252]

qacc:
[ -0.0405582 ,  0.91607511, -2.13724234,  1.00976841, -2.02729328,
   0.8560258 , -2.29609149,  1.56383587, -1.78414001,  3.15644841,
 -12.41447504, 18.71392816, -0.82848185, -0.21110388,-13.85443848,
  40.43220296,  0.56291344, -1.93689782, -0.79078934,  8.84885741,
  -2.52756813, 27.74281442]

qfrc_actuator:
[ 1.46207282e-04, 6.59627258e-05, 9.12051133e-05, 5.85632014e-04,
  8.89568567e-05,-2.58696511e-04,-4.76510841e-04, 3.43703117e-04,
  1.87555100e-04, 6.63725654e-05,-2.74287022e-04, 2.86987742e-04,
  7.21760959e-02,-4.66166675e-04, 5.22399042e-02,-4.03702728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002977894937216674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.72821422e-13,  1.86410711e-13,  1.00000000e+00, -6.94979063e-26,
        1.00000000e+00, -1.86410711e-13, -1.00000000e+00,  0.00000000e+00,
        3.72821422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269466, -0.03117032,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43550527e-07, 5.33971743e-05, 3.64545858e-06,-6.06598476e-07,
 -1.18258295e-05, 2.96591336e-05,-4.88873209e-06,-1.37301172e-06,
 -1.02720478e-05,-2.50753729e-05,-5.78185789e-05, 1.11404852e-05,
 -4.82799878e-04,-8.86727950e-05,-2.98107975e-04, 1.09039583e-04,
 -5.03461993e-06, 1.31331364e-06,-1.21645380e+00,-4.33318613e-04,
  2.65439006e-05,-5.50881797e-04]


--- Step 219 ---
qpos:
[ 0.01188329,-0.00114103, 0.00239821, 0.04149559, 0.00454501,-0.00234177,
 -0.01797491, 0.02811155, 0.01301124, 0.00444666,-0.01014135, 0.02610043,
  0.55674812,-0.00198075, 0.39190387, 0.06568261, 0.09262825,-0.0700547 ,
  0.13106931, 0.50925635, 0.49233616, 0.49045926, 0.5076542 ]

qacc:
[  2.81511222, -1.65529563,  8.20624486,-16.76297269, -4.42179051,
  -1.52092867,  8.88003739,-22.34637904, -1.3629278 ,  0.14468391,
  -4.37546769, 17.50714409, -1.43106539,  3.01499768,-11.94819007,
  35.8170536 ,  0.5589293 , -1.92019483, -0.87333504,  8.82090842,
  -2.44580549, 27.51158709]

qfrc_actuator:
[ 1.62649841e-04, 7.00447380e-05, 1.07349101e-04, 5.62610740e-04,
  6.33326025e-05,-2.66004099e-04,-4.80093604e-04, 3.03772018e-04,
  1.79765241e-04, 7.13875749e-05,-2.43571612e-04, 3.29514462e-04,
  7.20463145e-02,-4.63846819e-04, 5.21411176e-02,-3.89568347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029337588961876604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8921511e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8921511e-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([ 0.08269377, -0.03116788,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64547894e-05, 3.46344364e-05, 2.75694750e-05,-2.06443493e-05,
 -2.59509418e-05, 8.22001540e-06, 1.92509729e-06,-3.88627187e-05,
 -8.08420309e-06,-2.05148033e-05, 1.88056334e-05, 3.96595626e-05,
 -4.81045722e-04,-6.18202207e-05,-2.19322475e-04, 1.09807453e-04,
 -6.66726142e-06, 2.73417658e-06,-1.21645768e+00,-4.33568170e-04,
  3.13716424e-05,-5.51667989e-04]


--- Step 220 ---
qpos:
[ 0.01188645,-0.00114097, 0.00239955, 0.04150493, 0.00454632,-0.00234092,
 -0.01797927, 0.02811716, 0.01301467, 0.00444813,-0.01014414, 0.02610705,
  0.55825276,-0.00197988, 0.39334498, 0.06569617, 0.09267182,-0.07007948,
  0.13105713, 0.50901712, 0.49259741, 0.49052705, 0.50757519]

qacc:
[ -1.51694009, -2.23690955, 10.87345397,-23.05610786,  0.24913503,
  -2.47693729, 12.80879234,-28.79127347, -1.05220002, -0.67838043,
   1.17519713,  1.13974119, -1.89828759,  5.40529411, -8.46779779,
  24.18034168,  0.51992492,  1.09910617,  1.1842581 ,  6.2454145 ,
   1.62201408,-15.78161563]

qfrc_actuator:
[ 1.53239909e-04, 5.46002237e-05, 1.16413660e-04, 5.27308644e-04,
  6.55007171e-05,-2.52991767e-04,-4.62651538e-04, 2.59922775e-04,
  1.73764248e-04, 3.83396710e-05,-2.41940634e-04, 3.34214737e-04,
  7.19036701e-02,-4.44916585e-04, 5.20193736e-02,-3.81723150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000287917114266404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78092352e-07, -1.78092322e-07,  1.00000000e+00,  3.17168805e-14,
        1.00000000e+00,  1.78092322e-07, -1.00000000e+00, -6.31088724e-30,
        1.78092352e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08586236, -0.08753211,  0.06199178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.93312667e-06, 8.69304930e-06, 1.88610461e-05,-3.32922982e-05,
  1.43235747e-06, 1.63449423e-05, 1.80645798e-05,-4.41914495e-05,
 -6.23624427e-06,-3.89729338e-05, 1.08488641e-06, 5.23278323e-06,
 -4.88989226e-04,-4.36114426e-05,-2.10166065e-04, 5.61098256e-05,
 -8.48322004e-06, 4.56843419e-06,-1.21646263e+00,-4.33648317e-04,
  3.67474910e-05,-5.52642575e-04]


--- Step 221 ---
qpos:
[ 0.01188912,-0.00114103, 0.0024008 , 0.04151418, 0.00454799,-0.00234011,
 -0.01798333, 0.02812221, 0.01301731, 0.00444948,-0.01014724, 0.02611368,
  0.5597547 ,-0.0019784 , 0.39478313, 0.06570866, 0.09271738,-0.07009984,
  0.13104861, 0.50878632, 0.49284777, 0.4906183 , 0.50747536]

qacc:
[ -4.23628058, -0.11421981,  0.6076694 , -2.14528766,  3.17067202,
  -2.02769067,  9.4788772 ,-19.47296283, -6.94790226,  0.75687777,
  -2.92344415,  3.621415  , -2.13329519,  6.61154504, -1.08025012,
  -2.42218186,  0.49762649,  1.10588493,  0.91334632,  6.22076435,
   1.53480671,-15.89040672]

qfrc_actuator:
[ 1.28683833e-04, 2.75378939e-05, 1.03372869e-04, 5.20544558e-04,
  8.40139771e-05,-2.63341282e-04,-4.50611048e-04, 2.31906098e-04,
  1.33358076e-04, 3.58889296e-05,-2.57704470e-04, 3.34305902e-04,
  7.17640615e-02,-4.16410113e-04, 5.18413295e-02,-3.88303161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5475978 , -0.58292237, -4.51008284, -0.58292237, 10.26346566,
       -0.73876852, -4.51008284, -0.73876852,  4.64308267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030215659145317597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83716499e-13, -1.32046234e-13,  1.00000000e+00,  2.42590718e-26,
        1.00000000e+00,  1.32046234e-13, -1.00000000e+00,  0.00000000e+00,
        1.83716499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589582, -0.08812862,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48099651e-05,-1.97835486e-05,-1.01142612e-05,-6.41135617e-06,
  1.85609292e-05, 6.36209891e-07, 1.61412928e-05,-2.75559533e-05,
 -4.05941241e-05,-2.38227879e-05,-2.34950369e-05,-1.45050581e-06,
 -4.89315262e-04,-3.41169798e-05,-2.69071231e-04,-9.01541150e-05,
 -8.27716487e-06, 3.62927580e-06,-1.21646192e+00,-4.35279485e-04,
  3.43986934e-05,-5.53068847e-04]


--- Step 222 ---
qpos:
[ 0.01189216,-0.00114153, 0.0024023 , 0.04152364, 0.00454987,-0.00233961,
 -0.01798736, 0.02812729, 0.01301945, 0.00445085,-0.01014972, 0.02611948,
  0.56125401,-0.00197625, 0.39621827, 0.06572055, 0.09276487,-0.07011587,
  0.13104283, 0.50856369, 0.49308772, 0.49073257, 0.50735492]

qacc:
[  3.31061128, -0.88097132,  1.40279918,  2.13363677,  1.8400322 ,
  -0.43784003,  0.84300509, -0.20285344, -4.42559029, -3.39811868,
  15.63441918,-30.89518771, -2.15354032,  6.88310179, -2.56239173,
   2.64129662,  0.48237387,  1.08094331,  0.68712941,  6.23275715,
   1.42024206,-15.54217127]

qfrc_actuator:
[ 1.48675733e-04,-6.35178259e-06, 1.12856083e-04, 5.30601043e-04,
  9.42376923e-05,-3.05358551e-04,-4.59695743e-04, 2.31157804e-04,
  1.08530188e-04, 6.94490432e-05,-2.12476190e-04, 2.96199298e-04,
  7.16423503e-02,-3.82508914e-04, 5.17041920e-02,-3.90911456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57893879, -0.71936182, -4.52207906, -0.71936182, 12.71431394,
       -1.29415657, -4.52207906, -1.29415657,  4.78481021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003113786054266543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78275419e-13,  1.39277671e-13,  1.00000000e+00, -2.48297851e-26,
        1.00000000e+00, -1.39277671e-13, -1.00000000e+00,  0.00000000e+00,
        1.78275419e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589542, -0.08812623,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92769712e-05,-4.73668173e-05, 3.89293057e-06, 8.71139592e-06,
  1.07538247e-05,-3.94951109e-05,-7.89241916e-06,-7.03629415e-07,
 -2.59861073e-05, 1.52895817e-05, 3.73732553e-05,-3.99773774e-05,
 -4.70755697e-04,-2.82767972e-05,-2.69232927e-04,-6.56283372e-05,
 -8.06130199e-06, 2.75879874e-06,-1.21646159e+00,-4.36840699e-04,
  3.17690437e-05,-5.53398562e-04]


--- Step 223 ---
qpos:
[ 0.01189577,-0.00114229, 0.00240365, 0.04153211, 0.00455185,-0.00233919,
 -0.01799157, 0.02813265, 0.01302127, 0.00445241,-0.01015118, 0.02612473,
  0.56275077,-0.00197398, 0.39765084, 0.06573286, 0.09281424,-0.07012766,
  0.13103904, 0.50834901, 0.49331765, 0.4908695 , 0.50721408]

qacc:
[  4.9248115 , -1.93538714, 10.52707986,-27.06873798,  0.94190896,
   0.98098722, -4.8331916 , 10.04188405, -2.7406558 , -3.74453937,
  16.06387903,-27.43847689, -1.50925413,  3.42941482, -5.05088298,
  12.22999934,  0.47059827,  1.06003586,  0.49654725,  6.24368315,
   1.32260372,-15.25105665]

qfrc_actuator:
[ 1.76979700e-04,-2.62201487e-05, 1.00035762e-04, 4.79469517e-04,
  9.94948397e-05,-2.95073436e-04,-4.63548456e-04, 2.46413760e-04,
  9.30811333e-05, 1.06781343e-04,-1.49212729e-04, 2.71507191e-04,
  7.15048383e-02,-3.81184769e-04, 5.16130132e-02,-3.87589765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59698065, -0.89116774, -4.50977285, -0.89116774, 17.39611018,
       -2.52921192, -4.50977285, -2.52921192,  5.09677347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003165152691813333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75382222e-13,  1.80862917e-13,  1.00000000e+00, -3.17201402e-26,
        1.00000000e+00, -1.80862917e-13, -1.00000000e+00,  0.00000000e+00,
        1.75382222e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589491, -0.08812492,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88335014e-05,-4.52023040e-05,-2.18603308e-05,-5.28813119e-05,
  5.55042961e-06,-1.34391825e-05,-1.29774296e-05, 1.32726941e-05,
 -1.61789222e-05, 5.18532696e-05, 6.96451121e-05,-2.35307231e-05,
 -4.72503623e-04,-5.83077387e-05,-2.20472459e-04,-4.94674707e-06,
 -7.85587786e-06, 1.98317314e-06,-1.21646166e+00,-4.38333225e-04,
  2.89493401e-05,-5.53638145e-04]


--- Step 224 ---
qpos:
[ 0.01189935,-0.00114298, 0.00240414, 0.04153922, 0.00455354,-0.00233876,
 -0.01799529, 0.02813775, 0.0130229 , 0.00445418,-0.01015218, 0.02613072,
  0.56424502,-0.0019723 , 0.39908085, 0.06574412, 0.09286546,-0.07013528,
  0.1310366 , 0.50814209, 0.49353787, 0.49102877, 0.50705298]

qacc:
[ -0.32584401, -0.33133259,  7.07862177,-29.37670166, -2.59193056,
  -1.90857719,  7.93711753,-13.29042531, -1.74351023,  0.51592445,
  -4.52652892, 16.34303818, -0.71511751, -0.87883872, -0.59284423,
  -3.41788931,  0.46167307,  1.04258195,  0.33624996,  6.25558518,
   1.23836137,-15.00861554]

qfrc_actuator:
[ 1.74430071e-04,-1.99247754e-05, 5.63954559e-05, 4.10486221e-04,
  8.40370042e-05,-2.71272273e-04,-4.28560329e-04, 2.35501525e-04,
  8.32710504e-05, 1.10690902e-04,-1.29037516e-04, 3.08182001e-04,
  7.13632602e-02,-4.16876839e-04, 5.14802434e-02,-3.93215816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6035259 , -1.11810652, -4.46567895, -1.11810652, 26.31547196,
       -5.4361876 , -4.46567895, -5.4361876 ,  5.96462616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003183493330863457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67006843e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67006843e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589429, -0.08812449,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74267897e-06,-2.57714029e-05,-5.75298917e-05,-7.27276677e-05,
 -1.53042466e-05, 1.41983674e-05, 3.11051781e-05,-1.16826463e-05,
 -1.02490033e-05, 4.62329560e-05, 3.86399632e-05, 4.08378828e-05,
 -4.81276166e-04,-9.77289427e-05,-2.35126389e-04,-8.52918275e-05,
 -7.65632751e-06, 1.29376992e-06,-1.21646213e+00,-4.39773794e-04,
  2.59348633e-05,-5.53788525e-04]


--- Step 225 ---
qpos:
[ 0.0119039 ,-0.00114379, 0.00240435, 0.04154612, 0.00455503,-0.00233803,
 -0.01799868, 0.02814231, 0.01302508, 0.00445598,-0.01015334, 0.02613716,
  0.56573667,-0.00197068, 0.4005078 , 0.06575366, 0.0929185 ,-0.07013879,
  0.13103496, 0.50794279, 0.49374867, 0.49121013, 0.50687176]

qacc:
[  8.57758172,  0.21513623, -0.15336551, -2.82960897, -1.73591307,
  -1.62977586,  8.70178122,-18.87296701,  4.92238308,  1.40398749,
  -6.91892927, 15.13280077, -1.3517217 ,  2.4450957 ,  0.65203724,
  -8.8047617 ,  0.45509099,  1.02808575,  0.20168603,  6.26987497,
   1.1647049 ,-14.80775811]

qfrc_actuator:
[ 2.24748912e-04,-1.59144368e-05, 4.82771483e-05, 4.02576846e-04,
  7.42650115e-05,-2.39414048e-04,-4.06376593e-04, 2.09319663e-04,
  1.12360202e-04, 7.66949771e-05,-1.52312194e-04, 3.27352111e-04,
  7.12299816e-02,-4.20857677e-04, 5.13119590e-02,-4.02304150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317537836018969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74817439e-13, -3.82413147e-14,  1.00000000e+00,  6.68524870e-27,
        1.00000000e+00,  3.82413147e-14, -1.00000000e+00,  0.00000000e+00,
        1.74817439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0858936 , -0.08812475,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.02659084e-05,-2.54089535e-05,-2.30605809e-05,-1.24356650e-05,
 -1.02043115e-05, 4.57334920e-05, 2.85716417e-05,-2.47278823e-05,
  2.88166016e-05, 1.52524115e-06,-7.57255577e-06, 2.32688144e-05,
 -4.84263829e-04,-6.98403783e-05,-2.85957739e-04,-1.26191088e-04,
 -7.45921633e-06, 6.83556253e-07,-1.21646297e+00,-4.41175618e-04,
  2.27212002e-05,-5.53850609e-04]


--- Step 226 ---
qpos:
[ 0.01190902,-0.00114478, 0.00240469, 0.04155319, 0.0045564 ,-0.00233692,
 -0.01800214, 0.02814722, 0.0130276 , 0.00445804,-0.01015509, 0.02614344,
  0.56722568,-0.00196873, 0.40193178, 0.06576325, 0.09297334,-0.07013823,
  0.13103368, 0.50775096, 0.49395028, 0.49141336, 0.50667049]

qacc:
[  4.99633209, -0.27731625, -0.08735971,  2.99230224, -1.13766569,
   1.41284905, -5.82494378, 11.85468421,  2.89383281,  1.67477708,
  -4.77793547,  2.69461286, -1.77985049,  4.70548527, -4.45870272,
   9.35083804,  0.45044039,  1.01612294,  0.08897076,  6.28748653,
   1.09939411,-14.6425081 ]

qfrc_actuator:
[ 2.52533801e-04,-1.31130097e-05, 6.12515745e-05, 4.12946682e-04,
  6.79246433e-05,-2.20776563e-04,-4.09660410e-04, 2.27620145e-04,
  1.28604021e-04, 9.10695167e-05,-1.83473992e-04, 3.18247187e-04,
  7.10964549e-02,-4.06107464e-04, 5.11970646e-02,-4.00935510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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  dim: 3
  dist: -0.0003146308446373841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52865284e-13,  4.96216806e-14,  1.00000000e+00, -1.75097684e-26,
        1.00000000e+00, -4.96216806e-14, -1.00000000e+00,  0.00000000e+00,
        3.52865284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589283, -0.08812556,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92084432e-05,-1.66889082e-05, 4.44050641e-06, 8.22428963e-06,
 -6.61557614e-06, 4.90527497e-05, 8.84786498e-06, 2.07639425e-05,
  1.70681771e-05, 1.46114993e-05,-3.09951357e-05,-8.86531661e-06,
 -4.83309661e-04,-4.98498333e-05,-2.58113315e-04,-2.98794873e-05,
 -7.26194785e-06, 1.46736998e-07,-1.21646415e+00,-4.42549314e-04,
  1.93040575e-05,-5.53825286e-04]


--- Step 227 ---
qpos:
[ 0.01191408,-0.00114587, 0.00240512, 0.04156102, 0.00455733,-0.00233583,
 -0.01800543, 0.0281527 , 0.01302995, 0.00446035,-0.01015697, 0.02614954,
  0.56871209,-0.0019669 , 0.40335317, 0.06577346, 0.09302997,-0.07013365,
  0.13103238, 0.50756649, 0.4941429 , 0.4916383 , 0.50644924]

qacc:
[-4.45872763e-01, 1.18029155e+00,-7.58989274e+00, 2.05788044e+01,
 -3.77459664e+00, 6.88132846e-01,-4.87171296e+00, 1.43758938e+01,
 -1.49993848e+00, 2.81772954e-01, 2.72851345e-01,-3.53800681e+00,
 -1.28314736e+00, 2.07214550e+00,-5.63354902e+00, 1.42263478e+01,
  4.47386489e-01, 1.00632996e+00,-5.21837419e-03, 6.30899708e+00,
  1.04064079e+00,-1.45078116e+01]

qfrc_actuator:
[ 2.49064128e-04,-1.09352644e-05, 6.88133835e-05, 4.51740482e-04,
  4.59003245e-05,-2.45771081e-04,-4.10212739e-04, 2.54172029e-04,
  1.19392455e-04, 1.16464113e-04,-1.83358142e-04, 3.10370955e-04,
  7.09575516e-02,-4.15977149e-04, 5.10983277e-02,-3.96950067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031008744171433233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84612038e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84612038e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085892  , -0.08812681,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64372635e-06,-5.87544922e-06, 4.93124710e-06, 3.83759542e-05,
 -2.21971097e-05, 5.13984236e-06, 1.14047639e-05, 2.93588067e-05,
 -8.71394984e-06, 2.67288725e-05,-1.00614641e-06,-8.50998262e-06,
 -4.85225733e-04,-7.33199858e-05,-2.19457238e-04, 5.00160081e-06,
 -7.06254988e-06,-3.21523230e-07,-1.21646569e+00,-4.43903590e-04,
  1.56791421e-05,-5.53713426e-04]


--- Step 228 ---
qpos:
[ 0.01191941,-0.00114677, 0.00240523, 0.04156959, 0.00455799,-0.00233461,
 -0.01800899, 0.02815812, 0.0130332 , 0.00446236,-0.01015831, 0.02615516,
  0.57019577,-0.00196448, 0.40477161, 0.06578213, 0.09308838,-0.07012508,
  0.13103074, 0.50738929, 0.49432671, 0.49188479, 0.50620802]

qacc:
[  2.30780647,  2.68271716,-12.33454642, 25.52455294, -2.38914332,
   0.80953103, -2.36289536,  1.63628141,  8.00214365, -2.85656937,
  11.5456474 ,-20.17066124, -2.1578968 ,  6.52794135,  0.29925557,
  -7.2698758 ,  0.44565647,  0.99839522, -0.08372639,  6.33472161,
   0.98701566,-14.39938471]

qfrc_actuator:
[ 2.62738882e-04, 8.62230318e-06, 5.53754871e-05, 4.89185349e-04,
  3.25722361e-05,-2.43433207e-04,-4.27074351e-04, 2.49821473e-04,
  1.66286625e-04, 7.73716714e-05,-1.64712174e-04, 2.85569465e-04,
  7.08155134e-02,-3.87059847e-04, 5.09241454e-02,-4.05655174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030428939611031047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12144030e-13,  1.88129706e-13,  1.00000000e+00, -1.71601388e-25,
        1.00000000e+00, -1.88129706e-13, -1.00000000e+00,  0.00000000e+00,
        9.12144030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589113, -0.08812838,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35971580e-05, 1.89346424e-05,-1.27312614e-05, 3.80938815e-05,
 -1.39610813e-05, 8.80512525e-06,-1.33647050e-05,-3.17069605e-06,
  4.66629078e-05,-2.47888528e-05, 2.37328970e-05,-2.38702102e-05,
 -4.92464090e-04,-3.65608789e-05,-2.75094779e-04,-1.15418948e-04,
 -6.85951773e-06,-7.25317378e-07,-1.21646756e+00,-4.45245752e-04,
  1.18420890e-05,-5.53515887e-04]


--- Step 229 ---
qpos:
[ 0.01192452,-0.00114755, 0.00240492, 0.04157821, 0.00455917,-0.00233333,
 -0.01801271, 0.02816344, 0.01303699, 0.00446397,-0.01015904, 0.02616046,
  0.57167668,-0.00196133, 0.40618684, 0.06578901, 0.09314857,-0.07011254,
  0.13102851, 0.50721927, 0.49450185, 0.49215274, 0.50594685]

qacc:
[ -1.96958946,  1.39665001, -4.94719299,  6.35659003,  4.59422192,
   0.32246122, -0.6518832 , -0.72995373,  4.74978446, -2.92366126,
  11.06140334,-17.50191642, -2.31568112,  7.30038324,  0.73394113,
  -9.28686318,  0.44502762,  0.99205181, -0.14899051,  6.36478615,
   0.93737495,-14.31359092]

qfrc_actuator:
[ 2.50900156e-04, 2.85269493e-06, 2.97161212e-05, 4.90028468e-04,
  5.99797128e-05,-2.42600266e-04,-4.35605283e-04, 2.45080635e-04,
  1.92577713e-04, 5.32896417e-05,-1.35556606e-04, 2.68715239e-04,
  7.06717000e-02,-3.53286463e-04, 5.07634066e-02,-4.14683872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002975528643478359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.59676863e-13, -4.08097713e-14,  1.00000000e+00,  2.28402848e-26,
        1.00000000e+00,  4.08097713e-14, -1.00000000e+00,  0.00000000e+00,
        5.59676863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08589023, -0.0881302 ,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14453139e-05, 3.82120174e-06,-2.20139618e-05, 1.93639557e-06,
  2.70130245e-05, 2.84076072e-06,-8.45229198e-06,-4.89394541e-06,
  2.76143363e-05,-3.41078050e-05, 2.61134483e-05,-1.75752725e-05,
 -4.94976918e-04,-3.03797186e-05,-2.98439264e-04,-1.32006518e-04,
 -6.65169905e-06,-1.06816715e-06,-1.21646975e+00,-4.46582082e-04,
  7.78841851e-06,-5.53233514e-04]


--- Step 230 ---
qpos:
[ 0.01192911,-0.00114856, 0.00240471, 0.04158747, 0.00456102,-0.00233267,
 -0.01801622, 0.02816908, 0.01304003, 0.00446573,-0.01016019, 0.02616586,
  0.57315497,-0.00195841, 0.40759887, 0.06579533, 0.09321055,-0.07009604,
  0.13102546, 0.50705635, 0.49466846, 0.49244206, 0.5056657 ]

qacc:
[ -4.61674006,  0.77838094, -5.93814481, 17.1294286 ,  5.84326783,
  -0.79388539,  0.30400075,  5.20805118, -6.60689401,  1.6035064 ,
  -5.86092954,  8.21835907, -1.17107582,  1.40523779, -2.9951945 ,
   3.64898987,  0.44531778,  0.98707122, -0.20309829,  6.39918408,
   0.89080227,-14.24734044]

qfrc_actuator:
[ 2.24134237e-04,-1.81241998e-05, 3.24356240e-05, 5.22562297e-04,
  9.33882766e-05,-3.13663389e-04,-4.39142393e-04, 2.57914501e-04,
  1.53256366e-04, 7.39349545e-05,-1.53643111e-04, 2.74437532e-04,
  7.05322484e-02,-3.70221525e-04, 5.06268392e-02,-4.16718630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002901384115165939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.97895145e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.97895145e-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([ 0.0858893 , -0.0881322 ,  0.06199171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70883034e-05,-2.33120144e-05, 8.53177692e-07, 3.19562267e-05,
  3.41805627e-05,-7.14357177e-05,-4.14529858e-06, 1.25603027e-05,
 -3.85435901e-05, 6.17273469e-06,-2.25430277e-05, 4.80792526e-06,
 -4.91649812e-04,-8.11891850e-05,-2.85748318e-04,-6.57334351e-05,
 -6.43820915e-06,-1.35315884e-06,-1.21647228e+00,-4.47918129e-04,
  3.51351340e-06,-5.52867147e-04]


--- Step 231 ---
qpos:
[ 0.01193264,-0.00114955, 0.00240472, 0.04159701, 0.00456291,-0.00233266,
 -0.01801964, 0.02817449, 0.01304258, 0.00446743,-0.01016173, 0.02617062,
  0.57463062,-0.00195534, 0.40900797, 0.0658009 , 0.09327431,-0.07007562,
  0.13102143, 0.50690047, 0.49482664, 0.49275268, 0.50536453]

qacc:
[-9.19133925e+00, 1.21112742e-02,-1.11568132e+00, 5.45771646e+00,
  3.76607922e-01,-1.53508368e+00, 5.15735937e+00,-8.63241878e+00,
 -4.36141739e+00,-3.21953189e-01, 3.72946568e+00,-1.41448354e+01,
 -1.60950358e+00, 3.68574065e+00,-2.03931599e+00, 9.44489897e-01,
  4.46377780e-01, 9.83258071e-01,-2.47836674e-01, 6.43781885e+00,
  8.46562424e-01,-1.41980073e+01]

qfrc_actuator:
[ 1.71052072e-04, 5.34249357e-06, 5.18514004e-05, 5.37989197e-04,
  9.45425022e-05,-3.56191583e-04,-4.39990888e-04, 2.45421963e-04,
  1.28896584e-04, 5.00262271e-05,-1.81531422e-04, 2.40143188e-04,
  7.04008258e-02,-3.63660075e-04, 5.04995645e-02,-4.19933288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028225959144621837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53646105e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53646105e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588836, -0.08813433,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38606775e-05, 1.19703728e-05, 1.58012485e-05, 1.50620095e-05,
  2.10383224e-06,-8.27764265e-05,-1.56604399e-05,-1.54605964e-05,
 -2.54465298e-05,-2.49735599e-05,-2.92380416e-05,-3.47274622e-05,
 -4.87591843e-04,-6.08182005e-05,-2.63504507e-04,-7.22653773e-05,
 -6.21836883e-06,-1.58305180e-06,-1.21647513e+00,-4.49258914e-04,
 -9.87392015e-07,-5.52417623e-04]


--- Step 232 ---
qpos:
[ 0.01193551,-0.00114995, 0.00240448, 0.04160559, 0.00456445,-0.00233304,
 -0.01802259, 0.0281793 , 0.01304481, 0.00446848,-0.01016278, 0.0261746 ,
  0.57610368,-0.0019522 , 0.41041418, 0.06580728, 0.09333986,-0.07005127,
  0.13101625, 0.50675158, 0.4949765 , 0.49308456, 0.50504329]

qacc:
[ -5.8560449 , -0.5388007 ,  7.12639196,-23.89771248, -3.00921275,
  -3.08652311, 12.79095865,-23.64209353, -2.71618533, -3.83216905,
  15.74534228,-29.58985486, -1.48723944,  3.16308649, -6.65635361,
  17.16164048,  0.44808529,  0.98044555, -0.28473387,  6.4805361 ,
   0.80406477,-14.16335998]

qfrc_actuator:
[ 1.38416351e-04, 5.53058788e-05, 4.56159730e-05, 4.90007530e-04,
  7.67014676e-05,-3.45815922e-04,-4.03670731e-04, 2.18141254e-04,
  1.13558675e-04,-4.59273709e-07,-1.61911883e-04, 2.00293649e-04,
  7.02743178e-02,-3.61035637e-04, 5.03832815e-02,-4.14939349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002740902885975255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05057410e-13,  3.60754256e-13,  1.00000000e+00, -1.46126185e-25,
        1.00000000e+00, -3.60754256e-13, -1.00000000e+00,  0.00000000e+00,
        4.05057410e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588742, -0.08813653,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41638086e-05, 6.05508949e-05,-1.30682712e-06,-4.66464717e-05,
 -1.78086433e-05,-3.97815234e-05, 1.67862630e-05,-3.16754295e-05,
 -1.60622475e-05,-7.20332635e-05, 9.64924662e-06,-4.26166893e-05,
 -4.77036880e-04,-6.31144205e-05,-2.44259215e-04, 1.20288487e-05,
 -5.99165879e-06,-1.76036564e-06,-1.21647830e+00,-4.50609100e-04,
 -5.71921567e-06,-5.51885778e-04]


--- Step 233 ---
qpos:
[ 0.01193797,-0.00114991, 0.0024039 , 0.04161354, 0.00456577,-0.00233383,
 -0.01802482, 0.02818408, 0.01304684, 0.00446925,-0.01016373, 0.02617839,
  0.57757424,-0.00194934, 0.41181753, 0.0658135 , 0.09340721,-0.07002301,
  0.13100981, 0.50660962, 0.49511812, 0.49343767, 0.5047019 ]

qacc:
[ -3.65585865,  0.29486936,  2.44173482,-12.94326638, -1.95020758,
  -2.60003957,  8.63305322,-10.0642075 , -1.76623324, -1.01017716,
   3.82457052, -6.90349503, -1.0504404 ,  0.95167322, -3.75442679,
   7.02721934,  0.45033987,  0.97849143, -0.31509517,  6.52714746,
   0.76283405,-14.14150314]

qfrc_actuator:
[ 1.18084822e-04, 6.73466006e-05, 2.43609495e-05, 4.58368880e-04,
  6.55865153e-05,-3.56954153e-04,-3.63235812e-04, 2.17958776e-04,
  1.03648922e-04, 4.71629197e-06,-1.50020508e-04, 1.93013304e-04,
  7.01455223e-02,-3.78518035e-04, 5.02417413e-02,-4.15796598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026577099408332805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.87442258e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.87442258e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588648, -0.08813877,  0.0619924 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12804561e-05, 4.36101175e-05,-1.05356282e-05,-3.00145291e-05,
 -1.16361308e-05,-3.12426481e-05, 3.32186698e-05,-1.92553819e-06,
 -1.03868043e-05,-3.49723132e-05,-3.28016348e-06,-1.08705977e-05,
 -4.71905557e-04,-8.22204244e-05,-2.51858680e-04,-3.94429474e-05,
 -5.75768624e-06,-1.88745065e-06,-1.21648180e+00,-4.51973110e-04,
 -1.06870279e-05,-5.51272448e-04]


--- Step 234 ---
qpos:
[ 0.01194017,-0.00115009, 0.00240368, 0.0416204 , 0.00456695,-0.00233493,
 -0.01802682, 0.0281885 , 0.01304943, 0.00446987,-0.01016461, 0.02618206,
  0.57904215,-0.001946  , 0.41321823, 0.06581654, 0.09347637,-0.06999084,
  0.13100202, 0.50647455, 0.49525159, 0.493812  , 0.50434027]

qacc:
[ -2.29358498, -3.54051861, 16.80696576,-36.11871172, -1.24669216,
  -1.81429388,  7.43000384,-13.91251468,  4.88959472, -0.672857  ,
   2.66309659, -4.95905536, -2.02459927,  5.81744995,  5.75750503,
 -25.7007853 ,  0.45305895,  0.97727468, -0.34003391,  6.57744776,
   0.72248708,-14.13082823]

qfrc_actuator:
[ 1.05151066e-04, 2.10222571e-05, 2.97991140e-05, 4.01070011e-04,
  5.85256044e-05,-3.80825459e-04,-3.56261854e-04, 1.98204726e-04,
  1.32515943e-04, 7.68564768e-06,-1.42562735e-04, 1.87234370e-04,
  7.00101145e-02,-3.54471425e-04, 5.00958000e-02,-4.32528143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002574141636674798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.30212794e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.30212794e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08588556, -0.08814102,  0.06199264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35233690e-05,-2.54273075e-05, 1.20970826e-05,-5.63954176e-05,
 -7.40495987e-06,-3.45228958e-05, 4.57128180e-06,-1.99844688e-05,
  2.85625071e-05,-1.77531408e-05,-5.50233296e-07,-7.60994884e-06,
 -4.77367274e-04,-4.14548465e-05,-2.65329560e-04,-2.01996278e-04,
 -5.51616067e-06,-1.96654506e-06,-1.21648563e+00,-4.53355215e-04,
 -1.58960497e-05,-5.50578480e-04]


--- Step 235 ---
qpos:
[ 0.01194253,-0.00115051, 0.00240384, 0.04162652, 0.00456768,-0.00233577,
 -0.01802979, 0.02819265, 0.01305235, 0.00447065,-0.01016527, 0.02618557,
  0.58050744,-0.00194202, 0.41461622, 0.06582039, 0.09354825,-0.06996702,
  0.13099392, 0.50630082, 0.49542712, 0.49416475, 0.50399668]

qacc:
[  1.53363823, -2.94140766, 13.14082113,-26.38548821, -3.88424685,
   2.55121971, -7.47464129,  4.3215505 ,  2.86808489, -0.70664539,
   3.4549739 , -6.49806513, -2.12661267,  6.44363266, -6.39728271,
  16.70705587,  0.67817804, -2.08521935, -0.07526453, 10.32706242,
  -2.06085896, 30.04843073]

qfrc_actuator:
[ 1.14422936e-04, 1.11874367e-05, 5.06904854e-05, 3.64601603e-04,
  3.61526287e-05,-3.59019215e-04,-4.04678586e-04, 1.84805466e-04,
  1.48467666e-04, 4.48132318e-05,-1.20024791e-04, 1.82381333e-04,
  6.98814934e-02,-3.23922228e-04, 5.00112107e-02,-4.26520041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026334065599253886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10795978e-13,  2.10795978e-13,  1.00000000e+00, -4.44349445e-26,
        1.00000000e+00, -2.10795978e-13, -1.00000000e+00,  0.00000000e+00,
        2.10795978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268784, -0.03115187,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.87958798e-06,-2.39891232e-05, 1.51654534e-05,-3.82512431e-05,
 -2.25955804e-05, 2.63985318e-06,-5.56491866e-05,-1.51121489e-05,
  1.67591538e-05, 2.67579805e-05, 1.85360730e-05,-5.78926011e-06,
 -4.69321081e-04,-3.31121192e-05,-2.28494026e-04, 1.45589762e-05,
 -5.26687631e-06,-1.99982194e-06,-1.21648978e+00,-4.54759614e-04,
 -2.13516514e-05,-5.49804727e-04]


--- Step 236 ---
qpos:
[ 0.01194499,-0.00115075, 0.00240374, 0.04163319, 0.0045678 ,-0.00233637,
 -0.01803369, 0.02819696, 0.01305474, 0.00447195,-0.01016556, 0.02618895,
  0.58197039,-0.00193901, 0.416011  , 0.06582824, 0.09361535,-0.06995176,
  0.13098986, 0.50611317, 0.495613  , 0.49446936, 0.50370354]

qacc:
[  0.8002893 ,  2.09836954, -9.43690024, 19.12795888, -5.45732852,
   3.21315225,-11.64020184, 15.57638463, -4.58538459, -0.64998856,
   3.91252294, -7.36260956, -0.16998966, -3.32981919,-16.80892795,
  51.91227304, -1.19539687, -2.14374964,  1.00924137,-18.52663003,
   1.14784449, 30.76087937]

qfrc_actuator:
[ 1.18935281e-04, 4.11049517e-05, 4.51707055e-05, 3.93973902e-04,
  4.94532383e-06,-3.45761614e-04,-4.49706156e-04, 1.93012549e-04,
  1.21172545e-04, 1.02182842e-04,-8.86158891e-05, 1.78152943e-04,
  6.97570380e-02,-3.78570659e-04, 4.98783213e-02,-4.05365327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027677813319222644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00280955e-13,  4.01123821e-13,  1.00000000e+00, -4.02250800e-26,
        1.00000000e+00, -4.01123821e-13, -1.00000000e+00,  0.00000000e+00,
        1.00280955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11024585, -0.03410321,  0.06199209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75752297e-06, 1.79916851e-05,-9.94413279e-06, 2.81107710e-05,
 -3.18479790e-05, 2.63965109e-06,-5.18238697e-05, 6.10073588e-06,
 -2.68076336e-05, 7.59001654e-05, 3.90119462e-05,-2.56124503e-06,
 -4.57940882e-04,-1.16968616e-04,-2.36597376e-04, 1.82638353e-04,
 -7.66927494e-06,-2.37905715e-06,-1.21648910e+00,-4.56884529e-04,
 -1.48619255e-05,-5.49519666e-04]


--- Step 237 ---
qpos:
[ 0.01194714,-0.00115124, 0.00240375, 0.04164018, 0.00456789,-0.00233722,
 -0.0180371 , 0.02820095, 0.01305748, 0.00447366,-0.01016543, 0.02619225,
  0.58343094,-0.00193694, 0.41740321, 0.06583585, 0.09367784,-0.06994479,
  0.13098834, 0.50591197, 0.49580889, 0.49472775, 0.50345912]

qacc:
[ -2.71331023,  0.0689221 , -2.08943314,  7.76759523, -0.24399846,
  -2.33667365,  9.20531405,-15.30073991,  3.03733569, -0.74333227,
   3.73979455, -5.89460088, -0.27775861, -2.94949955, -3.10508023,
   5.30209497, -1.15039704, -2.06921444,  0.63631844,-17.79704154,
   1.19885477, 29.66866849]

qfrc_actuator:
[ 1.02850560e-04, 5.79028056e-06, 4.20599507e-05, 4.08605951e-04,
  4.29807370e-06,-3.55458420e-04,-4.21351557e-04, 1.78368881e-04,
  1.39656557e-04, 1.18027929e-04,-6.98782466e-05, 1.74352074e-04,
  6.96244991e-02,-4.29742662e-04, 4.97378969e-02,-4.07428739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003051103740540073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09689672e-14,  1.81937934e-13,  1.00000000e+00, -1.65507060e-26,
        1.00000000e+00, -1.81937934e-13, -1.00000000e+00,  0.00000000e+00,
        9.09689672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11023863, -0.03411748,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59442976e-05,-2.61142992e-05, 3.39962754e-07, 1.55912002e-05,
 -1.55286016e-06,-1.86168264e-05, 2.27716069e-05,-1.62032341e-05,
  1.77518654e-05, 6.61847412e-05, 3.91166123e-05, 7.43600924e-07,
 -4.68712329e-04,-1.17815364e-04,-2.27726518e-04,-4.08898039e-05,
 -8.04918251e-06,-1.41057692e-06,-1.21648031e+00,-4.58258763e-04,
 -5.45203578e-06,-5.48418421e-04]


--- Step 238 ---
qpos:
[ 0.01194909,-0.00115202, 0.00240377, 0.0416473 , 0.00456866,-0.0023384 ,
 -0.0180401 , 0.0282051 , 0.01306041, 0.00447562,-0.01016582, 0.02619592,
  0.58488886,-0.00193445, 0.41879351, 0.06583874, 0.09373589,-0.06994584,
  0.13098812, 0.50569753, 0.4960145 , 0.49494148, 0.50326193]

qacc:
[ -1.83453686, -0.15840464, -0.52669299,  2.97417186,  5.98965917,
  -1.26777607,  3.20191527, -0.88791325,  1.74375571,  2.4734723 ,
  -9.88659673, 16.7782893 , -1.97471614,  5.45316715, 11.51814544,
 -44.26451654, -1.11213817, -2.00678431,  0.32170965,-17.18405567,
   1.24460526, 28.75493375]

qfrc_actuator:
[ 9.25252486e-05,-1.50555893e-05, 4.01306688e-05, 4.14391612e-04,
  3.93982164e-05,-3.78544158e-04,-4.03267375e-04, 1.85929516e-04,
  1.49445410e-04, 9.10907592e-05,-1.12189906e-04, 1.88544167e-04,
  6.94925255e-02,-4.07450671e-04, 4.96302909e-02,-4.32035744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032538083554189967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70603629e-13, -1.70603629e-13,  1.00000000e+00,  2.91055981e-26,
        1.00000000e+00,  1.70603629e-13, -1.00000000e+00,  0.00000000e+00,
        1.70603629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11023347, -0.03412765,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07885014e-05,-3.47212150e-05,-6.75361313e-06, 4.96784282e-06,
  3.50491105e-05,-2.94257751e-05, 1.65242755e-05, 7.23605034e-06,
  1.03209148e-05, 1.81295438e-05,-2.38233285e-05, 1.83846605e-05,
 -4.76041767e-04,-4.60143826e-05,-2.17374598e-04,-2.78032858e-04,
 -8.22062628e-06,-2.96849758e-07,-1.21647340e+00,-4.59773268e-04,
  2.51718677e-06,-5.47611656e-04]


--- Step 239 ---
qpos:
[ 0.01195123,-0.00115264, 0.00240333, 0.04165407, 0.00456984,-0.00233971,
 -0.0180435 , 0.02820968, 0.01306276, 0.00447756,-0.01016712, 0.02619979,
  0.58634423,-0.00193139, 0.42018154, 0.06583662, 0.09378962,-0.06995471,
  0.13098811, 0.50547009, 0.49622958, 0.49511188, 0.50311074]

qacc:
[  1.79005082,  0.77868705, -0.9987396 , -4.47580114,  3.62493492,
   1.79476572, -8.49330284, 16.71976436, -5.26309131,  2.98317194,
 -11.51848658, 16.53751695, -2.09921611,  6.25652184, 11.77609136,
 -45.97169162, -1.07961278, -1.95460038,  0.05634879,-16.66862409,
   1.28657836, 27.99176408]

qfrc_actuator:
[ 1.03431835e-04, 8.42054030e-06, 2.11979073e-05, 3.97181699e-04,
  5.97422957e-05,-3.91723075e-04,-4.26964593e-04, 2.06466477e-04,
  1.18518195e-04, 5.62471176e-05,-1.72625896e-04, 1.95376394e-04,
  6.93769758e-02,-3.77568463e-04, 4.95104530e-02,-4.57283023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003390356376888337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.0933124e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.0933124e-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([ 0.11022999, -0.03413447,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05886426e-05, 2.87950501e-06,-2.67733933e-05,-1.88485732e-05,
  2.13325163e-05,-2.58294049e-05,-2.74509513e-05, 1.99871221e-05,
 -3.06209231e-05,-2.89003636e-05,-5.90133503e-05, 7.13108785e-06,
 -4.55524488e-04,-3.47117456e-05,-2.53162645e-04,-2.96762714e-04,
 -8.20370226e-06, 9.46569441e-07,-1.21646817e+00,-4.61426105e-04,
  9.21866866e-06,-5.47087910e-04]


--- Step 240 ---
qpos:
[ 0.01195349,-0.00115332, 0.002403  , 0.04166023, 0.00457057,-0.00234086,
 -0.01804729, 0.02821443, 0.01306506, 0.00447921,-0.01016874, 0.02620336,
  0.58779716,-0.00192827, 0.42156674, 0.06583667, 0.09383914,-0.06997122,
  0.13098744, 0.50522986, 0.49645393, 0.49524007, 0.50300453]

qacc:
[  1.00650271, -1.68213132,  8.48706173,-19.32050609, -4.00468111,
   1.70478221, -6.49962195, 10.03372477, -0.38811115, -0.12545114,
   1.13924233, -5.5854513 , -1.37888767,  2.78316274,-10.67496369,
  31.3649596 , -1.0519739 , -1.91110665, -0.16733743,-16.2351825 ,
   1.32585181, 27.35615702]

qfrc_actuator:
[ 1.08993603e-04, 4.91047841e-06, 2.80496198e-05, 3.66607111e-04,
  3.57215453e-05,-3.63521521e-04,-4.39593072e-04, 2.16696917e-04,
  1.17134347e-04, 3.45745573e-05,-1.90061369e-04, 1.80051536e-04,
  6.92500640e-02,-3.78961782e-04, 4.94366365e-02,-4.43642400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034729144196224415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.59840251e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.59840251e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022787, -0.03413856,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.86695955e-06,-8.22822552e-06, 3.49163866e-06,-3.17580393e-05,
 -2.34210399e-05, 9.02894729e-06,-2.06094213e-05, 8.56204822e-06,
 -2.25625351e-06,-4.97851466e-05,-3.04397356e-05,-1.84748329e-05,
 -4.50944780e-04,-6.25852535e-05,-2.23880559e-04, 8.68969639e-05,
 -8.01380262e-06, 2.30890470e-06,-1.21646445e+00,-4.63216644e-04,
  1.47882085e-05,-5.46837918e-04]


--- Step 241 ---
qpos:
[ 0.01195546,-0.00115412, 0.00240306, 0.04166595, 0.00457066,-0.00234192,
 -0.01805098, 0.02821959, 0.01306732, 0.00448029,-0.0101702 , 0.02620707,
  0.58924759,-0.00192543, 0.4229491 , 0.06584094, 0.09388454,-0.06999524,
  0.13098535, 0.50497698, 0.49668738, 0.49532697, 0.50294244]

qacc:
[ -2.58482613, -2.11621921,  9.10859106,-16.998816  , -5.59290827,
   0.65304213, -3.8221151 , 10.51128499, -0.28895277, -0.89751406,
   1.55814823,  0.93823065, -1.02932517,  0.89633017,-16.9062719 ,
  53.10451335, -1.02850402, -1.8749906 , -0.35572531,-15.87091395,
   1.36319253, 26.82899263]

qfrc_actuator:
[ 9.36052270e-05, 3.11236744e-06, 4.99737932e-05, 3.46172368e-04,
  3.53845553e-06,-3.46233467e-04,-4.27656120e-04, 2.38581533e-04,
  1.15410507e-04, 3.33918073e-06,-1.81933454e-04, 1.87359520e-04,
  6.91057665e-02,-3.98825814e-04, 4.93266548e-02,-4.21387863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7303092 , -2.93002461,  3.71359407, -2.93002461, 19.54145966,
       11.68599329,  3.71359407, 11.68599329, 13.95055441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035117052641557567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74223892e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.74223892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022684, -0.03414045,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52218788e-05,-7.02912324e-06, 1.95512824e-05,-2.12967902e-05,
 -3.28474835e-05, 1.85146875e-05, 1.16078674e-05, 2.17264890e-05,
 -1.79906406e-06,-6.61970381e-05,-6.55025513e-06, 3.75419187e-06,
 -4.68223983e-04,-8.26506307e-05,-2.03421349e-04, 1.98295004e-04,
 -7.66259120e-06, 3.78305472e-06,-1.21646213e+00,-4.65145522e-04,
  1.93326263e-05,-5.46854298e-04]


--- Step 242 ---
qpos:
[ 0.01195688,-0.00115477, 0.00240297, 0.04167174, 0.0045707 ,-0.00234326,
 -0.01805372, 0.02822427, 0.0130692 , 0.00448089,-0.0101716 , 0.02621117,
  0.59069543,-0.00192246, 0.42432907, 0.06584517, 0.09392591,-0.07002663,
  0.13098119, 0.50471155, 0.49692978, 0.49537334, 0.50292375]

qacc:
[-4.79462868e+00, 7.58263556e-01,-2.61698723e+00, 3.69224717e+00,
 -3.29805011e-01,-3.98380449e+00, 1.56769741e+01,-2.52340253e+01,
 -3.36179032e+00, 9.28639315e-03,-2.63219781e+00, 9.78793298e+00,
 -1.57081266e+00, 3.47922998e+00,-3.35787311e+00, 6.72709745e+00,
 -1.00859194e+00,-1.84513867e+00,-5.14216994e-01,-1.55651939e+01,
  1.39912991e+00, 2.63942644e+01]

qfrc_actuator:
[ 6.60109160e-05, 2.01825672e-05, 4.51198729e-05, 3.49628433e-04,
  2.32845967e-06,-3.71001120e-04,-3.83582084e-04, 2.13903264e-04,
  9.57384183e-05,-1.54999009e-05,-1.76565358e-04, 2.07933176e-04,
  6.89724334e-02,-3.93965594e-04, 4.91897514e-02,-4.22661199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73180451, -3.05054885,  3.61719858, -3.05054885, 18.51287403,
       11.62220564,  3.61719858, 11.62220564, 14.53334158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003515302256524855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.89564413e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.89564413e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022668, -0.03414056,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80283423e-05, 1.62697158e-05,-4.64021374e-06, 3.40596866e-06,
 -2.14179278e-06,-1.10268849e-05, 5.01253774e-05,-2.30598987e-05,
 -1.97435292e-05,-5.70728751e-05,-8.98413807e-06, 1.75763299e-05,
 -4.71924108e-04,-6.18918536e-05,-2.09089635e-04,-2.82752469e-05,
 -7.15874847e-06, 5.36478879e-06,-1.21646109e+00,-4.67214543e-04,
  2.29359355e-05,-5.47131287e-04]


--- Step 243 ---
qpos:
[ 0.01195865,-0.00115509, 0.00240273, 0.04167749, 0.00457074,-0.00234479,
 -0.01805587, 0.02822828, 0.01307083, 0.00448143,-0.01017313, 0.0262158 ,
  0.59214072,-0.00191941, 0.4257067 , 0.06585178, 0.09396332,-0.07006531,
  0.13097445, 0.50443367, 0.49718102, 0.49537981, 0.50294787]

qacc:
[  3.04704166,  0.78173   , -2.07742429,  1.65708893, -0.11168896,
  -3.2859317 , 14.1584178 ,-26.48199275, -2.2088211 ,  1.35563861,
  -7.14166413, 16.37767579, -1.49199857,  3.11855587,-10.58658067,
  32.11749962, -0.99171507, -1.82060203, -0.64741065,-15.30916686,
   1.43401309, 26.03849544]

qfrc_actuator:
[ 8.47182355e-05, 4.83392440e-05, 4.23346736e-05, 3.49355212e-04,
  1.60821600e-06,-3.85154298e-04,-3.56604379e-04, 1.79758642e-04,
  8.34125585e-05, 8.74917892e-06,-1.72825601e-04, 2.36147366e-04,
  6.88404502e-02,-3.92313521e-04, 4.91113169e-02,-4.09389844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003490877985535962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.95088678e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.95088678e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022722, -0.03413926,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79166813e-05, 3.64394584e-05, 1.17216201e-07, 3.19191546e-07,
 -7.86243635e-07,-1.08843064e-05, 3.01142495e-05,-3.33328019e-05,
 -1.29058000e-05,-8.78456865e-06,-8.54499602e-06, 2.57933679e-05,
 -4.70622894e-04,-6.43090895e-05,-1.79381635e-04, 1.03594891e-04,
 -6.50854694e-06, 7.05215758e-06,-1.21646128e+00,-4.69426539e-04,
  2.56640740e-05,-5.47664506e-04]


--- Step 244 ---
qpos:
[ 0.01196097,-0.00115573, 0.00240328, 0.04168322, 0.00457076,-0.00234622,
 -0.01805841, 0.02823327, 0.0130723 , 0.00448212,-0.01017444, 0.02622068,
  0.59358345,-0.00191631, 0.42708217, 0.06585922, 0.09399681,-0.07011118,
  0.13096467, 0.50414336, 0.49744099, 0.4953469 , 0.5030143 ]

qacc:
[  4.91262992, -2.71405319,  9.19772559,-10.78273011, -0.09268597,
   3.24520859,-15.45799131, 32.80977731, -1.41068215,  0.12624409,
  -1.22609655,  5.11541987, -1.45821082,  2.9315294 , -5.69205571,
  15.35851996, -0.97742562, -1.80056995, -0.75923294,-15.09542044,
   1.46805566, 25.75028881]

qfrc_actuator:
[ 1.12779175e-04, 1.19128439e-05, 7.63540800e-05, 3.46903074e-04,
  1.17211796e-06,-3.75165078e-04,-3.75421547e-04, 2.29076084e-04,
  7.55151950e-05, 4.08741077e-05,-1.52139165e-04, 2.50913868e-04,
  6.87093688e-02,-3.92594321e-04, 4.90041360e-02,-4.05384505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034444153537505073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61162768e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.61162768e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022829, -0.03413685,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85834852e-05,-1.60089995e-05, 4.15630673e-05,-8.93398428e-07,
 -4.62149352e-07, 8.76614381e-06,-1.84749426e-05, 4.92435624e-05,
 -8.26677744e-06, 2.65415072e-05, 1.87152670e-05, 1.45890984e-05,
 -4.68814787e-04,-6.64956824e-05,-1.80699215e-04, 2.18926767e-05,
 -5.71629997e-06, 8.84505998e-06,-1.21646262e+00,-4.71785223e-04,
  2.75685671e-05,-5.48450754e-04]


--- Step 245 ---
qpos:
[ 0.01196361,-0.0011567 , 0.00240463, 0.04168853, 0.00457147,-0.00234779,
 -0.01806079, 0.02823914, 0.01307401, 0.0044829 ,-0.01017547, 0.02622535,
  0.59502369,-0.00191353, 0.428455  , 0.06586487, 0.09402733,-0.07015182,
  0.13096114, 0.50388116, 0.4976754 , 0.49532258, 0.5030691 ]

qacc:
[  2.82902055, -3.52295737, 13.65900855,-21.85956116,  6.00847442,
   1.18424628, -8.29204764, 23.60804237,  2.10892492, -1.11277797,
   5.02945703, -9.150494  , -1.05322076,  0.9195138 ,  1.54204176,
 -11.03656124, -0.74417039,  1.31008021,  1.56154951, -8.39277084,
  -1.26434954,-18.46989856]

qfrc_actuator:
[ 1.28352836e-04,-9.50101552e-06, 1.13818744e-04, 3.25408475e-04,
  3.64116631e-05,-3.86422155e-04,-3.67705792e-04, 2.73842779e-04,
  8.80379334e-05, 4.20365637e-05,-1.39324654e-04, 2.39920283e-04,
  6.85789194e-02,-4.11778847e-04, 4.88371694e-02,-4.15756413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003487205264113835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59185213e-13,  1.19388910e-13,  1.00000000e+00, -1.90049490e-26,
        1.00000000e+00, -1.19388910e-13, -1.00000000e+00,  0.00000000e+00,
        1.59185213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204582, -0.09004718,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63799130e-05,-2.18127712e-05, 3.92305234e-05,-2.07740428e-05,
  3.52281176e-05,-7.99058810e-06, 8.98992706e-06, 4.54592068e-05,
  1.22975406e-05, 2.04772731e-05, 2.11053900e-05,-8.93350407e-06,
 -4.67219484e-04,-8.54733600e-05,-2.50555581e-04,-1.26691116e-04,
 -4.78471424e-06, 1.07449244e-05,-1.21646508e+00,-4.74295036e-04,
  2.86893912e-05,-5.49487827e-04]


--- Step 246 ---
qpos:
[ 0.01196677,-0.00115756, 0.00240631, 0.04169282, 0.00457259,-0.00234945,
 -0.01806304, 0.02824516, 0.01307586, 0.0044833 ,-0.01017609, 0.0262299 ,
  0.59646148,-0.00191128, 0.42982516, 0.06586622, 0.09405504,-0.07018741,
  0.13096246, 0.5036463 , 0.49788477, 0.49530649, 0.50311294]

qacc:
[ 4.49863577e+00,-2.86576508e+00, 1.47127332e+01,-3.28844492e+01,
  3.65940419e+00,-2.24176001e-01, 2.09903412e-02, 2.25981714e+00,
  1.22659349e+00,-1.89841495e+00, 6.50619167e+00,-8.84175844e+00,
 -8.25380388e-01,-2.48721712e-01, 9.04704157e+00,-3.73654366e+01,
 -7.00732518e-01, 1.26421140e+00, 1.21278791e+00,-8.32606086e+00,
 -1.12230920e+00,-1.78882227e+01]

qfrc_actuator:
[ 1.54201646e-04, 1.37472317e-05, 1.35282848e-04, 2.75132081e-04,
  5.68613545e-05,-3.92460744e-04,-3.62218711e-04, 2.80064199e-04,
  9.47247938e-05,-1.08980983e-05,-1.31399938e-04, 2.31580856e-04,
  6.84489351e-02,-4.41965829e-04, 4.86877106e-02,-4.38074796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79908269, -0.14913677, -4.79676484, -0.14913677, 40.60152852,
       -1.11313799, -4.79676484, -1.11313799,  4.83369139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003671471839030993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.55979532e-14, -3.02391813e-13,  1.00000000e+00,  2.28602021e-26,
        1.00000000e+00,  3.02391813e-13, -1.00000000e+00,  0.00000000e+00,
        7.55979532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204664, -0.09004222,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63071221e-05, 1.82688716e-05, 2.10517648e-05,-5.02718115e-05,
  2.14494407e-05,-6.61771842e-06, 6.54873438e-06, 7.06897609e-06,
  7.04526917e-06,-3.75240012e-05, 1.44387233e-05,-6.91553740e-06,
 -4.68546464e-04,-9.76362901e-05,-2.78787675e-04,-2.62739633e-04,
 -4.04854759e-06, 8.64790138e-06,-1.21646029e+00,-4.73568003e-04,
  2.50805455e-05,-5.50899420e-04]


--- Step 247 ---
qpos:
[ 0.01196986,-0.00115833, 0.00240792, 0.0416972 , 0.00457361,-0.0023514 ,
 -0.01806481, 0.02825121, 0.01307742, 0.00448341,-0.0101766 , 0.02623468,
  0.59789677,-0.00190937, 0.43119257, 0.06586443, 0.0940801 ,-0.07021808,
  0.13096745, 0.50343813, 0.49806957, 0.49529836, 0.50314639]

qacc:
[ -0.52541148,  0.45084892, -1.81850556,  3.34793517, -0.92796956,
  -1.63373073,  5.1451953 , -5.16315713, -2.44734438, -0.20319095,
  -0.7441847 ,  4.58732698, -1.06277346,  0.90677214,  5.39662305,
 -24.76097778, -0.66517888,  1.22575842,  0.91877035, -8.25585986,
  -1.0108308 ,-17.39831011]

qfrc_actuator:
[ 1.50390328e-04, 1.02158594e-05, 1.29540956e-04, 2.79363700e-04,
  5.06784319e-05,-4.13117345e-04,-3.40357968e-04, 2.81306588e-04,
  8.01636234e-05,-2.48353816e-05,-1.26647093e-04, 2.42575594e-04,
  6.83193168e-02,-4.60655501e-04, 4.85701565e-02,-4.53036922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.85330708, -0.09315892, -4.85241291, -0.09315892, 49.21196479,
       -0.8516185 , -4.85241291, -0.8516185 ,  4.86965686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037899322549653225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204762, -0.09003912,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05515067e-06, 8.88040716e-06,-1.13832161e-06, 4.75100278e-06,
 -5.57399797e-06,-2.26208867e-05, 2.15766117e-05, 1.31733312e-06,
 -1.43728625e-05,-3.22439119e-05,-1.46511657e-06, 9.74205734e-06,
 -4.70955234e-04,-8.72920607e-05,-2.74221853e-04,-2.00201941e-04,
 -3.36834503e-06, 6.83124072e-06,-1.21645613e+00,-4.73003444e-04,
  2.18730425e-05,-5.52132686e-04]


--- Step 248 ---
qpos:
[ 0.01197289,-0.0011587 , 0.00240848, 0.04170163, 0.0045742 ,-0.00235338,
 -0.01806635, 0.02825651, 0.01307949, 0.00448379,-0.01017728, 0.02623915,
  0.59932951,-0.00190734, 0.4325568 , 0.06586409, 0.09410261,-0.07024399,
  0.13097513, 0.50325608, 0.49823019, 0.49529795, 0.50316989]

qacc:
[ -0.6521817 ,  3.59757403,-12.21624797, 14.34991529, -3.73451883,
  -2.21629385, 10.98049672,-24.15561903,  4.4152535 ,  0.17324741,
   1.16089401, -6.34291255, -1.52768851,  3.2916807 , -9.00172964,
  24.77603298, -0.63607952,  1.19360529,  0.67131877, -8.18576549,
  -0.92353486,-16.98638304]

qfrc_actuator:
[ 1.46901601e-04, 2.61132243e-05, 7.22272509e-05, 2.80098877e-04,
  2.88741510e-05,-4.06804800e-04,-3.26814186e-04, 2.44109881e-04,
  1.06472890e-04, 2.01867338e-05,-1.23650320e-04, 2.29377816e-04,
  6.81953363e-02,-4.54683481e-04, 4.84558719e-02,-4.44002288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.88425124,  0.08504799,  4.88351073,  0.08504799, 10.59729803,
       -0.09949464,  4.88351073, -0.09949464,  4.88598397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038548596717297157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20015201e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.20015201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204875, -0.09003753,  0.06198899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57275120e-06, 2.08203549e-05,-5.54778075e-05, 1.15660709e-06,
 -2.19720863e-05,-1.74759923e-06, 1.16051842e-05,-3.73988840e-05,
  2.58900833e-05, 2.70971910e-05,-3.51079461e-06,-1.44495275e-05,
 -4.65503416e-04,-6.24531844e-05,-2.61855747e-04, 4.38545311e-05,
 -2.74839630e-06, 5.26850183e-06,-1.21645255e+00,-4.72564389e-04,
  1.90387272e-05,-5.53200209e-04]


--- Step 249 ---
qpos:
[ 0.01197584,-0.00115851, 0.00240821, 0.04170599, 0.00457452,-0.00235493,
 -0.01806819, 0.02826097, 0.01308186, 0.0044842 ,-0.0101773 , 0.0262434 ,
  0.60075987,-0.00190588, 0.43391801, 0.06586672, 0.09412267,-0.07026523,
  0.13098467, 0.50309969, 0.49836699, 0.49530507, 0.5031838 ]

qacc:
[ -0.61120249,  2.91187958, -9.06987974,  8.94166321, -2.35131335,
  -0.35011699,  5.68452186,-20.31722129,  2.65255013, -2.24491202,
   8.99157367,-13.87478486, -0.64041532, -0.91632983,-13.42323601,
  40.50496492, -0.61227469,  1.16681134,  0.46351827, -8.118305  ,
  -0.85536626,-16.64095026]

qfrc_actuator:
[ 1.43640386e-04, 7.10560541e-05, 3.82521088e-05, 2.78744769e-04,
  1.58117298e-05,-3.66700786e-04,-3.35967262e-04, 2.02360492e-04,
  1.21128834e-04, 2.91364941e-05,-8.59779767e-05, 2.19853111e-04,
  6.80748324e-02,-4.87491790e-04, 4.83383603e-02,-4.28002847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.89480604, -0.04868555,  4.89456391, -0.04868555, 13.85743418,
        0.08915002,  4.89456391,  0.08915002,  4.8956928 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038765877781254954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.15979547e-14, -1.43195909e-13,  1.00000000e+00,  1.02525342e-26,
        1.00000000e+00,  1.43195909e-13, -1.00000000e+00,  0.00000000e+00,
        7.15979547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204999, -0.09003714,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35368284e-06, 4.51617407e-05,-3.64822269e-05,-2.36982312e-06,
 -1.36886444e-05, 3.99916277e-05,-9.34824584e-06,-4.21536614e-05,
  1.54031071e-05, 2.27580504e-05, 4.23318066e-05,-8.77614837e-06,
 -4.54476538e-04,-9.89983591e-05,-2.31684564e-04, 1.28826366e-04,
 -2.19110112e-06, 3.93853530e-06,-1.21644950e+00,-4.72223315e-04,
  1.65535596e-05,-5.54111976e-04]


--- Step 250 ---
qpos:
[ 0.01197874,-0.00115819, 0.00240818, 0.04171063, 0.00457469,-0.00235633,
 -0.0180698 , 0.02826523, 0.01308404, 0.00448476,-0.01017721, 0.02624821,
  0.60218776,-0.00190477, 0.43527648, 0.06586859, 0.09414036,-0.07028188,
  0.13099536, 0.50296856, 0.49848027, 0.49531955, 0.50318842]

qacc:
[ -0.53903951,  0.07574865, -1.16614431,  5.42392566, -1.39028221,
  -0.83604426,  4.08772546, -7.89118555, -1.6480919 ,  1.03496561,
  -5.78978738, 15.27558825, -1.01846463,  0.76117289, -1.72798739,
   0.18298881, -0.59282101,  1.14457945,  0.28948366, -8.05517666,
  -0.80231383,-16.3523531 ]

qfrc_actuator:
[ 1.40539424e-04, 7.98644216e-05, 5.39742531e-05, 2.93975586e-04,
  8.00455997e-06,-3.60025882e-04,-3.22791251e-04, 1.93795259e-04,
  1.11042708e-04, 3.43216662e-05,-8.15107035e-05, 2.48075925e-04,
  6.79405142e-02,-5.07407335e-04, 4.81817321e-02,-4.32889138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.88858044, -0.22278246,  4.88350148, -0.22278246, 19.32541057,
        0.65859968,  4.88350148,  0.65859968,  4.91862537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003863796938745473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205134, -0.09003771,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18021186e-06, 2.64018957e-05, 2.04639326e-05, 1.58472788e-05,
 -8.18151752e-06, 2.53640131e-05, 1.88567040e-05,-7.99702893e-06,
 -9.63978227e-06, 2.62684340e-05, 1.40664374e-05, 3.04814850e-05,
 -4.65183599e-04,-8.74081409e-05,-2.48546910e-04,-7.16696823e-05,
 -1.69760802e-06, 2.82443733e-06,-1.21644694e+00,-4.71959730e-04,
  1.43971860e-05,-5.54875904e-04]


--- Step 251 ---
qpos:
[ 0.01198158,-0.0011578 , 0.00240813, 0.04171509, 0.00457476,-0.00235756,
 -0.01807155, 0.02827007, 0.01308609, 0.0044853 ,-0.01017749, 0.02625304,
  0.60361301,-0.00190288, 0.43663177, 0.06586759, 0.09415574,-0.07029404,
  0.13100662, 0.50286237, 0.4985703 , 0.49534127, 0.50318398]

qacc:
[ -0.52614727, -0.20282799,  1.58452998, -4.58852182, -0.83952412,
   1.84074553, -8.65749198, 18.75770173, -1.22069797,  1.05183117,
  -3.8311097 ,  4.64044358, -2.36331809,  7.25168009,  4.02292882,
 -20.71723617, -0.57694911,  1.12623174,  0.14418283, -7.99744851,
  -0.76119051,-16.11242478]

qfrc_actuator:
[ 1.37557255e-04, 6.71879991e-05, 4.55232131e-05, 2.83342149e-04,
  3.34990111e-06,-3.55551989e-04,-3.32134465e-04, 2.22572084e-04,
  1.04230941e-04, 1.61531017e-06,-1.14443505e-04, 2.44991308e-04,
  6.78139789e-02,-4.66342792e-04, 4.79963926e-02,-4.48276406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86931767, -0.45953309,  4.84758537, -0.45953309, 30.38116988,
        2.41842882,  4.84758537,  2.41842882,  5.09857574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038237577106781107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25871714e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.25871714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205276, -0.09003904,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06681188e-06, 6.96176584e-06, 5.46318467e-08,-8.49724577e-06,
 -4.87959466e-06, 2.22669817e-05,-2.03200867e-06, 3.03581701e-05,
 -7.07549955e-06,-1.38335928e-05,-2.47352049e-05,-8.90346937e-07,
 -4.63614687e-04,-2.72096923e-05,-3.07544139e-04,-1.90072738e-04,
 -1.26826218e-06, 1.91272420e-06,-1.21644484e+00,-4.71758396e-04,
  1.25525269e-05,-5.55498254e-04]


--- Step 252 ---
qpos:
[ 0.0119847 ,-0.00115742, 0.00240805, 0.04171906, 0.00457477,-0.00235848,
 -0.01807344, 0.02827485, 0.01308769, 0.00448522,-0.01017729, 0.02625747,
  0.60503575,-0.00190048, 0.43798343, 0.0658703 , 0.09416887,-0.07030175,
  0.13101799, 0.50278082, 0.4986373 , 0.49537012, 0.50317067]

qacc:
[ 2.52216325e+00,-9.37414014e-01, 5.43254542e+00,-1.39764232e+01,
 -5.04585969e-01, 6.46326485e-01,-1.49421679e+00, 5.23341635e-01,
 -3.86513643e+00,-2.96900197e+00, 1.10920084e+01,-1.83287335e+01,
 -1.90649663e+00, 5.25436133e+00,-1.64765078e+01, 4.99950355e+01,
 -5.64030233e-01, 1.11119042e+00, 2.33001350e-02,-7.94571907e+00,
 -7.29460829e-01,-1.59142302e+01]

qfrc_actuator:
[ 1.52421472e-04, 5.93856791e-05, 4.04861179e-05, 2.57527194e-04,
  5.86209893e-07,-3.34733211e-04,-3.36949095e-04, 2.19803610e-04,
  8.16560936e-05,-5.37185617e-05,-9.83595826e-05, 2.23450032e-04,
  6.76922163e-02,-4.42927132e-04, 4.78791760e-02,-4.27117720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037625390499651523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47536412e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47536412e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205424, -0.09004096,  0.06198926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47776918e-05,-4.29550796e-06,-3.90302423e-06,-2.56913465e-05,
 -2.89628239e-06, 3.42042061e-05, 6.09124496e-07,-1.29767262e-06,
 -2.27772924e-05,-6.82402698e-05, 1.01375027e-05,-2.30179536e-05,
 -4.49842896e-04,-4.04230465e-05,-2.77357681e-04, 1.61758173e-04,
 -9.02915848e-07, 1.19267414e-06,-1.21644319e+00,-4.71608009e-04,
  1.10053871e-05,-5.55983962e-04]


--- Step 253 ---
qpos:
[ 0.01198867,-0.00115724, 0.00240798, 0.04172305, 0.00457475,-0.00235897,
 -0.01807542, 0.0282792 , 0.01308901, 0.00448461,-0.0101772 , 0.02626198,
  0.60645599,-0.00189777, 0.43933157, 0.06587812, 0.09417978,-0.07030506,
  0.13102904, 0.5027237 , 0.49868146, 0.49540602, 0.50314864]

qacc:
[ 7.42036377e+00,-2.93082174e-01, 4.80589194e-01, 1.86668646e-01,
 -3.03624258e-01,-3.37972643e-02, 2.79128697e+00,-1.04779670e+01,
 -2.48467787e+00,-2.45047797e-01,-4.63325472e-01, 2.39071620e+00,
 -1.67380548e+00, 4.14249376e+00,-2.05533474e+01, 6.44914353e+01,
 -5.53549578e-01, 1.09896248e+00,-7.68718308e-02,-7.90024528e+00,
 -7.05105043e-01,-1.57518634e+01]

qfrc_actuator:
[ 1.95423212e-04, 3.67960933e-05, 3.75171455e-05, 2.58502439e-04,
 -1.04335200e-06,-3.04300436e-04,-3.39006030e-04, 1.98509743e-04,
  6.77357191e-05,-8.65114607e-05,-1.06824733e-04, 2.26746873e-04,
  6.75627505e-02,-4.30134810e-04, 4.77337536e-02,-4.00550878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003685186865915874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50633206e-13, -3.01266412e-13,  1.00000000e+00,  4.53807255e-26,
        1.00000000e+00,  3.01266412e-13, -1.00000000e+00,  0.00000000e+00,
        1.50633206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205575, -0.09004332,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34199426e-05,-2.69252301e-05,-5.24206216e-06, 1.45332768e-07,
 -1.70020578e-06, 4.96738157e-05, 5.06054201e-06,-1.98365210e-05,
 -1.45899734e-05,-6.98576301e-05,-2.21174738e-05, 2.66383300e-07,
 -4.49084157e-04,-5.03765721e-05,-2.52264304e-04, 2.39391283e-04,
 -6.01140696e-07, 6.55798336e-07,-1.21644196e+00,-4.71500219e-04,
  9.74409527e-06,-5.56336906e-04]


--- Step 254 ---
qpos:
[ 0.01199243,-0.00115722, 0.00240759, 0.04172705, 0.00457471,-0.00235908,
 -0.01807742, 0.02828326, 0.01309084, 0.00448383,-0.01017794, 0.02626684,
  0.60787381,-0.00189521, 0.44067732, 0.06588562, 0.09418851,-0.07030402,
  0.13103945, 0.50269082, 0.49870292, 0.49544889, 0.50311801]

qacc:
[ -1.8115379 ,  0.70956698, -2.80225465,  3.37194007, -0.17671   ,
  -0.06715049,  2.18144643, -7.43591248,  4.48592889,  2.83374776,
 -11.94612628, 19.57371858, -1.2082507 ,  1.79579773, -2.55039628,
   3.85714208, -0.54508507,  1.08912718, -0.15951977, -7.86104257,
  -0.68651227,-15.62028587]

qfrc_actuator:
[ 1.83625352e-04, 2.33030206e-05, 1.79974290e-05, 2.57471129e-04,
 -1.99295060e-06,-2.86105832e-04,-3.39383447e-04, 1.84255249e-04,
  9.45310484e-05,-8.78766886e-05,-1.47387134e-04, 2.44626227e-04,
  6.74340770e-02,-4.41487291e-04, 4.76088086e-02,-4.02982579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035958774000424687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205728, -0.09004601,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05730901e-05,-2.96382202e-05,-2.57379891e-05,-2.37512976e-06,
 -9.80135838e-07, 4.61980036e-05, 9.83926463e-06,-1.23407846e-05,
  2.63563619e-05,-4.49773055e-05,-5.77095590e-05, 1.41174988e-05,
 -4.48873598e-04,-7.53627903e-05,-2.12533055e-04,-4.32616519e-05,
 -3.62370091e-07, 2.95412967e-07,-1.21644114e+00,-4.71428892e-04,
  8.75917418e-06,-5.56560110e-04]


--- Step 255 ---
qpos:
[ 0.01199568,-0.00115738, 0.00240696, 0.04173099, 0.00457432,-0.00235917,
 -0.01807921, 0.02828645, 0.01309298, 0.0044833 ,-0.01017912, 0.02627145,
  0.60928924,-0.00189307, 0.44202137, 0.06588932, 0.09419509,-0.07029865,
  0.13104896, 0.50268202, 0.49870182, 0.49549868, 0.50307886]

qacc:
[ -4.53204157,  0.34270017, -1.34449704,  1.02479744, -3.1122362 ,
  -2.33470744, 12.00255198,-27.2723347 ,  2.67700664,  1.03028422,
  -2.15276194, -1.65832461, -0.92958713,  0.3661266 ,  8.96524187,
 -35.00018336, -0.53829027,  1.08132562, -0.22738212, -7.82796201,
  -0.67239607,-15.51519647]

qfrc_actuator:
[ 1.57411952e-04, 1.52910200e-05, 6.63872611e-06, 2.55257018e-04,
 -2.02878707e-05,-3.10876194e-04,-3.38805032e-04, 1.38746480e-04,
  1.09568283e-04,-3.50244311e-05,-1.53173704e-04, 2.35442696e-04,
  6.73059621e-02,-4.66993043e-04, 4.75228041e-02,-4.22475378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034980490540832687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58691746e-13, -1.58691746e-13,  1.00000000e+00,  2.51830703e-26,
        1.00000000e+00,  1.58691746e-13, -1.00000000e+00,  0.00000000e+00,
        1.58691746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205881, -0.09004894,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65238498e-05,-3.00247275e-05,-2.07408705e-05,-4.42899612e-06,
 -1.83066369e-05, 2.58496484e-06, 1.09214736e-05,-4.34329943e-05,
  1.57698315e-05, 1.64260326e-05,-2.16892072e-05,-1.28412638e-05,
 -4.51644922e-04,-9.14500606e-05,-1.90290190e-04,-2.25337690e-04,
 -1.85992113e-07, 1.06291446e-07,-1.21644072e+00,-4.71389562e-04,
  8.04304446e-06,-5.56655917e-04]


--- Step 256 ---
qpos:
[ 0.01199894,-0.00115763, 0.0024064 , 0.0417352 , 0.00457405,-0.00235915,
 -0.0180813 , 0.02828945, 0.01309493, 0.00448322,-0.01018023, 0.02627517,
  0.61070215,-0.00189086, 0.44336266, 0.06589237, 0.09419953,-0.07028898,
  0.13105733, 0.50269718, 0.49867824, 0.49555535, 0.50303127]

qacc:
[  0.05073953,  0.21593409, -2.02783606,  6.41577936,  1.11657621,
   0.5784347 , -0.98487167, -2.11564231, -1.60227662, -1.47164257,
   9.91120037,-25.94731311, -1.50678625,  3.10078641, -2.06761647,
   1.401048  , -0.53288058,  1.07525192, -0.28281008, -7.8007488 ,
  -0.66172783,-15.43292308]

qfrc_actuator:
[ 1.58446531e-04, 2.84036146e-05, 1.79695385e-05, 2.70130628e-04,
 -1.31406061e-05,-3.07956334e-04,-3.55622493e-04, 1.28431533e-04,
  9.97991940e-05, 1.45055129e-05,-1.38157038e-04, 1.92732903e-04,
  6.71729411e-02,-4.65141190e-04, 4.73909527e-02,-4.25214689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003394515663874137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.63531875e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.63531875e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206034, -0.09005202,  0.06199031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70908849e-07,-8.16677888e-06, 2.41928584e-06, 1.27768712e-05,
  6.62737484e-06, 4.77081307e-06,-1.64253663e-05,-1.06737327e-05,
 -9.31589006e-06, 5.37200669e-05, 1.53051547e-05,-4.30129545e-05,
 -4.60754256e-04,-6.58126897e-05,-2.48273954e-04,-6.55756389e-05,
 -7.14080652e-08, 8.43807694e-08,-1.21644069e+00,-4.71379007e-04,
  7.58976148e-06,-5.56626115e-04]


--- Step 257 ---
qpos:
[ 0.01200218,-0.00115778, 0.00240616, 0.0417395 , 0.00457387,-0.00235885,
 -0.01808341, 0.02829261, 0.01309676, 0.00448312,-0.01018099, 0.02627872,
  0.61211259,-0.00188892, 0.4447006 , 0.06589903, 0.09420187,-0.07027503,
  0.1310644 , 0.50273621, 0.49863225, 0.49561886, 0.50297528]

qacc:
[ -0.10850875, -0.5616916 ,  1.74429581, -0.54150925,  0.7603669 ,
   0.77057477, -2.88471004,  5.4694411 , -1.14890733, -1.28459561,
   5.21221599, -8.43032747, -1.0344857 ,  0.91987801,-15.83081774,
  48.24808035, -0.52862209,  1.07064584, -0.32781956, -7.77908571,
  -0.65368399,-15.37033257]

qfrc_actuator:
[ 1.57762815e-04, 5.41788903e-05, 4.27047484e-05, 2.77220272e-04,
 -8.82281491e-06,-2.70779710e-04,-3.46945326e-04, 1.38917990e-04,
  9.32641411e-05,-9.26856415e-06,-1.28750878e-04, 1.83914878e-04,
  6.70423998e-02,-4.82711615e-04, 4.72583787e-02,-4.05637887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032875637413487535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.68851939e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.68851939e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206184, -0.09005519,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78960574e-07, 2.22514521e-05, 2.37850571e-05, 7.06395396e-06,
  4.50959625e-06, 3.60135757e-05, 7.28721175e-06, 9.91248114e-06,
 -6.78047667e-06, 7.59534535e-06, 2.09076276e-05,-6.82827508e-06,
 -4.61206529e-04,-8.47992858e-05,-2.54115913e-04, 1.59915787e-04,
 -1.80672051e-08, 2.26569696e-07,-1.21644104e+00,-4.71394937e-04,
  7.39478435e-06,-5.56472050e-04]


--- Step 258 ---
qpos:
[ 0.01200504,-0.00115783, 0.00240594, 0.04174388, 0.0045734 ,-0.00235838,
 -0.01808538, 0.02829586, 0.01309849, 0.00448293,-0.01018156, 0.02628217,
  0.61352066,-0.00188783, 0.44603594, 0.06590589, 0.0942021 ,-0.0702568 ,
  0.13107   , 0.50279903, 0.49856392, 0.49568918, 0.50291091]

qacc:
[ -3.32586325,  0.25051616, -0.9591582 ,  2.03655051, -2.55456384,
   0.02946515, -0.21374366,  1.63154926, -0.80630491, -0.90046114,
   3.52551209, -5.74598051, -0.3859721 , -2.18391594, -4.4431257 ,
   9.9467327 , -0.52532247,  1.06728624, -0.36413613, -7.76262481,
  -0.64760432,-15.32475435]

qfrc_actuator:
[ 1.38312012e-04, 5.18988888e-05, 3.96974285e-05, 2.79690066e-04,
 -2.39654949e-05,-2.66514379e-04,-3.40876391e-04, 1.43852951e-04,
  8.86924547e-05,-2.34852681e-05,-1.23005275e-04, 1.77294078e-04,
  6.69187586e-02,-5.29372039e-04, 4.71308497e-02,-4.05026715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031790358376532213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206332, -0.0900584 ,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94637156e-05, 1.53672088e-05, 4.75450980e-06, 4.37421495e-06,
 -1.50021913e-05, 2.63423965e-05, 1.47623275e-05, 6.92019813e-06,
 -4.76263325e-06,-5.93521833e-06, 9.65779087e-06,-5.71014444e-06,
 -4.57002356e-04,-1.15570737e-04,-2.25190361e-04,-1.75829837e-05,
 -2.54853549e-08, 5.30499021e-07,-1.21644177e+00,-4.71435750e-04,
  7.45477551e-06,-5.56194710e-04]


--- Step 259 ---
qpos:
[ 0.0120073 ,-0.00115781, 0.00240572, 0.04174826, 0.0045731 ,-0.00235809,
 -0.01808707, 0.02829884, 0.0131005 , 0.00448299,-0.01018215, 0.02628479,
  0.61492629,-0.00188725, 0.44736917, 0.06590936, 0.09420024,-0.07023432,
  0.13107404, 0.50288558, 0.49847327, 0.49576631, 0.50283821]

qacc:
[-5.27626481e+00, 9.15965148e-02,-1.98052700e-01, 1.76330036e-01,
  1.47888282e+00,-1.58141516e+00, 6.47824031e+00,-1.15945126e+01,
  2.42674769e+00,-1.32389286e+00, 8.66709737e+00,-2.30836825e+01,
 -8.70099365e-01,-2.85669881e-02, 7.13091455e+00,-2.94395855e+01,
 -5.22823567e-01, 1.06498563e+00,-3.93233954e-01,-7.75100993e+00,
 -6.42958719e-01,-1.52939151e+01]

qfrc_actuator:
[ 1.07971264e-04, 5.04812457e-05, 3.79725511e-05, 2.79380443e-04,
 -1.49351128e-05,-2.99746561e-04,-3.36534351e-04, 1.27696570e-04,
  1.03064843e-04, 3.61690206e-06,-1.19449845e-04, 1.36506995e-04,
  6.67886848e-02,-5.57294194e-04, 4.70170521e-02,-4.22698995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030704018840807534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80794415e-13, -1.80794415e-13,  1.00000000e+00,  3.26866205e-26,
        1.00000000e+00,  1.80794415e-13, -1.00000000e+00,  0.00000000e+00,
        1.80794415e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206476, -0.09006162,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08899693e-05, 8.32388830e-06, 2.17753229e-06, 5.89479955e-07,
  8.61078326e-06,-1.51621991e-05, 1.18519878e-05,-1.43853052e-05,
  1.42343594e-05, 2.55429186e-05, 3.32451322e-06,-4.08238609e-05,
 -4.64743543e-04,-9.86668567e-05,-2.20291016e-04,-2.07147686e-04,
 -9.32528136e-08, 9.94406223e-07,-1.21644288e+00,-4.71500348e-04,
  7.76742822e-06,-5.55794791e-04]


--- Step 260 ---
qpos:
[ 0.01200918,-0.0011575 , 0.00240568, 0.04175221, 0.00457325,-0.0023579 ,
 -0.01808836, 0.0283009 , 0.01310232, 0.00448312,-0.01018267, 0.0262876 ,
  0.61632938,-0.00188695, 0.4487002 , 0.06590929, 0.09419629,-0.07020759,
  0.13107641, 0.50299584, 0.49836031, 0.49585021, 0.50275716]

qacc:
[ -3.35326646, -0.98665201,  5.87479386,-13.73237748,  4.00474066,
  -3.16496301, 14.94473092,-31.4378962 , -1.65539804,  0.32769682,
  -1.87819596,  5.17101588, -1.17177394,  1.32697781,  7.45091996,
 -30.77993705, -0.52099536,  1.06358534, -0.41636978, -7.74389221,
  -0.63932097,-15.27588284]

qfrc_actuator:
[ 8.92224800e-05, 8.50895171e-05, 5.47765151e-05, 2.59689229e-04,
  8.25670855e-06,-3.01949738e-04,-3.15669104e-04, 8.14718001e-05,
  9.29665219e-05, 1.95378434e-06,-1.17070857e-04, 1.46987289e-04,
  6.66548448e-02,-5.73970955e-04, 4.69115419e-02,-4.40339062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002962820123093429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36795839e-14,  1.87359168e-13,  1.00000000e+00, -1.75517289e-26,
        1.00000000e+00, -1.87359168e-13, -1.00000000e+00,  0.00000000e+00,
        9.36795839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206616, -0.0900648 ,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96254680e-05, 3.97122349e-05, 1.88034488e-05,-1.92562592e-05,
  2.34322563e-05,-8.84489302e-06, 1.87049605e-05,-4.67483333e-05,
 -9.68331141e-06, 1.15680297e-05, 6.65393744e-06, 1.08905791e-05,
 -4.71737908e-04,-8.74246548e-05,-2.32152237e-04,-2.17059744e-04,
 -2.21035395e-07, 1.61699826e-06,-1.21644436e+00,-4.71587996e-04,
  8.33131968e-06,-5.55272754e-04]


--- Step 261 ---
qpos:
[ 0.01201082,-0.00115676, 0.00240605, 0.04175551, 0.00457333,-0.00235734,
 -0.01809019, 0.02830274, 0.01310331, 0.00448289,-0.01018268, 0.02629055,
  0.61772986,-0.00188617, 0.45002875, 0.06590767, 0.09419027,-0.0701766 ,
  0.13107704, 0.50312978, 0.49822503, 0.49594089, 0.50266777]

qacc:
[ -2.10191885, -1.92867759, 10.43794571,-22.63080224, -0.62265782,
   1.55106843, -3.85046586,  0.5532884 , -7.23439767, -1.62784461,
   4.62944887, -3.04952371, -2.04440236,  5.49456391,  1.05399203,
  -8.85427594, -0.51973097,  1.06295138, -0.4346126 , -7.7409402 ,
  -0.63634776,-15.26901857]

qfrc_actuator:
[ 7.74503278e-05, 1.23310109e-04, 8.25208025e-05, 2.28795480e-04,
  4.08525805e-06,-2.67769753e-04,-3.38376490e-04, 7.12196229e-05,
  5.07872072e-05,-3.46385611e-05,-9.77178320e-05, 1.52028841e-04,
  6.65294915e-02,-5.48421491e-04, 4.68110902e-02,-4.47156794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002857189035191249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94285889e-13, -1.94285889e-13,  1.00000000e+00,  3.77470067e-26,
        1.00000000e+00,  1.94285889e-13, -1.00000000e+00,  0.00000000e+00,
        1.94285889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206751, -0.09006792,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23182805e-05, 6.34546534e-05, 3.75838006e-05,-2.89255968e-05,
 -3.50498612e-06, 3.11062422e-05,-2.38402899e-05,-1.08969093e-05,
 -4.24507000e-05,-2.82845763e-05, 2.29395884e-05, 5.97483352e-06,
 -4.66624081e-04,-4.55338192e-05,-2.33141340e-04,-1.10787779e-04,
 -4.08571242e-07, 2.39734743e-06,-1.21644621e+00,-4.71698214e-04,
  9.14578684e-06,-5.54628867e-04]


--- Step 262 ---
qpos:
[ 0.01201299,-0.00115592, 0.00240687, 0.04175915, 0.00457302,-0.00235657,
 -0.01809204, 0.02830545, 0.0131038 , 0.00448219,-0.01018233, 0.02629356,
  0.61912763,-0.00188408, 0.45135442, 0.06590818, 0.09418217,-0.07014136,
  0.13107587, 0.50328738, 0.49806742, 0.49603833, 0.50257003]

qacc:
[  4.72372995, -0.43169262,  0.30533295,  4.71439603, -3.46835384,
   2.15447227,-11.00669927, 26.18063828, -4.49631955, -1.4822251 ,
   4.10305429, -3.19395099, -2.95727517,  9.89283034,-10.53322694,
  30.93766876, -0.51894257,  1.06297083, -0.44886959, -7.74184616,
  -0.63376204,-15.27193461]

qfrc_actuator:
[ 1.05380239e-04, 1.10184619e-04, 9.87670928e-05, 2.44830936e-04,
 -1.61626203e-05,-2.47716426e-04,-3.33192369e-04, 1.17726859e-04,
  2.55762932e-05,-7.40477274e-05,-8.64111691e-05, 1.53801069e-04,
  6.64040039e-02,-4.80435969e-04, 4.67031250e-02,-4.35113100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027541914897039055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01551531e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01551531e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206882, -0.09007097,  0.06199214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75979357e-05, 2.88348373e-05, 3.29600136e-05, 1.94816531e-05,
 -2.03355794e-05, 3.20522583e-05, 8.30639649e-06, 4.68022029e-05,
 -2.64281880e-05,-5.02415564e-05, 8.49525277e-06, 1.46603825e-06,
 -4.57139204e-04, 5.23646039e-07,-2.28769694e-04, 8.37478466e-05,
 -6.55665233e-07, 3.33480618e-06,-1.21644844e+00,-4.71830691e-04,
  1.02108224e-05,-5.53863247e-04]


--- Step 263 ---
qpos:
[ 0.01201514,-0.00115543, 0.00240788, 0.04176303, 0.00457281,-0.00235616,
 -0.01809331, 0.02830943, 0.01310432, 0.00448123,-0.01018244, 0.02629625,
  0.62052288,-0.00188147, 0.45267729, 0.06590911, 0.094172  ,-0.07010187,
  0.13107287, 0.50346864, 0.49788745, 0.49614254, 0.50246392]

qacc:
[ -0.22429916, -0.48413789,  0.03734597,  4.09301025,  0.94578337,
   0.49077804, -7.75478784, 28.86817672,  0.32956117,  0.27164877,
  -0.12135607, -4.47725699, -1.99971415,  5.44275747, -5.3582007 ,
  12.87542898, -0.51855806,  1.06354878, -0.45990877, -7.74632937,
  -0.63133977,-15.28345857]

qfrc_actuator:
[ 1.03193519e-04, 4.86550992e-05, 9.01666981e-05, 2.52795509e-04,
 -1.01968102e-05,-2.89376026e-04,-3.11577615e-04, 1.79518205e-04,
  2.83174363e-05,-9.71246310e-05,-1.15484111e-04, 1.35868465e-04,
  6.62732114e-02,-4.59022367e-04, 4.65588219e-02,-4.33360028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026543321927127717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09134152e-13,  3.26772113e-13,  1.00000000e+00, -6.83392087e-26,
        1.00000000e+00, -3.26772113e-13, -1.00000000e+00,  0.00000000e+00,
        2.09134152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207007, -0.09007393,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39788926e-06,-3.78073957e-05, 2.05831789e-06, 1.07061239e-05,
  5.39467877e-06,-2.00341457e-05, 3.08852557e-05, 6.43603841e-05,
  1.97105637e-06,-4.93476340e-05,-3.83548713e-05,-1.97679231e-05,
 -4.49022388e-04,-4.15012848e-05,-2.40761444e-04,-7.59283696e-06,
 -9.62182191e-07, 4.42893740e-06,-1.21645105e+00,-4.71985225e-04,
  1.15269882e-05,-5.52975881e-04]


--- Step 264 ---
qpos:
[ 0.01201656,-0.00115531, 0.00240859, 0.04176667, 0.00457268,-0.00235581,
 -0.01809513, 0.02831312, 0.01310486, 0.00448046,-0.01018365, 0.026298  ,
  0.62191574,-0.00187923, 0.45399689, 0.06591323, 0.09415749,-0.07007039,
  0.13107091, 0.50363551, 0.49771741, 0.49620349, 0.50240496]

qacc:
[ -6.44051893, -0.16038325,  0.92590295, -4.4408835 ,  0.62232083,
   0.85346365, -1.96680501, -2.04478724,  0.2094338 ,  1.41131652,
  -0.67643854,-13.98512961, -0.8964724 ,  0.36452633,-14.44183273,
  43.55644375, -1.08319207, -2.00431437,  0.26236788,-16.48127316,
   1.92782888, 28.71432159]

qfrc_actuator:
[ 6.55327357e-05, 1.17527235e-05, 6.67406740e-05, 2.38124732e-04,
 -6.59762677e-06,-3.14321102e-04,-3.51706341e-04, 1.60989651e-04,
  2.97306711e-05,-7.49247083e-05,-1.68116452e-04, 8.87186990e-05,
  6.61446439e-02,-4.83031526e-04, 4.64194424e-02,-4.16393410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002780214944364673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99664962e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.99664962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11023192, -0.03410139,  0.06199206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77176162e-05,-5.72060385e-05,-3.06398836e-05,-1.60232697e-05,
  3.74213749e-06,-2.70175932e-05,-3.82344524e-05,-1.70731054e-05,
  1.45174920e-06,-1.41329228e-05,-6.82269893e-05,-5.09799520e-05,
 -4.47060193e-04,-8.90174166e-05,-2.51268992e-04, 1.37964669e-04,
 -1.32803969e-06, 5.67945750e-06,-1.21645404e+00,-4.72161668e-04,
  1.30953444e-05,-5.51966653e-04]


--- Step 265 ---
qpos:
[ 0.01201751,-0.00115537, 0.00240864, 0.04177045, 0.00457259,-0.00235546,
 -0.01809742, 0.02831586, 0.01310543, 0.00447977,-0.0101856 , 0.0263002 ,
  0.62330613,-0.00187722, 0.45531393, 0.06592086, 0.09413876,-0.07004673,
  0.13106901, 0.50378846, 0.49755703, 0.49622225, 0.50239195]

qacc:
[-4.08230315e+00, 1.92632484e+00,-7.82192588e+00, 1.15177689e+01,
  3.71689988e-01,-6.45500118e-01, 6.32378267e+00,-2.20716206e+01,
  8.75107090e-02, 3.06254591e+00,-1.26834423e+01, 2.15688187e+01,
 -1.09512680e+00, 1.18832707e+00,-1.43427770e+01, 4.47324415e+01,
 -1.05590350e+00,-1.95377654e+00, 1.40277903e-02,-1.61017931e+01,
  1.83166065e+00, 2.79667967e+01]

qfrc_actuator:
[ 4.28091752e-05, 7.53243151e-06, 3.48201356e-05, 2.45766602e-04,
 -4.42825007e-06,-3.11634846e-04,-3.74728291e-04, 1.13061763e-04,
  3.03421086e-05,-6.14207030e-05,-1.98549406e-04, 1.13550928e-04,
  6.60121634e-02,-4.98115066e-04, 4.63310919e-02,-3.97693625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029300146396363247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89456907e-13,  2.84185361e-13,  1.00000000e+00, -5.38408797e-26,
        1.00000000e+00, -2.84185361e-13, -1.00000000e+00,  0.00000000e+00,
        1.89456907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022875, -0.03410905,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38164796e-05,-4.32643454e-05,-4.80829511e-05, 3.81033577e-06,
  2.26893922e-06,-2.10492787e-05,-3.38942184e-05,-5.07460949e-05,
  6.49318973e-07,-1.06370003e-05,-4.35002216e-05, 2.08742430e-05,
 -4.56130872e-04,-8.35615234e-05,-1.87498957e-04, 1.62374137e-04,
 -1.99736778e-06, 4.10672474e-06,-1.21645031e+00,-4.70903165e-04,
  1.37812076e-05,-5.51332705e-04]


--- Step 266 ---
qpos:
[ 0.01201784,-0.00115569, 0.00240856, 0.04177427, 0.00457253,-0.0023556 ,
 -0.01809959, 0.02831906, 0.01310565, 0.00447903,-0.01018765, 0.02630299,
  0.62469407,-0.00187537, 0.45662911, 0.06592923, 0.0941159 ,-0.07003071,
  0.13106633, 0.50392789, 0.4974061 , 0.49619967, 0.50242387]

qacc:
[ -5.49289743,  0.0928952 , -0.94033192,  1.87802136,  0.24949719,
  -0.03167557, -2.75698362, 10.89128155, -3.01201078,  1.45851163,
  -7.80467959, 18.31895191, -1.22202349,  1.73814738, -4.95841783,
  13.4462167 , -1.03347235, -1.91133932, -0.19543345,-15.78663934,
   1.74730165, 27.34178292]

qfrc_actuator:
[ 1.13183107e-05, 5.13637953e-06, 3.38013317e-05, 2.48751958e-04,
 -3.11720828e-06,-3.45664994e-04,-3.69589475e-04, 1.37039985e-04,
  1.27240886e-05,-5.30817166e-05,-1.97838432e-04, 1.45054254e-04,
  6.58880796e-02,-5.07830219e-04, 4.62467845e-02,-3.94090257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54985964, -4.45777525, -0.91074835, -4.45777525,  5.67292734,
       -5.49699966, -0.91074835, -5.49699966, 31.45563329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000302835455016387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49913991e-13,  1.83304664e-13,  1.00000000e+00, -1.00801799e-25,
        1.00000000e+00, -1.83304664e-13, -1.00000000e+00,  0.00000000e+00,
        5.49913991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022673, -0.03411407,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21823270e-05,-3.63766381e-05,-1.57539310e-05,-4.65244486e-07,
  1.37189427e-06,-5.49675473e-05,-5.12340387e-06, 2.09138958e-05,
 -1.76061546e-05,-5.65530846e-06,-6.09547177e-06, 2.99496461e-05,
 -4.52984637e-04,-7.93766795e-05,-1.54705086e-04, 2.02018447e-05,
 -2.46627674e-06, 2.71788725e-06,-1.21644800e+00,-4.69912668e-04,
  1.35517927e-05,-5.50994699e-04]


--- Step 267 ---
qpos:
[ 0.01201814,-0.00115625, 0.00240873, 0.04177806, 0.00457213,-0.00235658,
 -0.01810125, 0.02832323, 0.01310565, 0.00447852,-0.0101901 , 0.02630613,
  0.6260796 ,-0.00187363, 0.4579422 , 0.06593472, 0.09408897,-0.0700222 ,
  0.13106216, 0.50405414, 0.49726443, 0.49613647, 0.50249987]

qacc:
[ -0.29836088, -1.0426501 ,  3.32889547, -3.89110388, -2.8478521 ,
  -0.52608205, -3.84354633, 20.48583738, -1.89170041,  2.12177785,
  -8.54458406, 14.87166604, -1.29889909,  2.11006981,  5.65520778,
 -24.2039672 , -1.01514129, -1.87577924, -0.37203839,-15.52658747,
   1.67213926, 26.82050511]

qfrc_actuator:
[ 1.04199149e-05, 3.97833496e-06, 5.10489810e-05, 2.48997514e-04,
 -2.00743544e-05,-4.01244861e-04,-3.47960341e-04, 1.85376243e-04,
  2.27068964e-06,-2.99980644e-05,-2.14282100e-04, 1.62480368e-04,
  6.57691220e-02,-5.14303427e-04, 4.61063472e-02,-4.10060753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56893098, -4.53476075, -0.55774121, -4.53476075,  4.95976765,
       -3.17772963, -0.55774121, -3.17772963, 30.40572297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030847623267211965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79952766e-13,  8.99763829e-14,  1.00000000e+00, -1.61914989e-26,
        1.00000000e+00, -8.99763829e-14, -1.00000000e+00,  0.00000000e+00,
        1.79952766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022564, -0.03411694,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82564644e-06,-2.47825675e-05, 7.77435483e-06,-1.87338376e-06,
 -1.69378629e-05,-8.64558556e-05, 1.03877599e-05, 4.62082912e-05,
 -1.09604977e-05, 1.99847584e-05,-1.72989876e-05, 1.75564920e-05,
 -4.44996173e-04,-7.55518010e-05,-2.14053340e-04,-1.79822519e-04,
 -2.75163041e-06, 1.49477374e-06,-1.21644700e+00,-4.69155817e-04,
  1.24711870e-05,-5.50938549e-04]


--- Step 268 ---
qpos:
[ 0.01201842,-0.00115705, 0.0024088 , 0.04178219, 0.00457223,-0.0023581 ,
 -0.01810271, 0.02832793, 0.01310588, 0.00447816,-0.01019243, 0.02630907,
  0.62746269,-0.00187194, 0.45925264, 0.06593729, 0.09405805,-0.07002107,
  0.13105591, 0.50416747, 0.49713187, 0.49603323, 0.50261924]

qacc:
[ -0.1155635 ,  0.65181418, -4.20062437, 10.39007249,  4.30573983,
  -0.17998062, -2.62603053, 11.8588983 ,  1.93146847, -0.51754425,
   2.92635928, -6.46308568, -1.38034253,  2.47622556,  4.94619181,
 -22.92225692, -1.00027637, -1.8460582 , -0.52087415,-15.31387541,
   1.6040648 , 26.3873291 ]

qfrc_actuator:
[ 9.78460801e-06,-1.40935488e-05, 4.34358061e-05, 2.65392458e-04,
  5.61015801e-06,-4.15940885e-04,-3.34623320e-04, 2.12125457e-04,
  1.38765802e-05,-1.60830562e-05,-2.05177768e-04, 1.53726226e-04,
  6.56426731e-02,-5.18814745e-04, 4.59642746e-02,-4.25015171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031072321442476847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.5730289e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.5730289e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022531, -0.03411807,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.95246107e-07,-3.03962832e-05,-1.18435781e-05, 1.55581771e-05,
  2.51688772e-05,-5.88761428e-05,-1.61994158e-06, 2.43001232e-05,
  1.12979175e-05, 2.23059648e-05, 1.17372212e-05,-8.15452662e-06,
 -4.46744381e-04,-7.21649034e-05,-2.63150916e-04,-1.87953487e-04,
 -2.86618703e-06, 4.23567581e-07,-1.21644723e+00,-4.68605322e-04,
  1.05880975e-05,-5.51152912e-04]


--- Step 269 ---
qpos:
[ 0.01201834,-0.00115783, 0.00240839, 0.04178649, 0.00457298,-0.00235963,
 -0.01810474, 0.02833221, 0.01310624, 0.00447806,-0.01019438, 0.02631152,
  0.62884338,-0.00187028, 0.46056033, 0.06593925, 0.09402317,-0.07002723,
  0.13104707, 0.50426814, 0.49700829, 0.49589041, 0.50278137]

qacc:
[ -3.1338472 ,  1.68165483, -6.62434333, 10.10708525,  5.69278521,
   0.68618212, -0.72424356, -5.60936166,  1.21298737, -1.74036937,
   8.81913861,-18.31985142, -1.34319114,  2.37985733, -2.23894008,
   1.98896646, -0.98834465, -1.82129201, -0.64625666,-15.14193506,
   1.54137022, 26.02916693]

qfrc_actuator:
[-8.45336143e-06,-6.72549257e-06, 2.11430362e-05, 2.73372526e-04,
  3.84405175e-05,-4.06079996e-04,-3.61660453e-04, 1.90472879e-04,
  2.06181548e-05, 1.00679371e-05,-1.81102817e-04, 1.29654554e-04,
  6.55224695e-02,-5.22172962e-04, 4.58586273e-02,-4.26813720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003102457839233852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57852736e-13,  1.78926368e-13,  1.00000000e+00, -6.40292902e-26,
        1.00000000e+00, -1.78926368e-13, -1.00000000e+00,  0.00000000e+00,
        3.57852736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022558, -0.03411781,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82668791e-05,-1.13918706e-05,-2.94927816e-05, 6.56326658e-06,
  3.35267593e-05,-2.22852579e-05,-3.85335386e-05,-2.37637691e-05,
  7.06728303e-06, 4.07378312e-05, 2.98706688e-05,-2.28693584e-05,
 -4.41422409e-04,-7.11010486e-05,-2.47699142e-04,-6.25715814e-05,
 -2.81947549e-06,-5.05992502e-07,-1.21644865e+00,-4.68239174e-04,
  7.93905400e-06,-5.51628560e-04]


--- Step 270 ---
qpos:
[ 0.01201805,-0.00115838, 0.00240784, 0.04179114, 0.00457343,-0.00236114,
 -0.01810711, 0.02833549, 0.01310703, 0.00447823,-0.01019606, 0.026314  ,
  0.6302217 ,-0.00186865, 0.46186512, 0.06593767, 0.09398437,-0.07004059,
  0.13103522, 0.50435633, 0.49689356, 0.49570837, 0.50298577]

qacc:
[ -1.92604133,  1.45445956, -6.23023661, 12.43967822, -2.6590585 ,
  -1.07170399,  8.104445  ,-24.94627464,  3.72638963, -0.34054337,
   1.54436708, -1.4498996 , -1.35900905,  2.47368234,  6.48403681,
 -28.80904008, -0.97889654, -1.80072556, -0.75185952,-15.00518468,
   1.48266727, 25.73501554]

qfrc_actuator:
[-1.91533898e-05, 3.35038235e-05, 2.59667409e-05, 2.94101043e-04,
  2.19426454e-05,-3.99540462e-04,-3.76730798e-04, 1.40516347e-04,
  4.21883524e-05, 2.56456419e-05,-1.66097891e-04, 1.32289407e-04,
  6.54060986e-02,-5.24830841e-04, 4.56897276e-02,-4.45688278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003076030218147896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.02318041e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.02318041e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022633, -0.03411645,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12207035e-05, 2.80653870e-05,-9.29573467e-07, 1.93416435e-05,
 -1.55468174e-05,-1.48183577e-05,-2.52114719e-05,-5.27103692e-05,
  2.17831127e-05, 4.35733443e-05, 2.63264782e-05, 4.96804113e-06,
 -4.33448524e-04,-6.97738833e-05,-2.90062381e-04,-2.24392495e-04,
 -2.61845959e-06,-1.30122264e-06,-1.21645119e+00,-4.68039289e-04,
  4.55089312e-06,-5.52357896e-04]


--- Step 271 ---
qpos:
[ 0.01201763,-0.00115871, 0.00240758, 0.04179631, 0.00457368,-0.00236211,
 -0.01810968, 0.02833806, 0.01310807, 0.00447844,-0.01019712, 0.02631616,
  0.63159764,-0.00186701, 0.46316656, 0.06593642, 0.09394169,-0.07006108,
  0.13102002, 0.50443221, 0.4967876 , 0.4954874 , 0.50323203]

qacc:
[ -1.10302612,  0.56656498, -3.82302877, 12.32641631, -1.78095071,
  -0.18740048,  4.69846114,-16.98766372,  2.24141339, -2.3535903 ,
   9.83389825,-16.49176046, -1.3611622 ,  2.52005212, -5.93382539,
  13.64040824, -0.97155186, -1.78371296, -0.84081652,-14.89886574,
   1.426824  , 25.49559415]

qfrc_actuator:
[-2.53253731e-05, 5.77194141e-05, 4.69211476e-05, 3.22218060e-04,
  1.20460348e-05,-3.24012301e-04,-3.66864325e-04, 1.09834123e-04,
  5.45623167e-05, 1.70089485e-05,-1.38837773e-04, 1.15098591e-04,
  6.52814581e-02,-5.27056394e-04, 4.55575483e-02,-4.42534457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003032604607449002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66095541e-13,  9.15238853e-14,  1.00000000e+00, -3.35064863e-26,
        1.00000000e+00, -9.15238853e-14, -1.00000000e+00,  0.00000000e+00,
        3.66095541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022745, -0.03411423,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48078056e-06, 4.05594347e-05, 2.73095433e-05, 2.96563286e-05,
 -1.03420137e-05, 5.98454283e-05, 1.91515792e-06,-3.32134318e-05,
  1.30061033e-05, 2.13987519e-05, 3.96873613e-05,-1.43188348e-05,
 -4.36232559e-04,-6.81277291e-05,-2.89423302e-04,-1.82437328e-05,
 -2.26804523e-06,-1.96696267e-06,-1.21645483e+00,-4.67990477e-04,
  4.42700167e-07,-5.53334582e-04]


--- Step 272 ---
qpos:
[ 0.01201714,-0.00115874, 0.0024076 , 0.04180108, 0.00457415,-0.00236254,
 -0.01811193, 0.02834055, 0.01310924, 0.00447829,-0.01019787, 0.02631782,
  0.63297111,-0.00186533, 0.46446527, 0.06593831, 0.09389515,-0.07008866,
  0.13100114, 0.50449591, 0.4966903 , 0.49522768, 0.50351978]

qacc:
[ -0.61966782, -1.19776769,  6.55087953,-14.19562598,  1.96552341,
  -0.33354501,  2.5382151 , -4.77155088,  1.25462706, -2.35622254,
   9.81621122,-18.63111161, -1.4181331 ,  2.69308605,-13.48630293,
  41.4151554 , -0.9659885 , -1.7697012 , -0.91580465,-14.81891265,
   1.37291462, 25.30305563]

qfrc_actuator:
[-2.87852909e-05, 7.22482493e-05, 5.94231255e-05, 3.01195889e-04,
  2.38829802e-05,-2.78638440e-04,-3.42051759e-04, 1.08570952e-04,
  6.14197419e-05,-4.15359395e-05,-1.40180353e-04, 8.63640984e-05,
  6.51466173e-02,-5.29052700e-04, 4.54848281e-02,-4.24634995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002976043468648909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73053363e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.73053363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11022887, -0.03411134,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63217378e-06, 4.41239471e-05, 2.52655262e-05,-1.77722507e-05,
  1.15641496e-05, 7.78672803e-05, 3.62965973e-05, 7.23971059e-07,
  7.23340706e-06,-3.89863493e-05, 7.47624166e-06,-2.67261598e-05,
 -4.47886041e-04,-6.84061242e-05,-2.05731502e-04, 1.41020726e-04,
 -1.77146985e-06,-2.50593779e-06,-1.21645954e+00,-4.68079659e-04,
 -4.37266386e-06,-5.54553245e-04]


--- Step 273 ---
qpos:
[ 0.01201661,-0.00115863, 0.00240789, 0.0418049 , 0.00457476,-0.00236331,
 -0.01811321, 0.02834377, 0.0131105 , 0.00447794,-0.01019837, 0.02631911,
  0.63434208,-0.00186331, 0.46576144, 0.06594295, 0.09384476,-0.07012326,
  0.13097836, 0.50454755, 0.49660159, 0.49492935, 0.50384876]

qacc:
[ -0.32444489, -2.58296448, 13.5214183 ,-30.67007978,  1.25306617,
  -1.66350596,  2.1968448 ,  9.07118662,  0.6537945 , -1.7539815 ,
   7.43116695,-14.1229633 , -1.76732273,  4.27592633,-11.93069802,
  36.45886412, -0.9619332 , -1.75821664, -0.97911219,-14.76184698,
   1.32017958, 25.15075362]

qfrc_actuator:
[-3.06227889e-05, 6.30441598e-05, 6.67550613e-05, 2.51410781e-04,
  3.06624244e-05,-3.40327219e-04,-3.08700279e-04, 1.42367113e-04,
  6.49779914e-05,-4.08887325e-05,-1.23119462e-04, 6.87559473e-05,
  6.50217267e-02,-5.13199637e-04, 4.53732873e-02,-4.10609364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029095379697519075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90790262e-13,  1.90790262e-13,  1.00000000e+00, -3.64009242e-26,
        1.00000000e+00, -1.90790262e-13, -1.00000000e+00,  0.00000000e+00,
        1.90790262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1102305 , -0.03410795,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92656289e-06, 1.99182274e-05, 1.89332005e-05,-4.73768856e-05,
  7.13497176e-06,-1.05769344e-05, 5.39567367e-05, 3.84031101e-05,
  3.75006834e-06,-2.07386269e-05, 9.01153640e-06,-1.95421190e-05,
 -4.45553919e-04,-5.26393031e-05,-1.91981479e-04, 1.21073824e-04,
 -1.13060260e-06,-2.91903831e-06,-1.21646531e+00,-4.68295256e-04,
 -9.88735555e-06,-5.56009241e-04]


--- Step 274 ---
qpos:
[ 0.01201607,-0.00115866, 0.00240837, 0.04180916, 0.00457544,-0.00236432,
 -0.01811401, 0.02834739, 0.01311178, 0.00447802,-0.01019924, 0.02632049,
  0.63571066,-0.00186111, 0.46705487, 0.06594927, 0.09379134,-0.07015267,
  0.1309614 , 0.50462719, 0.49648747, 0.49463928, 0.50416621]

qacc:
[ -0.1471369 ,  0.22759222, -3.01079736, 10.68225466,  0.69090002,
  -0.84139075,  0.87682749,  5.41460462,  0.26677527,  1.80547783,
  -5.99326286,  7.79909227, -1.5443843 ,  3.37808669, -9.12340896,
  26.12524387, -0.75711977,  1.30012182,  1.45800199, -8.43715845,
  -1.30334007,-18.30078977]

qfrc_actuator:
[-3.14917642e-05, 3.96422485e-05, 7.08663001e-05, 2.73848040e-04,
  3.44030927e-05,-3.59067177e-04,-2.88752806e-04, 1.60922173e-04,
  6.65682174e-05, 1.30186609e-05,-1.30592585e-04, 7.56504030e-05,
  6.49082241e-02,-5.04695882e-04, 4.52278820e-02,-4.02543559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031457057824757495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51457637e-15, -1.76466444e-13,  1.00000000e+00,  9.73137680e-28,
        1.00000000e+00,  1.76466444e-13, -1.00000000e+00,  0.00000000e+00,
        5.51457637e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208708, -0.09006241,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17016231e-07,-1.03973563e-05, 8.90555795e-06, 2.30142429e-05,
  3.93671306e-06,-1.18251798e-05, 2.57547823e-05, 2.07132568e-05,
  1.68863261e-06, 4.33549884e-05,-1.13150774e-05, 5.93628643e-06,
 -4.30156786e-04,-5.86107645e-05,-2.22616335e-04, 6.19252592e-05,
 -3.46176400e-07,-3.20553592e-06,-1.21647212e+00,-4.68626721e-04,
 -1.60975925e-05,-5.57698476e-04]


--- Step 275 ---
qpos:
[ 0.01201552,-0.00115897, 0.00240869, 0.04181405, 0.00457617,-0.00236463,
 -0.01811522, 0.02835114, 0.01311342, 0.00447909,-0.01020136, 0.02632192,
  0.63707697,-0.00185943, 0.46834585, 0.06595612, 0.09373504,-0.07017705,
  0.13094895, 0.50473415, 0.49634822, 0.49435708, 0.50447295]

qacc:
[ -0.053219  ,  1.35989017, -7.97273788, 19.14015832,  0.31660275,
   2.3243577 , -7.53690514, 10.04228337,  3.05630111,  4.88806655,
 -15.78219734, 18.04190262, -0.72133544, -0.36446114, -5.1748462 ,
  12.86678183, -0.7193158 ,  1.25647864,  1.12698626, -8.48342727,
  -1.09639234,-17.76328677]

qfrc_actuator:
[-3.17844654e-05, 7.95260252e-06, 5.52788004e-05, 3.03083828e-04,
  3.63271536e-05,-2.81008356e-04,-2.94508536e-04, 1.70368962e-04,
  8.47415587e-05, 8.05836745e-05,-1.87755393e-04, 7.91836865e-05,
  6.47856567e-02,-5.36086960e-04, 4.51155272e-02,-3.99833945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65825899, -0.16307291, -4.65540375, -0.16307291, 36.65227487,
       -1.12070995, -4.65540375, -1.12070995,  4.69751605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003331163132142684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66641948e-13, -1.66641948e-13,  1.00000000e+00,  2.77695387e-26,
        1.00000000e+00,  1.66641948e-13, -1.00000000e+00,  0.00000000e+00,
        1.66641948e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208796, -0.09005742,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24936419e-07,-3.46907278e-05,-1.58561767e-05, 2.95360836e-05,
  2.03032009e-06, 7.76928617e-05,-4.29609529e-06, 1.02300582e-05,
  1.82362780e-05, 8.97355465e-05,-4.93880539e-05, 5.11413893e-06,
 -4.29426130e-04,-9.67934356e-05,-2.08887747e-04, 1.43661939e-06,
 -1.84727469e-06,-3.52045827e-06,-1.21647173e+00,-4.66125142e-04,
 -1.26306599e-05,-5.58027885e-04]


--- Step 276 ---
qpos:
[ 0.01201497,-0.0011593 , 0.00240851, 0.04181855, 0.00457656,-0.00236423,
 -0.01811658, 0.02835531, 0.01311526, 0.00448103,-0.0102039 , 0.026323  ,
  0.63844092,-0.00185807, 0.46963505, 0.06596273, 0.09367598,-0.07019655,
  0.13093989, 0.50486784, 0.49618409, 0.49408245, 0.5047696 ]

qacc:
[-1.03008892e-02, 5.94430573e-01,-5.65897074e-01,-5.22375529e+00,
 -2.88766150e+00, 2.22654048e+00,-8.28596781e+00, 1.50706951e+01,
  1.77549864e+00, 1.63806502e+00,-2.65190398e+00,-3.46918411e+00,
 -1.02581522e+00, 8.85630533e-01,-1.90551514e+00, 2.90976531e+00,
 -6.89378811e-01, 1.21990189e+00, 8.47429498e-01,-8.51439968e+00,
 -9.24838987e-01,-1.73107604e+01]

qfrc_actuator:
[-3.17359738e-05, 6.97230964e-06, 2.81371693e-05, 2.82793360e-04,
  1.94156727e-05,-2.34464391e-04,-2.97238487e-04, 1.92205528e-04,
  9.47779399e-05, 1.37854321e-04,-2.02710130e-04, 6.29423138e-05,
  6.46577261e-02,-5.55279588e-04, 4.50550295e-02,-4.00288438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70662076,  0.30102376,  4.69698453,  0.30102376,  9.53342317,
       -0.30934363,  4.69698453, -0.30934363,  4.7264462 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003453939852692961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00897937e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00897937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208894, -0.09005418,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62279704e-08,-2.23914809e-05,-3.52488739e-05,-2.17612051e-05,
 -1.68267073e-05, 8.95584447e-05, 1.31518403e-05, 2.52114555e-05,
  1.05891010e-05, 9.74631400e-05,-2.31495663e-06,-1.40064625e-05,
 -4.39750100e-04,-8.76284833e-05,-1.58419685e-04,-3.20383193e-05,
 -3.36755268e-06,-3.63931812e-06,-1.21647192e+00,-4.63783639e-04,
 -8.95990444e-06,-5.58262454e-04]


--- Step 277 ---
qpos:
[ 0.01201442,-0.00115922, 0.00240776, 0.04182238, 0.00457641,-0.00236326,
 -0.01811815, 0.02835903, 0.01311721, 0.00448297,-0.01020602, 0.02632462,
  0.6398023 ,-0.00185592, 0.47092199, 0.06596863, 0.09361727,-0.07021146,
  0.13093558, 0.5050151 , 0.4960066 , 0.49382617, 0.50504744]

qacc:
[ 1.41961659e-02, 7.15768397e-01, 1.11322846e+00,-1.22707235e+01,
 -4.84211724e+00, 4.40229198e-01, 1.38834818e+00,-9.08849696e+00,
  9.54180909e-01,-1.07000756e-01,-1.93211126e+00, 1.06389832e+01,
 -2.36895156e+00, 6.88359104e+00,-1.08039248e+00,-8.93285947e-01,
  8.50086138e-02, 1.14690171e+00, 1.18675547e+00, 2.54260871e+00,
 -1.53977746e-02,-1.60300187e+01]

qfrc_actuator:
[-3.14870220e-05, 5.97966488e-05, 1.22331663e-05, 2.51294898e-04,
 -8.44625815e-06,-2.24879355e-04,-3.15990828e-04, 1.67891727e-04,
  9.99392946e-05, 9.98988418e-05,-1.92650690e-04, 8.84851883e-05,
  6.45319937e-02,-5.13890975e-04, 4.49298089e-02,-4.04362579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035767689938956404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87997878e-14,  7.75995757e-14,  1.00000000e+00, -3.01084707e-27,
        1.00000000e+00, -7.75995757e-14, -1.00000000e+00,  0.00000000e+00,
        3.87997878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144058, -0.0881028 ,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44592319e-07, 3.20956526e-05,-2.56267738e-05,-3.41097004e-05,
 -2.83122111e-05, 6.34490826e-05, 2.24127751e-06,-1.95365038e-05,
  5.50067883e-06, 1.54344430e-05, 2.94280330e-05, 2.93657583e-05,
 -4.43213067e-04,-2.81006600e-05,-2.06559429e-04,-6.42831652e-05,
 -4.91747028e-06,-3.57412252e-06,-1.21647264e+00,-4.61559650e-04,
 -5.07606317e-06,-5.58400884e-04]


--- Step 278 ---
qpos:
[ 0.01201457,-0.00115881, 0.00240704, 0.04182611, 0.00457593,-0.00236202,
 -0.01812007, 0.02836249, 0.01311921, 0.00448459,-0.0102078 , 0.02632693,
  0.64116131,-0.00185391, 0.47220614, 0.06597566, 0.0935589 ,-0.07022192,
  0.13093493, 0.50517572, 0.49581579, 0.49358775, 0.50530717]

qacc:
[  6.12104935,  0.17737407,  0.37162367, -2.22280378, -2.93144441,
   0.80151264, -1.17935276, -3.15907636,  0.43139125,  0.06190903,
  -3.71622127, 15.27649201, -1.19548345,  1.71888671, -7.5143516 ,
  20.38261625,  0.08785998,  1.11265695,  0.91456179,  2.30622401,
   0.08433484,-15.66006436]

qfrc_actuator:
[ 4.38336167e-06, 9.12079450e-05, 2.10764199e-05, 2.49025679e-04,
 -2.47717940e-05,-2.37608493e-04,-3.44241369e-04, 1.52077176e-04,
  1.02191848e-04, 5.86047289e-05,-1.86027484e-04, 1.20589722e-04,
  6.44076828e-02,-5.25897389e-04, 4.48031434e-02,-3.98122946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036763251584792656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13247228e-13,  1.50996304e-13,  1.00000000e+00, -1.70999129e-26,
        1.00000000e+00, -1.50996304e-13, -1.00000000e+00,  0.00000000e+00,
        1.13247228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144231, -0.08810088,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58907590e-05, 4.26036088e-05, 1.11363402e-05,-2.45174179e-06,
 -1.71102304e-05, 2.23421411e-05,-1.55449665e-05,-1.34039037e-05,
  2.41610400e-06,-2.53667843e-05, 1.44524450e-05, 3.43526474e-05,
 -4.35761350e-04,-7.74157773e-05,-2.31523391e-04, 3.13847311e-05,
 -5.65101710e-06,-3.26272894e-06,-1.21647076e+00,-4.59617362e-04,
 -5.22635748e-07,-5.58481428e-04]


--- Step 279 ---
qpos:
[ 0.01201584,-0.00115827, 0.00240644, 0.04183084, 0.00457525,-0.00236108,
 -0.01812176, 0.02836541, 0.01312122, 0.00448583,-0.01020909, 0.02632926,
  0.64251798,-0.00185233, 0.47348792, 0.06598196, 0.09350089,-0.07022805,
  0.13093701, 0.50534949, 0.4956117 , 0.49336676, 0.50554938]

qacc:
[  9.83416627,  1.84545165,-10.58265158, 27.58825485, -1.66844914,
  -2.13808111,  9.27915669,-18.5729729 ,  0.12478496, -1.85597223,
   5.77741268, -5.91290798, -0.87501722,  0.23455514, -1.28433035,
  -0.55834985,  0.08914876,  1.08429566,  0.68534909,  2.10914973,
   0.16855619,-15.34876166]

qfrc_actuator:
[ 6.09321885e-05, 9.19381791e-05, 2.66593383e-05, 2.99484323e-04,
 -3.41731995e-05,-2.81411330e-04,-3.42455516e-04, 1.23617361e-04,
  1.02716050e-04, 3.33664367e-05,-1.63788669e-04, 1.20765942e-04,
  6.42843001e-02,-5.51577243e-04, 4.46917167e-02,-4.01829634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82428279,  1.32058423,  4.64001743,  1.32058423, 11.52551529,
       -1.90722171,  4.64001743, -1.90722171,  5.36709259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003727296147428977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11698566e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11698566e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914436 , -0.0881001 ,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.75831018e-05, 2.67469539e-05, 1.56635900e-05, 5.26123000e-05,
 -9.88046489e-06,-3.51306760e-05, 4.02303537e-06,-2.83065646e-05,
  5.85757341e-07,-3.50019679e-05, 1.99663989e-05, 2.53266321e-07,
 -4.36754834e-04,-9.40110681e-05,-2.15207024e-04,-6.55139550e-05,
 -6.35878053e-06,-2.88017070e-06,-1.21646928e+00,-4.57739429e-04,
  3.81447932e-06,-5.58502840e-04]


--- Step 280 ---
qpos:
[ 0.01201812,-0.00115776, 0.00240606, 0.04183546, 0.00457481,-0.00236064,
 -0.01812326, 0.02836731, 0.01312288, 0.00448658,-0.01021004, 0.02633194,
  0.64387225,-0.0018507 , 0.47476786, 0.06598171, 0.09344324,-0.07022993,
  0.13094107, 0.50553626, 0.49539436, 0.49316285, 0.50577458]

qacc:
[  8.91133747, -0.87827889,  3.51819473, -5.71052872,  2.09593332,
  -3.31537296, 15.20099879,-32.90383183, -3.0967664 , -0.86447121,
   0.69103436,  5.18251659, -1.56369123,  3.17443272, 17.05971231,
 -63.55991249,  0.08925475,  1.06090217,  0.49276235,  1.94328559,
   0.24077513,-15.088062  ]

qfrc_actuator:
[ 1.11434943e-04, 7.43330292e-05, 3.01708341e-05, 2.91763112e-04,
 -2.16753212e-05,-3.25640075e-04,-3.40849099e-04, 7.01827900e-05,
  8.44672679e-05, 2.12607543e-07,-1.50227005e-04, 1.37680542e-04,
  6.41615557e-02,-5.49601917e-04, 4.45681928e-02,-4.36216725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82970263,  1.16904484,  4.6860817 ,  1.16904484, 15.82078549,
       -2.7419643 ,  4.6860817 , -2.7419643 ,  5.51374517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003739124665729787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71150712e-14,  7.42301423e-14,  1.00000000e+00,  2.75505702e-27,
        1.00000000e+00, -7.42301423e-14, -1.00000000e+00,  0.00000000e+00,
       -3.71150712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144454, -0.08810024,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.21454127e-05, 2.83440857e-06, 1.27723445e-05,-5.02233112e-06,
  1.22048104e-05,-6.42801418e-05,-6.13115677e-06,-5.53562537e-05,
 -1.82421249e-05,-4.86201439e-05, 8.79709766e-06, 1.61056953e-05,
 -4.39210440e-04,-6.79780538e-05,-2.31924411e-04,-3.75931858e-04,
 -7.04607043e-06,-2.42629807e-06,-1.21646819e+00,-4.55909136e-04,
  7.96551477e-06,-5.58460024e-04]


--- Step 281 ---
qpos:
[ 0.01202065,-0.00115757, 0.00240652, 0.04183892, 0.00457487,-0.00236062,
 -0.01812448, 0.02836888, 0.01312361, 0.00448708,-0.01021089, 0.02633513,
  0.64522419,-0.00184937, 0.47604527, 0.06598025, 0.09338747,-0.07022752,
  0.13094721, 0.50573022, 0.49516892, 0.49298196, 0.50597773]

qacc:
[ 2.16885767e+00,-5.18438267e+00, 2.27714437e+01,-4.40586110e+01,
  4.38023761e+00,-1.98501997e+00, 7.61851957e+00,-1.33221820e+01,
 -8.10202778e+00, 4.81300977e-01,-4.36247128e+00, 1.33102939e+01,
 -1.04215296e+00, 1.01152602e+00,-1.18807047e-02,-5.33352032e+00,
  4.69721022e-01, 1.07336517e+00, 5.18485727e-01, 7.43491459e+00,
  6.36062209e-01,-1.50862795e+01]

qfrc_actuator:
[ 1.22462827e-04, 4.58258506e-05, 6.78056451e-05, 2.32089906e-04,
  3.60954732e-06,-3.34306294e-04,-3.21652902e-04, 5.57308149e-05,
  3.75631651e-05,-1.94139915e-06,-1.41918865e-04, 1.64299445e-04,
  6.40446119e-02,-5.66850798e-04, 4.44853806e-02,-4.40469250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003746591665430288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96328803e-13,  1.52794539e-13,  1.00000000e+00, -4.52774229e-26,
        1.00000000e+00, -1.52794539e-13, -1.00000000e+00,  0.00000000e+00,
        2.96328803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596303, -0.08814431,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25098906e-05,-2.45125873e-05, 3.96032593e-05,-5.92208498e-05,
  2.56131109e-05,-4.82488701e-05, 3.25584280e-06,-1.84985981e-05,
 -4.74384329e-05,-2.68586665e-05,-9.54831556e-08, 2.51486785e-05,
 -4.31668091e-04,-8.55486073e-05,-2.34232187e-04,-9.42113479e-05,
 -7.71713543e-06,-1.90098456e-06,-1.21646744e+00,-4.54113283e-04,
  1.19550521e-05,-5.58349181e-04]


--- Step 282 ---
qpos:
[ 0.0120226 ,-0.00115752, 0.00240736, 0.04184198, 0.00457523,-0.00236058,
 -0.0181257 , 0.02837058, 0.01312412, 0.00448794,-0.01021186, 0.02633752,
  0.6465737 ,-0.00184786, 0.47731996, 0.06598149, 0.09333355,-0.0702209 ,
  0.13095472, 0.50593132, 0.49493535, 0.49282372, 0.50615935]

qacc:
[ -5.05663571, -2.05159157,  8.73510123,-16.04652307,  2.65036579,
   0.23705782, -1.32606268,  3.38284895, -1.97735538, -0.84346341,
   7.12929823,-21.20667702, -1.54465329,  3.26176358,-12.15379173,
  36.7861942 ,  0.46160347,  1.05209199,  0.34606714,  7.21413442,
   0.69284788,-14.86527982]

qfrc_actuator:
[ 9.24178576e-05, 4.65974694e-05, 8.97018877e-05, 2.13357953e-04,
  1.84585222e-05,-3.03755634e-04,-3.09806899e-04, 6.43763080e-05,
  2.74328999e-05, 4.99801736e-05,-1.36648298e-04, 1.25425021e-04,
  6.39205756e-02,-5.59808696e-04, 4.43951686e-02,-4.25135885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.8295654 ,  1.98997448,  4.40053446,  1.98997448, 17.65145424,
       -5.79821198,  4.40053446, -5.79821198,  7.45158643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003738825926417888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48472147e-13,  4.63975459e-15,  1.00000000e+00,  6.88874325e-28,
        1.00000000e+00, -4.63975459e-15, -1.00000000e+00,  0.00000000e+00,
       -1.48472147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596352, -0.08814504,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96985012e-05,-7.31603043e-06, 1.96432045e-05,-1.95747833e-05,
  1.55633475e-05, 3.46874178e-06, 1.65057884e-06, 6.32851778e-06,
 -1.14871528e-05, 3.79306954e-05, 5.80661000e-07,-3.95435224e-05,
 -4.35725447e-04,-6.17686327e-05,-2.09727766e-04, 1.17433968e-04,
 -7.95716470e-06,-1.30056870e-06,-1.21646555e+00,-4.52363002e-04,
  1.58092435e-05,-5.58160385e-04]


--- Step 283 ---
qpos:
[ 0.01202417,-0.0011571 , 0.002408  , 0.04184442, 0.00457611,-0.00236038,
 -0.01812683, 0.028372  , 0.01312485, 0.00448911,-0.01021273, 0.02633838,
  0.64792072,-0.0018459 , 0.47859201, 0.06598355, 0.09328144,-0.07021014,
  0.13096305, 0.50613951, 0.49469359, 0.49268781, 0.50631984]

qacc:
[ -3.31282344, -0.19859442,  3.99679336,-14.57392932,  4.55902681,
  -0.58420281,  3.54894548, -8.59266678,  1.92569067, -3.01244889,
  17.78276238,-44.61707115, -1.93705321,  4.92689057, -6.29776614,
  16.52784105,  0.45421711,  1.03481199,  0.20195923,  7.02731425,
   0.74284329,-14.68250435]

qfrc_actuator:
[ 7.39574019e-05, 8.26202340e-05, 8.45161956e-05, 1.83376061e-04,
  4.47950065e-05,-2.85452221e-04,-3.02219718e-04, 5.10608241e-05,
  3.90374876e-05, 6.28160330e-05,-1.33026005e-04, 4.83727380e-05,
  6.37923767e-02,-5.38531195e-04, 4.42580195e-02,-4.21473906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037039014120075764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49872108e-13,  1.54555611e-13,  1.00000000e+00, -2.31635753e-26,
        1.00000000e+00, -1.54555611e-13, -1.00000000e+00,  0.00000000e+00,
        1.49872108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596362, -0.08814637,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93095215e-05, 3.51151809e-05,-4.97305448e-06,-3.00047025e-05,
  2.67812838e-05, 2.08696951e-05, 8.73531156e-06,-1.29883704e-05,
  1.12952889e-05, 3.24446581e-05, 1.01575803e-05,-7.61807844e-05,
 -4.38839346e-04,-4.65115137e-05,-2.22130980e-04, 1.56012963e-05,
 -8.18274387e-06,-6.55354132e-07,-1.21646408e+00,-4.50640439e-04,
  1.93321420e-05,-5.57897458e-04]


--- Step 284 ---
qpos:
[ 0.01202586,-0.0011565 , 0.0024086 , 0.0418465 , 0.00457695,-0.00235993,
 -0.0181282 , 0.02837325, 0.01312502, 0.00448983,-0.01021328, 0.02633943,
  0.64926536,-0.00184369, 0.47986142, 0.06598469, 0.09323112,-0.07019529,
  0.1309717 , 0.50635477, 0.49444359, 0.49257395, 0.50645955]

qacc:
[  0.97328586, -0.42368455,  3.42833978, -9.90639899, -0.327124  ,
   0.64114293, -1.12953828, -1.4719646 , -4.8738984 , -1.1090509 ,
   2.30393796,  0.76296019, -1.67497456,  3.84627044, -1.0772068 ,
  -1.77093983,  0.44751765,  1.02089824,  0.08192346,  6.86857533,
   0.78763725,-14.53297107]

qfrc_actuator:
[ 8.02295512e-05, 8.61026296e-05, 8.12784412e-05, 1.64777179e-04,
  4.21799572e-05,-2.74645066e-04,-3.15010295e-04, 4.26720108e-05,
  1.00717781e-05,-1.14713090e-06,-1.30560995e-04, 5.59732829e-05,
  6.36777506e-02,-5.26822753e-04, 4.41194270e-02,-4.26509254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003647802567455505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.56530886e-13,  4.27997705e-14,  1.00000000e+00, -1.95394171e-26,
        1.00000000e+00, -4.27997705e-14, -1.00000000e+00,  0.00000000e+00,
        4.56530886e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596341, -0.08814819,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.73408447e-06, 2.07667739e-05, 2.34651449e-06,-1.78578779e-05,
 -1.84368492e-06, 2.37374250e-05,-7.84648530e-06,-7.44714478e-06,
 -2.86277192e-05,-4.70142895e-05, 7.77697652e-06, 7.85689108e-06,
 -4.25299536e-04,-5.54346756e-05,-2.40543007e-04,-7.86277123e-05,
 -8.39507893e-06, 3.67311324e-08,-1.21646299e+00,-4.48937852e-04,
  2.25470065e-05,-5.57557227e-04]


--- Step 285 ---
qpos:
[ 0.01202795,-0.00115588, 0.00240893, 0.04184872, 0.00457741,-0.00235934,
 -0.01812972, 0.0283751 , 0.01312519, 0.00449024,-0.01021409, 0.02634092,
  0.65060775,-0.00184166, 0.48112834, 0.06598545, 0.09318257,-0.07017641,
  0.13098028, 0.50657709, 0.49418531, 0.49248194, 0.50657879]

qacc:
[ 3.56788431e+00, 1.05686798e+00,-4.35405629e+00, 7.27715878e+00,
 -3.35943282e+00, 1.82698887e+00,-8.71747364e+00, 1.90306331e+01,
 -3.25325878e-02, 1.24865578e+00,-6.95703992e+00, 1.54201787e+01,
 -1.10875894e+00, 1.44333251e+00,-2.49848425e+00, 3.44812698e+00,
  4.41453424e-01, 1.00982397e+00,-1.76810545e-02, 6.73311712e+00,
  8.28451866e-01,-1.44123550e+01]

qfrc_actuator:
[ 1.01004716e-04, 7.00857351e-05, 6.13621779e-05, 1.70761308e-04,
  2.25421067e-05,-2.68488438e-04,-3.21998799e-04, 7.27382516e-05,
  1.07092554e-05,-2.17878460e-05,-1.46810044e-04, 7.77540165e-05,
  6.35660223e-02,-5.38587901e-04, 4.40173440e-02,-4.27745941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003575508634182517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65761576e-13,  2.76545936e-13,  1.00000000e+00, -1.28804471e-25,
        1.00000000e+00, -2.76545936e-13, -1.00000000e+00,  0.00000000e+00,
        4.65761576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596298, -0.08815037,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09432587e-05,-4.72113841e-06,-1.59761821e-05, 6.59951735e-06,
 -1.96815274e-05, 1.74870305e-05,-3.30160402e-06, 3.06664106e-05,
 -1.91010526e-07,-4.50195951e-05,-2.47336838e-05, 2.01864779e-05,
 -4.14379401e-04,-7.76796447e-05,-2.22450330e-04,-4.81362757e-05,
 -8.59514937e-06, 7.77467381e-07,-1.21646227e+00,-4.47248709e-04,
  2.54727069e-05,-5.57137186e-04]


--- Step 286 ---
qpos:
[ 0.01202993,-0.00115527, 0.00240876, 0.04185102, 0.00457764,-0.00235895,
 -0.0181306 , 0.02837728, 0.01312571, 0.00449069,-0.01021469, 0.02634225,
  0.65194779,-0.00183941, 0.48239303, 0.06598528, 0.09313576,-0.07015352,
  0.13098847, 0.50680645, 0.49391868, 0.49241159, 0.50667779]

qacc:
[ -1.00148678,  1.56241991, -5.89078204,  7.98771747, -2.06936554,
  -1.36023578,  3.05881937,  1.85339074,  3.09136101, -0.90317171,
   4.0432855 , -7.45153422, -1.63193012,  3.67781002, -0.44295179,
  -3.1200192 ,  0.43596942,  1.00114603, -0.0999838 ,  6.61701136,
   0.86622361,-14.31689994]

qfrc_actuator:
[ 9.46362075e-05, 6.02165063e-05, 3.16846580e-05, 1.73376300e-04,
  1.08041095e-05,-2.82867569e-04,-2.89987723e-04, 8.96870123e-05,
  2.87784775e-05, 1.91102970e-05,-1.20572817e-04, 7.21994072e-05,
  6.34454551e-02,-5.28595771e-04, 4.39212714e-02,-4.32045827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000349114437225323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59005602e-13,  1.63974527e-13,  1.00000000e+00, -2.60728684e-26,
        1.00000000e+00, -1.63974527e-13, -1.00000000e+00,  0.00000000e+00,
        1.59005602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596238, -0.08815283,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77672259e-06,-1.55572740e-05,-3.24111440e-05, 1.98005922e-06,
 -1.22944221e-05,-3.98272358e-06, 3.62850735e-05, 1.81795252e-05,
  1.80489900e-05, 1.14708494e-05, 1.45913882e-05,-7.94924239e-06,
 -4.18708238e-04,-5.62607339e-05,-2.05449415e-04,-7.49102444e-05,
 -8.78376804e-06, 1.56842022e-06,-1.21646191e+00,-4.45567356e-04,
  2.81245684e-05,-5.56635306e-04]


--- Step 287 ---
qpos:
[ 0.01203147,-0.00115492, 0.00240885, 0.041854  , 0.00457737,-0.00235855,
 -0.01813115, 0.02837998, 0.01312645, 0.0044911 ,-0.01021472, 0.02634417,
  0.65328543,-0.00183666, 0.48365534, 0.06598161, 0.09309068,-0.07012666,
  0.13099598, 0.50704285, 0.49364365, 0.49236276, 0.50675675]

qacc:
[ -3.82213804,  0.35132314, -4.63416678, 16.24815478, -4.26389247,
   0.1858726 , -2.84366225, 11.38746241,  1.88940009, -0.42234115,
  -1.1187946 , 10.62677764, -2.00531311,  5.22176641,  7.11629357,
 -29.85896287,  0.43101021,  0.99449135, -0.16767424,  6.51703817,
   0.90166694,-14.24334543]

qfrc_actuator:
[ 7.23378443e-05, 5.40519344e-05, 4.97546411e-05, 2.09487215e-04,
 -1.39373063e-05,-2.73777393e-04,-2.70813159e-04, 1.16536312e-04,
  3.92014256e-05, 2.56864915e-05,-8.69675011e-05, 1.03948237e-04,
  6.33196740e-02,-5.05885555e-04, 4.37809390e-02,-4.50540690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033981095214964674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27624159e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27624159e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596165, -0.08815547,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24691382e-05,-2.15080169e-05, 1.09210588e-05, 3.43552922e-05,
 -2.50957059e-05, 1.51239829e-05, 2.34519983e-05, 2.82846631e-05,
  1.09405800e-05, 1.56596792e-05, 3.74954910e-05, 3.25872926e-05,
 -4.23662876e-04,-4.26387412e-05,-2.45979219e-04,-2.16420358e-04,
 -8.96162559e-06, 2.41099143e-06,-1.21646190e+00,-4.43888779e-04,
  3.05150406e-05,-5.56049898e-04]


--- Step 288 ---
qpos:
[ 0.01203274,-0.00115457, 0.00240905, 0.04185737, 0.00457716,-0.00235784,
 -0.01813186, 0.02838298, 0.0131273 , 0.00449157,-0.01021488, 0.02634615,
  0.65462073,-0.00183393, 0.48491438, 0.06597907, 0.0930473 ,-0.07009583,
  0.1310026 , 0.50728628, 0.49336015, 0.49233534, 0.50681585]

qacc:
[ -2.45258557,  0.471194  , -3.30025465,  9.76600518,  0.42952001,
   1.4480082 , -5.81013689, 10.93381878,  1.0457197 ,  0.57078333,
  -2.15784748,  3.29461222, -1.30390591,  2.24967005, -8.2046845 ,
  21.77329207,  0.42652201,  0.98954586, -0.22306176,  6.43055498,
   0.93532421,-14.18886514]

qfrc_actuator:
[ 5.86033123e-05, 6.81238521e-05, 6.04079845e-05, 2.29550586e-04,
 -1.06311303e-05,-2.50738318e-04,-2.77038223e-04, 1.31248718e-04,
  4.50344556e-05, 1.17428922e-05,-1.02641128e-04, 1.04116050e-04,
  6.31961807e-02,-5.11405342e-04, 4.36460991e-02,-4.43527965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003299189984952433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04770730e-13, -3.68061991e-14,  1.00000000e+00,  1.85786920e-26,
        1.00000000e+00,  3.68061991e-14, -1.00000000e+00,  0.00000000e+00,
        5.04770730e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596083, -0.08815825,  0.06199058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43849194e-05, 5.73911990e-06, 8.73190529e-06, 2.01815189e-05,
  2.59351519e-06, 3.75296892e-05, 7.63104028e-07, 1.67178041e-05,
  6.14810974e-06, 3.94241769e-06,-6.70142756e-06, 2.76502396e-06,
 -4.23093823e-04,-7.05516384e-05,-2.73527215e-04, 2.58758267e-05,
 -9.12932360e-06, 3.30645163e-06,-1.21646222e+00,-4.42208431e-04,
  3.26542297e-05,-5.55379513e-04]


--- Step 289 ---
qpos:
[ 0.01203383,-0.00115407, 0.00240904, 0.04186095, 0.00457733,-0.00235687,
 -0.01813228, 0.02838508, 0.01312752, 0.00449215,-0.01021526, 0.02634846,
  0.65595384,-0.0018319 , 0.48617112, 0.06597617, 0.09300561,-0.07006107,
  0.13100814, 0.50753676, 0.49306811, 0.49232923, 0.50685521]

qacc:
[ -1.54506624,  1.25493289, -5.09676556,  9.08396007,  3.38700546,
  -2.33065751, 12.61084802,-28.91915925, -5.52179993,  1.44086883,
  -6.30213962, 12.27643188, -0.519201  , -1.19310499, -2.31953217,
   3.17914668,  0.42245405,  0.98604522, -0.26812688,  6.35539106,
   0.9676048 ,-14.15101348]

qfrc_actuator:
[ 5.00247626e-05, 7.64292958e-05, 4.88972190e-05, 2.40011378e-04,
  9.16086096e-06,-2.37388470e-04,-2.62647063e-04, 8.54412179e-05,
  1.26163588e-05, 2.09057382e-05,-1.11898957e-04, 1.21144850e-04,
  6.30794651e-02,-5.51301985e-04, 4.35626528e-02,-4.44612394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003196653240761377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.47307931e-13,  1.35667161e-13,  1.00000000e+00, -4.71182810e-26,
        1.00000000e+00, -1.35667161e-13, -1.00000000e+00,  0.00000000e+00,
        3.47307931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595996, -0.0881611 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.98894576e-06, 1.41515698e-05,-8.56625592e-06, 1.13932364e-05,
  1.98783375e-05, 3.51869221e-05, 2.28085570e-05,-4.38542468e-05,
 -3.22401796e-05, 1.00870392e-05,-9.18060450e-06, 1.70144966e-05,
 -4.19896725e-04,-1.07297491e-04,-2.05098283e-04,-4.44947161e-05,
 -9.28739955e-06, 4.25596070e-06,-1.21646288e+00,-4.40522105e-04,
  3.45503267e-05,-5.54622867e-04]


--- Step 290 ---
qpos:
[ 0.0120348 ,-0.00115347, 0.00240888, 0.04186498, 0.00457739,-0.0023562 ,
 -0.01813194, 0.02838595, 0.01312701, 0.00449259,-0.01021536, 0.02635095,
  0.65728468,-0.00183032, 0.48742546, 0.06597247, 0.09296559,-0.07002236,
  0.13101247, 0.5077943 , 0.49276746, 0.49234437, 0.50687494]

qacc:
[ -0.98509408,  1.44414789, -6.83059208, 14.66654013, -0.92412262,
  -4.99217827, 22.3744642 ,-44.42317943, -6.45661411, -0.55154587,
   0.94706872,  1.88356385, -0.84073559,  0.16373546, -1.07269185,
  -1.35686001,  0.4187594 ,  0.98376708, -0.30456528,  6.28976217,
   0.99881565,-14.12767894]

qfrc_actuator:
[ 4.45468450e-05, 8.11228050e-05, 4.21264646e-05, 2.62476913e-04,
  2.98320059e-06,-2.83175470e-04,-2.36263085e-04, 2.21574416e-05,
 -2.43015720e-05, 8.35070891e-06,-9.94216366e-05, 1.30239554e-04,
  6.29615629e-02,-5.75633244e-04, 4.34461634e-02,-4.48676413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003092330116688524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79512371e-13,  3.19756412e-13,  1.00000000e+00, -5.74002317e-26,
        1.00000000e+00, -3.19756412e-13, -1.00000000e+00,  0.00000000e+00,
        1.79512371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595905, -0.08816398,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.73110115e-06, 1.12933364e-05,-4.52284199e-06, 2.29882923e-05,
 -5.59747740e-06,-2.33067593e-05, 3.49322098e-05,-6.18468511e-05,
 -3.78288320e-05,-8.11387307e-06, 1.40128381e-05, 9.53622642e-06,
 -4.24038303e-04,-9.45036213e-05,-2.18382847e-04,-7.03166158e-05,
 -9.43634571e-06, 5.26057966e-06,-1.21646386e+00,-4.38825843e-04,
  3.62099498e-05,-5.53778789e-04]


--- Step 291 ---
qpos:
[ 0.01203571,-0.00115287, 0.00240843, 0.04186892, 0.00457738,-0.00235606,
 -0.01813172, 0.02838685, 0.01312607, 0.00449285,-0.01021498, 0.02635353,
  0.65861305,-0.00182802, 0.48867676, 0.06597162, 0.0929286 ,-0.06999244,
  0.13101865, 0.5080138 , 0.49251109, 0.49233428, 0.50691396]

qacc:
[ -0.6533856 ,  0.6572088 , -1.97327762,  0.97081658, -0.64273906,
  -0.37818226,  0.25670834,  0.58998587, -3.84226428, -1.41547163,
   4.35606074, -3.58927695, -2.17991999,  6.01599711,-13.0648145 ,
  39.36007998,  0.75460844, -2.19600291,  0.46312761,  9.476463  ,
  -3.51338255, 31.65545024]

qfrc_actuator:
[ 4.09358746e-05, 6.58882024e-05, 2.04590211e-05, 2.56326099e-04,
 -6.83424040e-07,-3.46243154e-04,-2.56521984e-04, 2.00719284e-05,
 -4.58076946e-05, 7.22414802e-07,-7.43045355e-05, 1.34588373e-04,
  6.28430335e-02,-5.37338012e-04, 4.33205910e-02,-4.33165212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032939962594676075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68522205e-13,  1.68522205e-13,  1.00000000e+00, -2.83997335e-26,
        1.00000000e+00, -1.68522205e-13, -1.00000000e+00,  0.00000000e+00,
        1.68522205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263865, -0.03123212,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77336907e-06,-8.90256113e-06,-1.91112620e-05,-5.38591943e-06,
 -3.83325149e-06,-7.15680622e-05,-2.29234663e-05,-3.08325282e-06,
 -2.25829055e-05,-8.89766203e-06, 2.54884891e-05, 4.66670389e-06,
 -4.25688660e-04,-3.15840500e-05,-2.35941648e-04, 1.22409140e-04,
 -9.57662353e-06, 6.32127701e-06,-1.21646517e+00,-4.37115873e-04,
  3.76384220e-05,-5.52846183e-04]


--- Step 292 ---
qpos:
[ 0.01203691,-0.00115227, 0.00240746, 0.04187243, 0.00457767,-0.00235626,
 -0.01813185, 0.02838874, 0.01312487, 0.00449326,-0.01021413, 0.02635574,
  0.65993889,-0.00182458, 0.48992592, 0.06597214, 0.09289446,-0.06997106,
  0.13102553, 0.50819606, 0.49229773, 0.49230009, 0.50697173]

qacc:
[  2.57229062,  0.54785425, -0.13322197, -6.52637466,  2.63214365,
   2.62129557,-14.20067587, 32.28467979, -2.19637156, -1.85748323,
   8.42629208,-15.48154035, -2.72985008,  8.34677758, -7.13333004,
  20.63054766,  0.71464127, -2.13365311,  0.17433117,  9.37105373,
  -3.23844172, 30.72468102]

qfrc_actuator:
[ 5.62041280e-05, 5.65034075e-05,-9.93691817e-06, 2.33356807e-04,
  1.49180342e-05,-3.48313179e-04,-2.68706136e-04, 7.17110280e-05,
 -5.80689961e-05, 3.16606094e-05,-4.19204806e-05, 1.18366084e-04,
  6.27189022e-02,-4.80202893e-04, 4.32429718e-02,-4.25771959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.70635372, -1.21524534,  4.54675094, -1.21524534, 32.86623761,
        7.52651029,  4.54675094,  7.52651029,  6.71802243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000345328010697879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60749055e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.60749055e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263782, -0.03124106,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51565738e-05,-1.85710549e-05,-3.47863097e-05,-2.41259202e-05,
  1.54681982e-05,-4.69687607e-05,-2.99033436e-05, 4.77161870e-05,
 -1.29055468e-05, 3.13972155e-05, 3.38338574e-05,-1.56372487e-05,
 -4.22827475e-04,-7.99959696e-06,-1.72868365e-04, 5.01216055e-05,
 -7.32112974e-06, 3.87939234e-06,-1.21645842e+00,-4.38356463e-04,
  3.16047873e-05,-5.51629165e-04]


--- Step 293 ---
qpos:
[ 0.01203793,-0.00115152, 0.00240631, 0.04187559, 0.00457814,-0.00235659,
 -0.01813197, 0.02839118, 0.01312388, 0.00449373,-0.01021307, 0.02635674,
  0.66126235,-0.00182106, 0.49117333, 0.06597375, 0.09286305,-0.069958  ,
  0.13103213, 0.50834176, 0.49212632, 0.4922427 , 0.50704779]

qacc:
[-1.51602217e+00, 1.13628790e-02, 1.70293306e+00,-7.48178218e+00,
  1.62024274e+00, 8.93701436e-01,-5.78954889e+00, 1.54170146e+01,
  1.82880898e+00,-3.01436826e+00, 1.60122630e+01,-3.74815540e+01,
 -1.48046344e+00, 2.90899189e+00,-5.87445682e+00, 1.68934543e+01,
  6.81848989e-01,-2.08146072e+00,-6.89151859e-02, 9.26994151e+00,
 -3.02303250e+00, 2.99465405e+01]

qfrc_actuator:
[ 4.69560959e-05, 8.61362713e-05,-9.72486794e-06, 2.18431325e-04,
  2.39824272e-05,-3.31525838e-04,-2.57991963e-04, 1.01340327e-04,
 -4.70430342e-05, 1.44651098e-05,-4.08676527e-05, 5.47017515e-05,
  6.25861783e-02,-4.83488490e-04, 4.31781745e-02,-4.19662538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74781536, -1.36298399,  4.54796936, -1.36298399, 39.20818554,
       10.32745146,  4.54796936, 10.32745146,  7.84285622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003553460304795697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.1243434e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.1243434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826368 , -0.03124669,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.82252673e-06, 1.10118796e-05,-8.74845601e-06,-1.74021758e-05,
  9.48842496e-06,-1.35994013e-05,-1.02087715e-06, 2.75062438e-05,
  1.06721296e-05, 6.64274964e-06, 1.11442813e-05,-6.14599222e-05,
 -4.25579752e-04,-6.62717803e-05,-1.42831375e-04, 4.04920809e-05,
 -5.39947635e-06, 2.01153126e-06,-1.21645322e+00,-4.39163359e-04,
  2.64308618e-05,-5.50694091e-04]


--- Step 294 ---
qpos:
[ 0.01203884,-0.00115058, 0.0024051 , 0.04187854, 0.00457872,-0.0023567 ,
 -0.01813241, 0.02839393, 0.01312337, 0.00449424,-0.01021225, 0.02635701,
  0.66258366,-0.00181854, 0.49241823, 0.06597881, 0.09283426,-0.06995309,
  0.13103764, 0.50845151, 0.49199594, 0.49216285, 0.50714178]

qacc:
[-1.04894899e+00,-4.04717158e-02, 1.43155346e+00,-5.26660245e+00,
  9.04676070e-01, 1.87207996e+00,-7.55611813e+00, 1.33228411e+01,
  4.25757589e+00,-7.89181769e-01, 5.97956741e+00,-1.83263426e+01,
 -9.34719570e-02,-2.95013922e+00,-1.41024869e+01, 4.39265434e+01,
  6.54922858e-01,-2.03790248e+00,-2.73590393e-01, 9.17511013e+00,
 -2.85509195e+00, 2.92977236e+01]

qfrc_actuator:
[ 4.10992069e-05, 1.03526606e-04,-9.02374573e-06, 2.08416911e-04,
  2.91206382e-05,-3.03483691e-04,-2.69281332e-04, 1.17809986e-04,
 -2.24025935e-05, 3.91983995e-06,-5.85394323e-05, 1.68345660e-05,
  6.24696788e-02,-5.40180894e-04, 4.30625294e-02,-4.01925571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77015409,  1.41633091, -4.55503861,  1.41633091, 10.88448539,
        1.901173  , -4.55503861,  1.901173  ,  5.36129948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036056416684615566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53956373e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53956373e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826356 , -0.03124964,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.10477888e-06, 2.09685136e-05, 1.29313287e-06,-1.01900615e-05,
  5.40300177e-06, 2.14166493e-05,-1.32729508e-05, 1.63819872e-05,
  2.49508546e-05,-7.19359546e-06,-1.70751532e-05,-3.83993151e-05,
 -4.19849496e-04,-1.25132105e-04,-1.82467936e-04, 1.59734160e-04,
 -3.77331285e-06, 6.70463807e-07,-1.21644943e+00,-4.39618474e-04,
  2.20540367e-05,-5.50019638e-04]


--- Step 295 ---
qpos:
[ 0.01204002,-0.00114969, 0.00240374, 0.04188104, 0.00457936,-0.00235617,
 -0.01813349, 0.02839683, 0.01312351, 0.00449479,-0.01021193, 0.02635649,
  0.66390265,-0.00181604, 0.49366065, 0.06598369, 0.09280801,-0.06995619,
  0.13104137, 0.50852581, 0.49190585, 0.49206114, 0.50725336]

qacc:
[  2.34925752, -0.5883054 ,  3.89576541,-11.41990706,  0.46813414,
   2.87746486, -9.67263805, 12.72138901,  5.65379609, -0.19890952,
   4.0622424 ,-16.82785958, -1.33904301,  2.33018262, -3.08282669,
   5.52428867,  0.63280067, -2.00168595, -0.44559262,  9.08779995,
  -2.72501947, 28.75881411]

qfrc_actuator:
[ 5.50454940e-05, 7.79667888e-05,-2.58370370e-05, 1.83608411e-04,
  3.19089925e-05,-2.51249181e-04,-2.93428711e-04, 1.26402837e-04,
  1.00460645e-05,-2.63607917e-06,-8.70765309e-05,-2.33031297e-05,
  6.23576543e-02,-5.39095772e-04, 4.29111805e-02,-4.04119215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77601957,  1.64749669, -4.48286935,  1.64749669, 14.44223952,
        3.55242683, -4.48286935,  3.55242683,  6.08156987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000361914516020162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53381942e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53381942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263426, -0.03125043,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37779885e-05,-1.40349933e-05,-1.26794041e-05,-2.40696643e-05,
  2.94979352e-06, 6.21758954e-05,-2.07917507e-05, 9.36506946e-06,
  3.31598367e-05,-1.57728885e-05,-3.34725342e-05,-4.17888008e-05,
 -4.20285902e-04,-7.14871573e-05,-2.20306858e-04,-3.73728217e-05,
 -2.41313005e-06,-1.80590082e-07,-1.21644696e+00,-4.39780833e-04,
  1.84225291e-05,-5.49589315e-04]


--- Step 296 ---
qpos:
[ 0.01204101,-0.00114905, 0.00240254, 0.04188356, 0.00458002,-0.00235524,
 -0.01813479, 0.02839946, 0.01312403, 0.00449504,-0.01021156, 0.0263555 ,
  0.66521931,-0.0018135 , 0.49490103, 0.06598551, 0.09278421,-0.06996718,
  0.13104273, 0.50856509, 0.49185544, 0.49193801, 0.50738227]

qacc:
[ -1.6330815 , -0.72149406,  1.9523243 , -1.45561505,  0.23678275,
   0.628959  , -0.33771379, -4.19247215,  3.42269266, -1.47583017,
   6.68079752,-14.67825956, -1.46632149,  2.80521562,  6.24560652,
 -26.11747166,  0.61461796, -1.97170931, -0.58993324,  9.00868723,
  -2.62515968, 28.31353346]

qfrc_actuator:
[ 4.50293696e-05, 6.23059381e-05,-1.75401460e-05, 1.85748714e-04,
  3.32934614e-05,-2.38245402e-04,-3.07109860e-04, 1.12559474e-04,
  2.90735249e-05,-2.45619197e-05,-8.62805481e-05,-4.67087216e-05,
  6.22377555e-02,-5.39430703e-04, 4.28077338e-02,-4.19821322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76848161,  1.90852941, -4.36988929,  1.90852941, 21.09867884,
        7.13213989, -4.36988929,  7.13213989,  7.8834115 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003601776450847388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54121590e-13,  1.54121590e-13,  1.00000000e+00, -2.37534644e-26,
        1.00000000e+00, -1.54121590e-13, -1.00000000e+00,  0.00000000e+00,
        1.54121590e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826328 , -0.03124951,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62945551e-06,-2.71803303e-05, 3.00159329e-06, 6.26478257e-07,
  1.49075503e-06, 4.38673256e-05,-3.07574011e-06,-1.17213356e-05,
  1.99691327e-05,-3.94615870e-05,-8.04116139e-06,-2.60551338e-05,
 -4.20702189e-04,-6.85183046e-05,-2.10901825e-04,-1.88113113e-04,
 -1.29623125e-06,-5.69994517e-07,-1.21644572e+00,-4.39692673e-04,
  1.54937445e-05,-5.49390398e-04]


--- Step 297 ---
qpos:
[ 0.01204187,-0.00114872, 0.00240175, 0.04188643, 0.0045807 ,-0.00235432,
 -0.01813603, 0.02840126, 0.01312478, 0.00449507,-0.01021099, 0.02635491,
  0.6665339 ,-0.00181227, 0.49613867, 0.06598742, 0.09276281,-0.06998596,
  0.13104126, 0.5085697 , 0.49184419, 0.49179386, 0.50752828]

qacc:
[ -1.10355137, -0.81566473,  0.89780068,  4.57281029,  0.10481697,
  -1.92198456, 10.39336264,-25.07195744,  1.98358989, -0.07465086,
  -1.85557078,  8.57249451,  0.22041866, -4.27297911, -4.33653553,
   9.20793284,  0.59966955, -1.94703024, -0.71088645,  8.93803127,
  -2.54939706, 27.94816649]

qfrc_actuator:
[ 3.87360204e-05, 5.28064627e-05, 5.56974506e-06, 2.03754083e-04,
  3.38410748e-05,-2.66566578e-04,-3.14660994e-04, 6.78539378e-05,
  4.00466253e-05,-1.98910825e-05,-6.82205065e-05,-2.45679100e-05,
  6.21238681e-02,-6.11677004e-04, 4.26904701e-02,-4.18480904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7506095 ,  2.20921226, -4.20567139,  2.20921226, 39.40361687,
       18.20300299, -4.20567139, 18.20300299, 14.31253047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003560053677824776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55927849e-13,  1.55927849e-13,  1.00000000e+00, -2.43134941e-26,
        1.00000000e+00, -1.55927849e-13, -1.00000000e+00,  0.00000000e+00,
        1.55927849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263126, -0.03124724,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57822056e-06,-2.40732257e-05, 1.78871281e-05, 1.69527656e-05,
  6.06056556e-07,-4.95223204e-06, 7.23765694e-07,-4.31652609e-05,
  1.15290790e-05,-2.01765211e-05, 8.01145302e-06, 1.96645003e-05,
 -4.14592796e-04,-1.40363850e-04,-2.38455431e-04,-2.51749112e-05,
 -4.05214366e-07,-5.19263277e-07,-1.21644567e+00,-4.39383874e-04,
  1.32328820e-05,-5.49413106e-04]


--- Step 298 ---
qpos:
[ 0.01204196,-0.00114891, 0.00240171, 0.04188846, 0.00458172,-0.0023533 ,
 -0.01813765, 0.02840217, 0.013126  , 0.00449529,-0.01021096, 0.02635493,
  0.66784626,-0.00181155, 0.49737338, 0.06598847, 0.09274375,-0.07001244,
  0.13103653, 0.50853994, 0.49187166, 0.49162895, 0.50769122]

qacc:
[ -6.7518663 , -4.52164388, 18.66961882,-34.01318521,  3.02050181,
  -0.62346607,  6.11950792,-20.78182718,  4.12062304,  3.05471974,
 -13.12775417, 24.50298828, -0.73455672, -0.2372834 , -1.73334002,
  -0.20877487,  0.587379  , -1.92684132, -0.81210691,  8.87579269,
  -2.49283731, 27.65111502]

qfrc_actuator:
[-8.13452863e-07, 1.16476580e-05, 3.72647292e-05, 1.59947358e-04,
  5.16446199e-05,-2.66169487e-04,-3.36485998e-04, 2.30672890e-05,
  6.39485171e-05, 7.90181225e-07,-9.32461388e-05, 6.46778260e-06,
  6.20136484e-02,-6.36990580e-04, 4.25384242e-02,-4.23083988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003499401362430099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58630421e-13,  1.58630421e-13,  1.00000000e+00, -2.51636106e-26,
        1.00000000e+00, -1.58630421e-13, -1.00000000e+00,  0.00000000e+00,
        1.58630421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262965, -0.03124392,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97472610e-05,-5.02139271e-05, 2.95102880e-05,-4.38944804e-05,
  1.78208720e-05,-4.09528744e-06,-2.42526163e-05,-4.58172250e-05,
  2.42218258e-05, 1.18960525e-05,-2.75315758e-05, 3.08305935e-05,
 -4.17503408e-04,-9.86737249e-05,-2.65320409e-04,-7.85009890e-05,
  2.73174822e-07,-4.42794093e-08,-1.21644675e+00,-4.38875210e-04,
  1.16117422e-05,-5.49649955e-04]


--- Step 299 ---
qpos:
[ 0.01204192,-0.00114938, 0.002402  , 0.04188995, 0.0045833 ,-0.00235219,
 -0.01813983, 0.02840255, 0.0131275 , 0.0044956 ,-0.01021151, 0.02635534,
  0.66915627,-0.00181047, 0.49860501, 0.06598827, 0.09272701,-0.07004656,
  0.13102822, 0.50847605, 0.49193752, 0.49144351, 0.50787091]

qacc:
[ -1.12699601, -2.40479993, 10.31306221,-19.99634642,  4.80490319,
   0.58635548,  0.2912808 , -8.58846017,  2.41985843,  2.48902557,
 -10.34222422, 17.87056372, -1.80673825,  4.31594516, -0.69357907,
  -4.03141784,  0.57727435, -1.91045005, -0.89672402,  8.8217267 ,
  -2.4515566 , 27.41254548]

qfrc_actuator:
[-6.36328796e-06, 5.09749512e-06, 5.58436742e-05, 1.33353921e-04,
  7.94625667e-05,-2.66403094e-04,-3.66460848e-04,-3.64284879e-06,
  7.75189752e-05,-4.75632715e-06,-1.25691124e-04, 2.47127206e-05,
  6.19003912e-02,-6.16647257e-04, 4.23869280e-02,-4.29387071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034243159501026743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62108731e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.62108731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082628  , -0.03123981,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69724241e-06,-3.04262761e-05, 1.03221999e-05,-2.85804753e-05,
  2.83277143e-05,-9.51074333e-06,-3.53893704e-05,-2.86179514e-05,
  1.42633392e-05,-3.25585192e-06,-3.23146411e-05, 1.84007757e-05,
 -4.16374255e-04,-5.00405376e-05,-2.82036865e-04,-1.01685865e-04,
  7.48916927e-07, 8.43745730e-07,-1.21644892e+00,-4.38180733e-04,
  1.06077098e-05,-5.50095258e-04]


--- Step 300 ---
qpos:
[ 0.01204216,-0.00114988, 0.0024024 , 0.04189109, 0.0045845 ,-0.00235141,
 -0.01814167, 0.02840295, 0.01312881, 0.00449563,-0.01021205, 0.02635666,
  0.67046404,-0.00180975, 0.49983352, 0.06598887, 0.09271255,-0.07008828,
  0.13101604, 0.5083782 , 0.49204148, 0.49123769, 0.50806724]

qacc:
[  2.44828599, -1.04675412,  5.1561276 ,-11.34375257, -3.21183108,
  -1.33482979,  4.07693769, -4.13792556, -1.69763589,  1.53077908,
  -9.83417217, 25.85043497, -0.88755578,  0.45759213, -7.0357639 ,
  17.94561486,  0.56896857, -1.89726243, -0.96741891,  8.775455  ,
  -2.42240364, 27.22410639]

qfrc_actuator:
[ 8.15340194e-06, 1.92828362e-05, 6.66796896e-05, 1.17127081e-04,
  5.96885840e-05,-2.84792491e-04,-3.47732224e-04,-1.75281530e-06,
  6.71431232e-05,-2.60132127e-05,-1.26848460e-04, 7.07705442e-05,
  6.17800784e-02,-6.40599716e-04, 4.22625090e-02,-4.24209249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003338507343457614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.66275361e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.66275361e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262632, -0.0312351 ,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43172420e-05,-1.91311467e-06, 4.83278068e-06,-1.77321667e-05,
 -1.89666828e-05,-3.22498079e-05, 1.14251274e-05,-2.98669759e-07,
 -9.97070520e-06,-2.89599938e-05,-5.17063572e-06, 4.51576051e-05,
 -4.15282583e-04,-9.01582873e-05,-2.64581497e-04, 9.83667707e-06,
  1.02939051e-06, 2.13751318e-06,-1.21645217e+00,-4.37309543e-04,
  1.02028861e-05,-5.50744733e-04]


--- Step 301 ---
qpos:
[ 0.01204153,-0.00115047, 0.00240295, 0.04189169, 0.00458512,-0.00235066,
 -0.01814314, 0.02840367, 0.01312963, 0.00449528,-0.01021251, 0.02635818,
  0.67176955,-0.00180958, 0.50105916, 0.06599065, 0.09270007,-0.07012533,
  0.13100992, 0.50828924, 0.49213445, 0.49105682, 0.50824101]

qacc:
[ -7.57526591, -1.6773587 ,  8.13751116,-17.78476065, -5.16986388,
  -0.4309674 ,  0.11365154,  4.89061563, -4.20755457, -0.32155547,
  -0.44662499,  4.12651574, -0.70260203, -0.40316819, -7.76513356,
  21.0235541 ,  0.49881046,  1.16562369,  1.51616378,  6.90168895,
   1.40065399,-16.82790536]

qfrc_actuator:
[-3.66566840e-05, 1.02541482e-05, 7.29609028e-05, 8.93920633e-05,
  2.98106002e-05,-2.60434334e-04,-3.18204810e-04, 1.69663263e-05,
  4.27593024e-05,-5.63703873e-05,-1.27323122e-04, 7.95758482e-05,
  6.16556060e-02,-6.72791119e-04, 4.21438002e-02,-4.17624736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003380296567225549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64219766e-13,  2.10406576e-13,  1.00000000e+00, -3.45529187e-26,
        1.00000000e+00, -2.10406576e-13, -1.00000000e+00,  0.00000000e+00,
        1.64219766e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859623 , -0.08815618,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44019441e-05,-9.84475968e-06, 5.86560455e-06,-2.79978802e-05,
 -3.04306794e-05, 8.65701889e-06, 2.42755090e-05, 1.77288618e-05,
 -2.46790697e-05,-4.56817999e-05,-5.52634146e-06, 8.26303751e-06,
 -4.24553793e-04,-1.01847002e-04,-2.38691033e-04, 3.23034940e-05,
  1.11989142e-06, 3.83303252e-06,-1.21645647e+00,-4.36267092e-04,
  1.03833516e-05,-5.51595199e-04]


--- Step 302 ---
qpos:
[ 0.01204038,-0.0011511 , 0.00240325, 0.04189266, 0.00458606,-0.00234965,
 -0.01814438, 0.02840458, 0.0131305 , 0.00449444,-0.01021342, 0.02635916,
  0.6730728 ,-0.00180978, 0.50228196, 0.06599283, 0.09268952,-0.07015786,
  0.13100856, 0.50820888, 0.49221686, 0.49090017, 0.50839288]

qacc:
[ -4.68249261,  1.45833856, -6.85275213, 13.80636359,  2.86493643,
   0.10345943, -0.65940616,  3.37227316,  0.4020491 , -0.5225392 ,
   3.23604441,-11.61947932, -0.91205022,  0.5098755 , -5.38285993,
  12.79827187,  0.48005903,  1.12994214,  1.18906009,  6.72929538,
   1.33926299,-16.30278628]

qfrc_actuator:
[-6.27752943e-05, 5.12335464e-06, 5.86566922e-05, 1.08345093e-04,
  4.74984234e-05,-2.28340005e-04,-3.00128139e-04, 2.77151861e-05,
  4.58390929e-05,-1.09717111e-04,-1.62980891e-04, 4.86203869e-05,
  6.15446978e-02,-6.91846391e-04, 4.20073041e-02,-4.15590668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035505292614210204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.12692262e-13, -7.32872488e-14,  1.00000000e+00, -2.29163556e-26,
        1.00000000e+00,  7.32872488e-14, -1.00000000e+00,  0.00000000e+00,
       -3.12692262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596328, -0.08815167,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73831320e-05,-1.06240609e-05,-1.65825878e-05, 1.81899292e-05,
  1.68211443e-05, 4.26873064e-05, 2.34766754e-05, 1.23061304e-05,
  2.36127055e-06,-7.96709516e-05,-4.54807926e-05,-3.29439340e-05,
 -4.19025553e-04,-9.13599656e-05,-2.43336697e-04,-8.91365246e-06,
  9.26886355e-07, 3.04276391e-06,-1.21645290e+00,-4.36441377e-04,
  1.26552596e-05,-5.52479100e-04]


--- Step 303 ---
qpos:
[ 0.01203926,-0.00115194, 0.00240345, 0.04189386, 0.00458686,-0.00234879,
 -0.0181452 , 0.02840565, 0.01313141, 0.00449335,-0.01021487, 0.02635974,
  0.67437381,-0.00181019, 0.50350209, 0.06599451, 0.09268083,-0.07018599,
  0.13101085, 0.50813687, 0.49228905, 0.4907671 , 0.50852341]

qacc:
[  0.35797743,  0.46941213, -3.06237877,  7.37876425, -1.21275491,
  -1.05161199,  2.78014468, -0.54882154,  0.24786433,  0.35960447,
  -0.06483759, -5.83439099, -1.08596016,  1.28634679, -2.40187464,
   2.72623082,  0.46449105,  1.09982979,  0.9131809 ,  6.58235165,
   1.28883016,-15.8616989 ]

qfrc_actuator:
[-5.99120161e-05,-1.54328185e-05, 5.01111069e-05, 1.19101584e-04,
  3.97865089e-05,-2.62906554e-04,-2.88922173e-04, 3.36874233e-05,
  4.73105007e-05,-1.05592862e-04,-1.83745981e-04, 2.99830263e-05,
  6.14366836e-02,-7.02978248e-04, 4.18815386e-02,-4.18032327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036593411568507095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03394239e-13,  4.26648148e-14,  1.00000000e+00, -1.29442590e-26,
        1.00000000e+00, -4.26648148e-14, -1.00000000e+00,  0.00000000e+00,
        3.03394239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596382, -0.08814881,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08195562e-06,-2.91320704e-05,-1.21490989e-05, 1.00815948e-05,
 -7.21868278e-06,-5.33767424e-06, 2.33408562e-05, 8.85120773e-06,
  1.51050809e-06,-5.11922840e-05,-4.39450084e-05,-2.42646524e-05,
 -4.10702106e-04,-8.18037264e-05,-2.39311455e-04,-5.65618039e-05,
  7.52707690e-07, 2.36482394e-06,-1.21644985e+00,-4.36560889e-04,
  1.45852234e-05,-5.53246087e-04]


--- Step 304 ---
qpos:
[ 0.01203819,-0.00115306, 0.00240387, 0.04189483, 0.00458721,-0.00234817,
 -0.01814634, 0.0284072 , 0.01313232, 0.00449234,-0.01021648, 0.02635968,
  0.67567238,-0.00180972, 0.50471998, 0.06599835, 0.09267394,-0.07020982,
  0.13101586, 0.50807302, 0.49235131, 0.49065711, 0.50863306]

qacc:
[  0.38782758, -1.50475678,  5.84630879,-10.16799594, -3.8910052 ,
   1.59909089, -8.12645564, 16.98865035,  0.08315585, -0.77331311,
   5.60337916,-16.50397767, -2.39478468,  6.78285733, -9.70586442,
  29.39411147,  0.45159617,  1.07449921,  0.68090355,  6.45758181,
   1.24730618,-15.49174646]

qfrc_actuator:
[-5.77720969e-05,-2.73006296e-05, 6.27172941e-05, 1.07182807e-04,
  1.71708791e-05,-3.01652138e-04,-3.17633019e-04, 5.44974310e-05,
  4.78150508e-05,-6.70288135e-05,-1.77547851e-04, 1.05767733e-06,
  6.13198337e-02,-6.56101532e-04, 4.18262084e-02,-4.05332173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82013371, -2.96774136, -3.7981838 , -2.96774136,  8.35386404,
       -2.76110853, -3.7981838 , -2.76110853,  6.97754799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037181990542678456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.03257099e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.03257099e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596399, -0.08814729,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19128515e-06,-3.02064875e-05, 5.44707930e-06,-1.33920801e-05,
 -2.28247036e-05,-3.65565289e-05,-2.66345571e-05, 2.15589420e-05,
  5.27573334e-07,-1.21824931e-07,-1.05994565e-05,-3.31074499e-05,
 -4.12269446e-04,-2.18097601e-05,-1.72783911e-04, 9.26128073e-05,
  5.96616260e-07, 1.78828434e-06,-1.21644729e+00,-4.36636415e-04,
  1.62005964e-05,-5.53900721e-04]


--- Step 305 ---
qpos:
[ 0.0120375 ,-0.00115414, 0.00240404, 0.04189563, 0.00458729,-0.00234771,
 -0.01814784, 0.02840897, 0.01313357, 0.00449189,-0.01021858, 0.02635922,
  0.67696857,-0.00180835, 0.50593616, 0.06600388, 0.09266882,-0.07022944,
  0.13102282, 0.50801715, 0.49240388, 0.49056975, 0.50872223]

qacc:
[  3.32019571,  0.44793883, -0.89045144, -1.39943741, -2.4090239 ,
   1.22828987, -5.67082484, 10.34349104,  2.99674327,  1.32151207,
  -1.99046621, -4.35752331, -2.38082104,  6.79989511, -7.57139764,
  23.00546192,  0.44095086,  1.05327713,  0.48577171,  6.35217494,
   1.21303084,-15.18221   ]

qfrc_actuator:
[-3.83319503e-05,-1.60546237e-05, 5.22198907e-05, 9.97906590e-05,
  3.72475827e-06,-3.07259915e-04,-3.34202553e-04, 6.60821335e-05,
  6.54996937e-05,-8.02135470e-06,-1.90840006e-04,-1.58869464e-05,
  6.12084332e-02,-6.10945106e-04, 4.17652638e-02,-3.96219572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.82861503, -3.4164527 , -3.41223886, -3.4164527 ,  9.67054739,
       -4.84791177, -3.41223886, -4.84791177,  9.68251359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037367559786140314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45663176e-13,  1.16058119e-13,  1.00000000e+00, -5.17228298e-26,
        1.00000000e+00, -1.16058119e-13, -1.00000000e+00,  0.00000000e+00,
        4.45663176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596387, -0.08814683,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94952061e-05,-5.05667940e-06,-1.65223993e-05,-8.75895833e-06,
 -1.41097361e-05,-3.06484583e-05,-2.66517960e-05, 9.51469756e-06,
  1.76965211e-05, 5.53899181e-05,-1.57366576e-05,-1.79547617e-05,
 -3.98107026e-04,-1.89399441e-05,-1.34099033e-04, 7.29353556e-05,
  4.57910465e-07, 1.30454008e-06,-1.21644516e+00,-4.36676120e-04,
  1.75232856e-05,-5.54446686e-04]


--- Step 306 ---
qpos:
[ 0.01203738,-0.00115518, 0.00240403, 0.04189634, 0.00458722,-0.00234733,
 -0.01814932, 0.02841118, 0.01313468, 0.00449203,-0.01022123, 0.02635926,
  0.67826264,-0.00180737, 0.50715025, 0.06600691, 0.09266543,-0.07024492,
  0.13103107, 0.50796913, 0.49244696, 0.49050465, 0.50879126]

qacc:
[  5.12057297,  0.30641285, -0.57554836, -0.97791497, -1.41924268,
   0.76627772, -4.72853112, 12.30219283, -1.28431167,  3.3343604 ,
 -12.82848056, 21.77861438, -0.87364573,  0.4656851 ,  4.48403501,
 -20.12127049,  0.43220206,  1.03558518,  0.32228423,  6.26369958,
   1.1846532 ,-14.92411936]

qfrc_actuator:
[-8.86482401e-06,-8.89041114e-06, 4.60134970e-05, 9.51261686e-05,
 -4.21164488e-06,-2.92955198e-04,-3.25585905e-04, 8.99365131e-05,
  5.76497982e-05, 2.72209499e-05,-2.15431454e-04, 9.86571097e-06,
  6.10897322e-02,-6.38198957e-04, 4.16157728e-02,-4.10602762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003723119123934526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47295529e-13,  1.16483211e-13,  1.00000000e+00, -5.21024193e-26,
        1.00000000e+00, -1.16483211e-13, -1.00000000e+00,  0.00000000e+00,
        4.47295529e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596351, -0.08814722,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00241349e-05, 5.93046955e-07,-9.57994323e-06,-5.62369891e-06,
 -8.34887484e-06,-7.93919361e-06,-6.58970597e-07, 2.18028429e-05,
 -7.33004748e-06, 6.22485531e-05,-1.56781037e-05, 2.72386321e-05,
 -3.94890259e-04,-8.90777018e-05,-2.09153239e-04,-1.58639085e-04,
  3.35946983e-07, 9.06805543e-07,-1.21644343e+00,-4.36686195e-04,
  1.85707999e-05,-5.54886961e-04]


--- Step 307 ---
qpos:
[ 0.01203763,-0.00115634, 0.00240455, 0.0418973 , 0.00458739,-0.00234704,
 -0.01815101, 0.02841402, 0.01313569, 0.00449224,-0.0102237 , 0.02635997,
  0.6795544 ,-0.0018063 , 0.50836174, 0.06600984, 0.09266373,-0.07025632,
  0.13104006, 0.50792884, 0.4924807 , 0.49046152, 0.5088404 ]

qacc:
[  3.13189644, -1.06870869,  2.49584963,  1.22573413,  2.18982334,
   1.71638193, -8.94459571, 20.18951994, -0.89459391,  0.94067533,
  -6.06560312, 17.32462062, -1.47095384,  2.84920049, -3.49491702,
   6.74832315,  0.4250544 ,  1.02092516,  0.18573405,  6.1900416 ,
   1.16106967,-14.7099276 ]

qfrc_actuator:
[ 8.50977116e-06,-4.20606009e-06, 7.78958387e-05, 1.09861451e-04,
  8.90818894e-06,-3.02223242e-04,-3.37577373e-04, 1.20856649e-04,
  5.25807480e-05, 1.24497996e-05,-2.11041667e-04, 4.27592382e-05,
  6.09613881e-02,-6.36955847e-04, 4.15037864e-02,-4.10327630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003684077960202786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01357093e-13,  1.17717614e-13,  1.00000000e+00, -3.54750381e-26,
        1.00000000e+00, -1.17717614e-13, -1.00000000e+00,  0.00000000e+00,
        3.01357093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596296, -0.08814829,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82327339e-05, 2.84312054e-06, 3.06399004e-05, 1.43192919e-05,
  1.28780450e-05,-1.29133895e-05,-1.29496589e-05, 3.09793065e-05,
 -5.25833461e-06, 1.79940968e-05, 1.62901248e-05, 3.55548180e-05,
 -4.13729641e-04,-6.60524384e-05,-2.29011825e-04,-3.39360281e-05,
  2.30150362e-07, 5.89725665e-07,-1.21644209e+00,-4.36671332e-04,
  1.93570757e-05,-5.55223952e-04]


--- Step 308 ---
qpos:
[ 0.01203808,-0.00115753, 0.00240538, 0.04189947, 0.00458771,-0.00234707,
 -0.01815241, 0.02841686, 0.01313663, 0.00449214,-0.01022531, 0.02636073,
  0.68084377,-0.00180483, 0.50957084, 0.06601365, 0.09266371,-0.07026367,
  0.13104934, 0.50789617, 0.49250526, 0.49044009, 0.50886989]

qacc:
[  1.82756582,  1.53545192,-10.67130254, 31.12563218,  1.38107225,
  -1.18891998,  3.6323114 , -3.83864175, -0.57067571, -2.68461874,
   8.82158522, -9.21473321, -1.8428945 ,  4.35843999, -6.13412244,
  16.48772193,  0.4192602 ,  1.00886741,  0.0720828 ,  6.12935753,
   1.14137558,-14.53325971]

qfrc_actuator:
[ 1.86245800e-05,-8.66065660e-07, 9.65105510e-05, 1.71422189e-04,
  1.65615282e-05,-3.25599490e-04,-3.26229589e-04, 1.20144303e-04,
  4.91967503e-05,-1.42835389e-05,-1.72027809e-04, 4.40564632e-05,
  6.08380033e-02,-6.18940340e-04, 4.14144246e-02,-4.04947950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003625299251631825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06243140e-13,  1.96187011e-13,  1.00000000e+00, -6.00809263e-26,
        1.00000000e+00, -1.96187011e-13, -1.00000000e+00,  0.00000000e+00,
        3.06243140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596227, -0.08814987,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06356084e-05, 1.19115319e-05, 2.34754166e-05, 6.30198607e-05,
  8.01538818e-06,-3.19371193e-05, 8.16673550e-06,-1.11468885e-06,
 -3.53098937e-06,-1.17610733e-05, 4.59936172e-05, 3.32784285e-06,
 -4.18186162e-04,-5.04042412e-05,-2.00097689e-04, 2.18718669e-05,
  1.40015286e-07, 3.49072447e-07,-1.21644110e+00,-4.36635092e-04,
  1.98931346e-05,-5.55459600e-04]


--- Step 309 ---
qpos:
[ 0.01203865,-0.00115864, 0.00240611, 0.04190271, 0.00458813,-0.00234733,
 -0.01815346, 0.02842069, 0.01313753, 0.00449194,-0.01022614, 0.02636078,
  0.68213092,-0.00180378, 0.51077787, 0.06601569, 0.09266536,-0.07026704,
  0.13105852, 0.50787106, 0.49252073, 0.49044017, 0.50887991]

qacc:
[ 1.03176612e+00, 2.62586052e+00,-1.37185571e+01, 3.24333125e+01,
  7.97788949e-01, 7.35504978e-01,-7.24646381e+00, 2.39719790e+01,
 -3.97016600e-01,-3.78371618e+00, 1.62346670e+01,-2.95250132e+01,
 -8.92359679e-01, 4.22165169e-01, 2.34075014e+00,-1.25846636e+01,
  4.14611381e-01, 9.99041372e-01,-2.21391792e-02, 6.08003825e+00,
  1.12482712e+00,-1.43887156e+01]

qfrc_actuator:
[ 2.43894465e-05, 1.64501115e-06, 8.94025910e-05, 2.24517828e-04,
  2.09291987e-05,-3.21673195e-04,-3.01271282e-04, 1.71839665e-04,
  4.68309186e-05,-1.23558642e-05,-1.30732957e-04, 9.00209910e-06,
  6.07230104e-02,-6.44459570e-04, 4.13067574e-02,-4.14352715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035514942423446605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68910949e-13,  4.39604015e-14,  1.00000000e+00, -2.06135136e-26,
        1.00000000e+00, -4.39604015e-14, -1.00000000e+00,  0.00000000e+00,
        4.68910949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08596148, -0.08815185,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07054417e-06, 1.67521916e-05, 4.22735000e-07, 5.56403227e-05,
  4.58486611e-06,-1.22798414e-05, 1.93391551e-05, 5.05840944e-05,
 -2.47404685e-06, 5.01631597e-06, 4.46651027e-05,-3.38997294e-05,
 -4.10188004e-04,-9.35004508e-05,-2.00197437e-04,-1.19445155e-04,
  6.51041923e-08, 1.81505976e-07,-1.21644045e+00,-4.36580178e-04,
  2.01876095e-05,-5.55595469e-04]


--- Step 310 ---
qpos:
[ 0.01203928,-0.00115961, 0.00240681, 0.04190587, 0.00458859,-0.00234758,
 -0.01815455, 0.02842475, 0.01313839, 0.0044919 ,-0.01022654, 0.02636006,
  0.68341578,-0.00180268, 0.51198237, 0.06601724, 0.09266864,-0.07026644,
  0.13106731, 0.50785343, 0.4925272 , 0.49046158, 0.5088706 ]

qacc:
[  0.56604124,  0.08543896,  0.29015574, -1.81516349,  0.42877154,
   0.5983356 , -3.12661103,  7.3187653 , -0.30264701, -2.57626348,
  12.79387471,-27.05963846, -1.42959612,  2.66182678, -2.24324516,
   2.50313154,  0.41093297,  0.9911277 , -0.09991422,  6.04067963,
   1.11081115,-14.27171259]

qfrc_actuator:
[ 2.75504504e-05, 3.53288964e-06, 8.49052746e-05, 2.18925662e-04,
  2.33298211e-05,-3.19075105e-04,-3.03841236e-04, 1.82979909e-04,
  4.50829940e-05, 6.70173196e-06,-1.06096436e-04,-2.93844701e-05,
  6.06077964e-02,-6.42189919e-04, 4.11881637e-02,-4.16419622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034665621940259406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60133147e-13,  4.50374475e-14,  1.00000000e+00, -7.21198819e-27,
        1.00000000e+00, -4.50374475e-14, -1.00000000e+00,  0.00000000e+00,
        1.60133147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859606 , -0.08815411,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33931824e-06, 1.37512373e-05, 9.36435546e-07,-3.78357440e-06,
  2.52422474e-06, 1.90835512e-06,-9.67275569e-07, 1.22617662e-05,
 -1.81833527e-06, 2.96550744e-05, 3.00141942e-05,-3.72834256e-05,
 -4.11672962e-04,-6.82998438e-05,-2.27492611e-04,-5.40954238e-05,
  5.04208420e-09, 8.43846870e-08,-1.21644014e+00,-4.36508646e-04,
  2.02471711e-05,-5.55632809e-04]


--- Step 311 ---
qpos:
[ 0.01203994,-0.00116028, 0.00240708, 0.04190894, 0.00458874,-0.00234753,
 -0.018156  , 0.02842787, 0.01313853, 0.00449213,-0.01022644, 0.02635955,
  0.68469826,-0.00180118, 0.51318439, 0.06602041, 0.09267356,-0.07026189,
  0.13107545, 0.50784324, 0.49252476, 0.49050419, 0.50884207]

qacc:
[  0.27079957,  1.41142933, -4.05075591,  2.94269242, -2.82150632,
  -0.51228313,  6.41375297,-22.45711452, -6.30377491, -0.58972772,
   1.70077259,  1.07524143, -1.82180527,  4.28307828, -8.49112637,
  24.537745  ,  0.40807776,  0.98485158, -0.16380493,  6.010058  ,
   1.09882116,-14.17835827]

qfrc_actuator:
[ 2.91550807e-05, 2.27378346e-05, 6.41993045e-05, 2.14358605e-04,
  6.80207735e-06,-2.99670523e-04,-3.22681897e-04, 1.34635802e-04,
  8.20723591e-06, 3.58011371e-05,-7.36603095e-05,-1.61551277e-05,
  6.04872113e-02,-6.23547236e-04, 4.11004116e-02,-4.07041182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003373713679713508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.29080393e-13,  4.62769303e-14,  1.00000000e+00, -1.52288304e-26,
        1.00000000e+00, -4.62769303e-14, -1.00000000e+00,  0.00000000e+00,
        3.29080393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595967, -0.08815659,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70632472e-06, 2.69455281e-05,-1.78855716e-05,-4.02584737e-06,
 -1.64555504e-05, 2.08109408e-05,-1.81349289e-05,-4.80633875e-05,
 -3.69173830e-05, 5.02943621e-05, 4.09762619e-05, 1.48159398e-05,
 -4.14160827e-04,-5.00669323e-05,-2.00238873e-04, 6.08882363e-05,
 -4.04901957e-08, 5.56137591e-08,-1.21644014e+00,-4.36422064e-04,
  2.00768731e-05,-5.55572618e-04]


--- Step 312 ---
qpos:
[ 0.01204097,-0.00116065, 0.00240677, 0.04191229, 0.00458869,-0.00234713,
 -0.01815778, 0.02843107, 0.01313857, 0.00449291,-0.01022634, 0.0263592 ,
  0.68597838,-0.00179912, 0.51438454, 0.06602322, 0.0926801 ,-0.07025343,
  0.13108272, 0.50784042, 0.49251345, 0.49056789, 0.50879441]

qacc:
[  3.13266696,  2.57077041, -9.77948048, 15.31786586, -1.7625034 ,
   1.5290226 , -5.11108846,  6.71656602, -0.87400609,  1.06940029,
  -3.41784386,  5.76202155, -2.03842787,  5.18459264, -1.59175572,
   1.74524607,  0.40592191,  0.97997699, -0.21601122,  5.98710896,
   1.08843786,-14.10534523]

qfrc_actuator:
[ 4.75844417e-05, 3.43378600e-05, 3.41676681e-05, 2.28196928e-04,
 -2.98070632e-06,-2.70475567e-04,-3.33181603e-04, 1.40455805e-04,
  4.20902058e-06, 7.07656069e-05,-7.22924254e-05,-8.14696733e-06,
  6.03741451e-02,-5.95446389e-04, 4.10205991e-02,-4.08739355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003275576457187762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38939738e-13,  4.76634006e-14,  1.00000000e+00,  1.61550205e-26,
        1.00000000e+00, -4.76634006e-14, -1.00000000e+00,  0.00000000e+00,
       -3.38939738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595871, -0.08815921,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84894249e-05, 2.28137296e-05,-2.68108525e-05, 1.42893661e-05,
 -1.02421527e-05, 3.50292675e-05,-1.00879266e-05, 5.14582098e-06,
 -5.03108448e-06, 7.21677287e-05, 1.73155195e-05, 1.18716106e-05,
 -4.05192509e-04,-3.96371420e-05,-1.67880804e-04,-4.01754330e-05,
 -7.17633625e-08, 9.35233194e-08,-1.21644046e+00,-4.36321637e-04,
  1.96804328e-05,-5.55415680e-04]


--- Step 313 ---
qpos:
[ 0.01204221,-0.00116079, 0.00240616, 0.04191508, 0.00458817,-0.0023464 ,
 -0.01815967, 0.02843361, 0.01313891, 0.00449409,-0.01022698, 0.02635903,
  0.68725614,-0.00179637, 0.51558295, 0.0660218 , 0.09268826,-0.07024107,
  0.13108896, 0.50784497, 0.49249331, 0.4906526 , 0.50872769]

qacc:
[ 1.85752699e+00, 1.84576787e-02, 2.70461581e+00,-1.20175559e+01,
 -4.05833602e+00,-6.08630136e-01, 5.60648908e+00,-1.71115037e+01,
  2.58061190e+00, 2.94065442e+00,-1.04591814e+01, 1.43245838e+01,
 -2.25977275e+00, 6.02853430e+00, 1.02718634e+01,-3.94959818e+01,
  4.04361280e-01, 9.76301631e-01,-2.58419088e-01, 5.97090887e+00,
  1.07931364e+00,-1.40498640e+01]

qfrc_actuator:
[ 5.80166798e-05, 4.12643470e-05, 1.66142497e-05, 1.99487545e-04,
 -2.64618513e-05,-2.53325354e-04,-3.38574001e-04, 1.07117166e-04,
  1.96049682e-05, 5.55936711e-05,-1.24767729e-04,-3.29905184e-06,
  6.02550225e-02,-5.61993846e-04, 4.09083036e-02,-4.31152305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174286302248669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.91843199e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.91843199e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595772, -0.08816191,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09675015e-05, 1.47706848e-05,-1.56501130e-05,-2.83884323e-05,
 -2.37608667e-05, 3.48710330e-05, 7.87900026e-07,-3.20899953e-05,
  1.52795125e-05, 2.92398317e-05,-3.50338513e-05, 8.76981467e-06,
 -4.03289232e-04,-3.21021885e-05,-1.98953544e-04,-2.49312684e-04,
 -8.90071990e-08, 1.96770181e-07,-1.21644109e+00,-4.36208304e-04,
  1.90604604e-05,-5.55162608e-04]


--- Step 314 ---
qpos:
[ 0.01204287,-0.00116088, 0.00240566, 0.0419175 , 0.00458738,-0.00234539,
 -0.01816157, 0.02843503, 0.01313908, 0.00449536,-0.01022814, 0.02635928,
  0.68853161,-0.00179319, 0.51677839, 0.06601879, 0.09269803,-0.07022481,
  0.13109402, 0.50785683, 0.49246438, 0.49075825, 0.50864193]

qacc:
[ -5.04380552, -1.01772941,  5.32772858,-12.05013869, -2.43801812,
  -1.87669156, 11.92238949,-31.32640566, -1.4506639 ,  2.46089405,
 -10.39244112, 18.56383672, -1.85468109,  4.46421144,  0.47596552,
  -7.89011326,  0.40330835,  0.97365255, -0.29264272,  5.96065838,
   1.07115986,-14.00952943]

qfrc_actuator:
[ 2.81478697e-05, 4.53472997e-05, 2.42716357e-05, 1.81480882e-04,
 -4.00669983e-05,-2.43526135e-04,-3.40989073e-04, 5.09898235e-05,
  1.07765215e-05, 4.57829983e-05,-1.55551449e-04, 1.73295523e-05,
  6.01376772e-02,-5.43437752e-04, 4.07552714e-02,-4.38963550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030715648343911106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80725963e-13,  5.08291771e-14,  1.00000000e+00, -9.18615197e-27,
        1.00000000e+00, -5.08291771e-14, -1.00000000e+00,  0.00000000e+00,
        1.80725963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595674, -0.08816465,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95492798e-05, 7.90009990e-06, 7.79973541e-06,-1.84731400e-05,
 -1.42694102e-05, 2.80682089e-05, 3.78323720e-06,-5.52322946e-05,
 -8.38004190e-06,-3.48771849e-07,-2.87617267e-05, 2.08387546e-05,
 -3.99342554e-04,-4.60278354e-05,-2.76711665e-04,-1.18815979e-04,
 -9.24178195e-08, 3.64258291e-07,-1.21644203e+00,-4.36082809e-04,
  1.82186452e-05,-5.54813870e-04]


--- Step 315 ---
qpos:
[ 0.01204352,-0.00116096, 0.00240522, 0.04192038, 0.00458712,-0.00234432,
 -0.01816319, 0.02843682, 0.0131395 , 0.00449659,-0.0102291 , 0.02636044,
  0.68980483,-0.00178947, 0.51797074, 0.06601578, 0.09270941,-0.07020466,
  0.13109781, 0.507876  , 0.49242669, 0.4908848 , 0.50853716]

qacc:
[ -0.15637334,  0.78877832, -4.7298326 , 12.62342332,  4.67858228,
   0.02889875, -1.51203407,  7.25277075,  2.10220978,  1.22272552,
  -8.28024182, 23.6543281 , -1.92129242,  4.85040832, -4.47345236,
   9.20053294,  0.40268966,  0.97188226, -0.32006105,  5.95566762,
   1.06373649,-13.98231897]

qfrc_actuator:
[ 2.80583453e-05, 4.78021440e-05, 2.89964759e-05, 2.05440456e-04,
 -1.22409553e-05,-2.38217670e-04,-3.23918551e-04, 7.06663945e-05,
  2.32595539e-05, 5.70807016e-05,-1.37742321e-04, 6.48530491e-05,
  6.00321287e-02,-5.16077436e-04, 4.06259025e-02,-4.38108697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029687860866528526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.09024563e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.09024563e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595575, -0.0881674 ,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.26625104e-07, 7.68373577e-06, 6.68023184e-06, 2.42053482e-05,
  2.74309758e-05, 1.93960429e-05, 2.14308643e-05, 1.99348286e-05,
  1.22480149e-05, 6.01906350e-06, 1.49140917e-05, 4.69184828e-05,
 -3.87195802e-04,-3.78528768e-05,-2.69484970e-04,-3.37596543e-05,
 -8.21644767e-08, 5.95074153e-07,-1.21644327e+00,-4.35945764e-04,
  1.71559076e-05,-5.54369815e-04]


--- Step 316 ---
qpos:
[ 0.0120445 ,-0.00116098, 0.00240487, 0.04192317, 0.00458685,-0.00234324,
 -0.01816482, 0.02843886, 0.01314006, 0.00449756,-0.0102297 , 0.02636183,
  0.69107581,-0.0017851 , 0.51916041, 0.06601406, 0.09272241,-0.07018063,
  0.13110023, 0.50790245, 0.49238024, 0.49103221, 0.50841338]

qacc:
[  2.97680918, -0.33329549,  1.63411492, -3.26220144, -0.08261194,
   0.53393938, -2.96684747,  7.31699761,  1.3050813 , -0.85098069,
   1.55931711,  2.07550541, -2.03340137,  5.35504295, -7.77211599,
  21.62212118,  0.4024436 ,  0.97086529, -0.34184958,  5.95534298,
   1.0568437 ,-13.9665194 ]

qfrc_actuator:
[ 4.55098836e-05, 4.92927907e-05, 3.19632752e-05, 2.00633723e-04,
 -1.35134555e-05,-2.53253918e-04,-3.30950695e-04, 8.15420124e-05,
  3.04411268e-05, 2.78931514e-05,-1.26797387e-04, 7.46082637e-05,
  5.99230850e-02,-4.83718226e-04, 4.05321519e-02,-4.30374047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002867033339003233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93618785e-13,  1.99669372e-13,  1.00000000e+00,  3.86597413e-26,
        1.00000000e+00, -1.99669372e-13, -1.00000000e+00,  0.00000000e+00,
       -1.93618785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595479, -0.08817012,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74266919e-05, 8.20324395e-06, 6.21305475e-06,-3.78063583e-06,
 -4.85005707e-07, 1.07642573e-06, 3.05112528e-07, 1.28324133e-05,
  7.53223493e-06,-2.07605088e-05, 1.56428503e-05, 1.14386914e-05,
 -3.80807476e-04,-3.03554224e-05,-2.20998211e-04, 4.07280799e-05,
 -5.83958023e-08, 8.88434270e-07,-1.21644481e+00,-4.35797689e-04,
  1.58725226e-05,-5.53830694e-04]


--- Step 317 ---
qpos:
[ 0.01204569,-0.00116086, 0.00240481, 0.04192551, 0.00458656,-0.00234207,
 -0.01816653, 0.02844066, 0.0131407 , 0.00449832,-0.01023008, 0.0263623 ,
  0.6923448 ,-0.00178159, 0.52034773, 0.06601513, 0.09273701,-0.07015271,
  0.13110121, 0.50793618, 0.49232504, 0.49120048, 0.50827058]

qacc:
[  1.77643568, -1.58351228,  7.81897844,-16.21563657, -0.11824948,
  -0.12570778,  1.66199384, -5.75255745,  0.73020892, -2.795363  ,
  13.48752351,-29.73090221, -0.17486138, -2.21209221,-11.92223882,
  36.62733541,  0.4025186 ,  0.97049521, -0.35900825,  5.95917519,
   1.05031482,-13.96068181]

qfrc_actuator:
[ 5.53840446e-05, 6.79194262e-05, 5.15913775e-05, 1.78930747e-04,
 -1.41633080e-05,-2.44949853e-04,-3.34514677e-04, 6.93496102e-05,
  3.44380981e-05, 1.01479069e-05,-1.20200618e-04, 2.65087319e-05,
  5.98066987e-02,-5.37459581e-04, 4.04545214e-02,-4.15090084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002767147538006304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01215696e-13,  5.64209572e-14,  1.00000000e+00, -2.26369736e-26,
        1.00000000e+00, -5.64209572e-14, -1.00000000e+00,  0.00000000e+00,
        4.01215696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595384, -0.0881728 ,  0.0619921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03725916e-05, 2.43370793e-05, 2.19534541e-05,-2.12164636e-05,
 -6.63857528e-07, 9.49437719e-06,-2.85807027e-06,-1.18892744e-05,
  4.20534297e-06,-2.56599067e-05, 4.62386090e-06,-4.82294580e-05,
 -3.82154193e-04,-1.15012280e-04,-1.76460050e-04, 1.26102783e-04,
 -2.12454393e-08, 1.24364228e-06,-1.21644666e+00,-4.35639050e-04,
  1.43682194e-05,-5.53196674e-04]


--- Step 318 ---
qpos:
[ 0.01204664,-0.00116079, 0.00240482, 0.04192727, 0.00458662,-0.00234072,
 -0.01816803, 0.02844226, 0.01314138, 0.0044988 ,-0.01023008, 0.02636252,
  0.69361178,-0.00177931, 0.52153376, 0.06601487, 0.09275322,-0.07012092,
  0.13110071, 0.50797716, 0.4922611 , 0.4913896 , 0.50810872]

qacc:
[ -2.06697873, -1.43720764,  7.51451268,-17.696553  ,  2.97682063,
  -0.74235031,  3.75072688, -7.44296938,  0.39588345, -1.94075352,
   7.367145  ,-11.84847818,  0.09182424, -3.53443711,  2.0997693 ,
 -10.18012551,  0.40287154,  0.97068198, -0.3723857 ,  5.96672871,
   1.04401068,-13.96358288]

qfrc_actuator:
[ 4.29609050e-05, 4.34576557e-05, 4.54584757e-05, 1.47490857e-04,
  3.32038481e-06,-2.22748964e-04,-3.18168801e-04, 6.14586576e-05,
  3.65303676e-05,-6.82446640e-07,-9.84692829e-05, 1.57726776e-05,
  5.96859643e-02,-6.06089637e-04, 4.03972817e-02,-4.22107637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026697684563802004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07924965e-13,  6.49765515e-15,  1.00000000e+00,  1.35102472e-27,
        1.00000000e+00, -6.49765515e-15, -1.00000000e+00,  0.00000000e+00,
       -2.07924965e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595291, -0.08817542,  0.06199238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21203368e-05,-7.23556602e-06, 8.56332943e-07,-3.00566801e-05,
  1.74686814e-05, 2.63832621e-05, 1.75457502e-05,-7.81715764e-06,
  2.20673796e-06,-2.63119642e-05, 1.53266823e-05,-1.26162627e-05,
 -4.00433742e-04,-1.37946437e-04,-1.27801971e-04,-8.68328059e-05,
  2.91629295e-08, 1.66005388e-06,-1.21644881e+00,-4.35470287e-04,
  1.26422628e-05,-5.52467858e-04]


--- Step 319 ---
qpos:
[ 0.01204708,-0.00116112, 0.00240499, 0.04192799, 0.00458654,-0.00233951,
 -0.01816921, 0.02844414, 0.01314174, 0.00449903,-0.01023005, 0.02636195,
  0.69487656,-0.00177751, 0.52271759, 0.06601288, 0.09277105,-0.07008523,
  0.13109867, 0.50802541, 0.4921884 , 0.49159957, 0.50792778]

qacc:
[ -4.38971309, -3.12414016, 14.73909472,-32.66981653, -1.17604768,
  -0.50646302,  0.43494837,  3.77973622, -2.8564044 , -2.0339418 ,
  10.16952738,-23.89520088, -0.82839996,  0.15335676,  1.95863587,
 -11.53984305,  0.40346644,  0.9713496 , -0.38270045,  5.97763219,
   1.03781481,-13.97419169]

qfrc_actuator:
[ 1.75156975e-05,-6.73049198e-06, 4.17353901e-05, 9.27687596e-05,
 -4.16807680e-06,-2.45571145e-04,-3.07882433e-04, 7.39456569e-05,
  1.97332337e-05,-2.49544192e-05,-1.03416398e-04,-2.61239304e-05,
  5.95733476e-02,-6.29691816e-04, 4.02617264e-02,-4.31553388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002575369598951105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.14508997e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.14508997e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595202, -0.08817795,  0.06199265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57919261e-05,-5.53591812e-05,-6.15755146e-06,-5.55913114e-05,
 -6.98137369e-06,-4.80830477e-06, 1.76243123e-05, 1.40686540e-05,
 -1.67421437e-05,-3.63754809e-05,-8.93646100e-06,-4.27409502e-05,
 -4.08535262e-04,-9.80822735e-05,-2.11118602e-04,-1.17580533e-04,
  9.27111252e-08, 2.13704814e-06,-1.21645127e+00,-4.35291834e-04,
  1.06935178e-05,-5.51644288e-04]


--- Step 320 ---
qpos:
[ 0.01204826,-0.00116161, 0.00240556, 0.041928  , 0.00458603,-0.00233858,
 -0.01817012, 0.02844583, 0.01314224, 0.00449883,-0.01023001, 0.02636125,
  0.69613912,-0.00177568, 0.52389873, 0.06600882, 0.0927905 ,-0.07004566,
  0.13109507, 0.5080809 , 0.49210694, 0.49183039, 0.5077277 ]

qacc:
[  6.39519976, -2.80252915, 12.69831658,-25.54436149, -3.78828783,
  -1.52728482,  5.68245023, -9.13099082,  1.24892733, -0.86340564,
   2.77583535, -4.65653104, -1.38498267,  2.4918675 ,  2.34432147,
 -13.89763334,  0.40427331,  0.97243414, -0.39055941,  5.99157006,
   1.03162957,-13.99164126]

qfrc_actuator:
[ 5.56273144e-05, 1.67985899e-05, 7.48437124e-05, 6.02708105e-05,
 -2.63007066e-05,-2.77427315e-04,-3.01428486e-04, 6.27735228e-05,
  2.74586797e-05,-5.72150397e-05,-1.06409351e-04,-3.27994201e-05,
  5.94710156e-02,-6.26536781e-04, 4.01165907e-02,-4.42364140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024842877325163826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23448961e-13,  2.30431741e-13,  1.00000000e+00,  5.14897331e-26,
        1.00000000e+00, -2.30431741e-13, -1.00000000e+00,  0.00000000e+00,
       -2.23448961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595116, -0.08818041,  0.06199291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73618617e-05,-1.10834111e-05, 1.89924777e-05,-3.61650343e-05,
 -2.23347363e-05,-3.03386450e-05, 8.11425993e-06,-1.04985611e-05,
  7.23987495e-06,-5.62917254e-05,-1.30870923e-05,-9.37388856e-06,
 -3.97959231e-04,-6.90010171e-05,-2.58358259e-04,-1.42702961e-04,
  1.69282540e-07, 2.67400376e-06,-1.21645403e+00,-4.35104134e-04,
  8.52050186e-06,-5.50725959e-04]


--- Step 321 ---
qpos:
[ 0.01205023,-0.00116186, 0.00240602, 0.04192829, 0.00458525,-0.00233809,
 -0.01817027, 0.02844702, 0.01314318, 0.00449811,-0.01022975, 0.02636151,
  0.69739945,-0.0017738 , 0.52507765, 0.0660046 , 0.09281276,-0.07001473,
  0.13109254, 0.50809877, 0.49206902, 0.49203683, 0.50754653]

qacc:
[  6.95333778,  1.22482493, -5.15374422, 10.17108844, -2.25954905,
  -3.72239034, 14.60796579,-24.30767656,  3.83171246,  0.62789458,
  -7.29600658, 23.89612482, -1.40731817,  2.60770493, -2.7641575 ,
   5.03087187,  0.70439067, -2.1610902 ,  0.26837316,  9.47853076,
  -3.34194532, 31.06556837]

qfrc_actuator:
[ 9.53412234e-05, 4.89493174e-05, 7.64845720e-05, 7.67023438e-05,
 -3.91148127e-05,-2.96735736e-04,-2.61852086e-04, 3.77521138e-05,
  4.95615444e-05,-7.62302137e-05,-9.04728458e-05, 1.68090433e-05,
  5.93589584e-02,-6.25384448e-04, 4.00563693e-02,-4.41461883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002547730355039052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17884719e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.17884719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258485, -0.0311936 ,  0.06199273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07746276e-05, 2.83466402e-05, 4.35552186e-07, 1.59078590e-05,
 -1.34616418e-05,-3.50821262e-05, 3.39430513e-05,-2.62480300e-05,
  2.22890953e-05,-5.35862831e-05, 2.37612389e-06, 4.65625878e-05,
 -3.95985488e-04,-6.66957143e-05,-1.95644501e-04,-3.25035911e-05,
  2.58758669e-07, 3.27027953e-06,-1.21645710e+00,-4.34907658e-04,
  6.12142598e-06,-5.49712829e-04]


--- Step 322 ---
qpos:
[ 0.01205231,-0.00116193, 0.00240619, 0.04192914, 0.00458433,-0.00233788,
 -0.01816997, 0.0284479 , 0.01314402, 0.00449733,-0.01023003, 0.02636235,
  0.6986576 ,-0.00177218, 0.52625387, 0.06600414, 0.09283773,-0.06999223,
  0.13109009, 0.50807966, 0.49207352, 0.49221986, 0.5073838 ]

qacc:
[ 1.00919383e+00, 2.15854403e+00,-9.70984186e+00, 1.96718296e+01,
 -1.27681486e+00,-2.28008409e+00, 8.87216162e+00,-1.46865310e+01,
 -7.86797831e-01, 2.68159222e+00,-1.21484266e+01, 2.32301481e+01,
 -9.47942268e-01, 8.04019493e-01,-1.53020440e+01, 4.77927872e+01,
  6.77554020e-01,-2.10646070e+00, 1.94813508e-02, 9.39657029e+00,
 -3.07921814e+00, 3.02647896e+01]

qfrc_actuator:
[ 1.00154761e-04, 5.04463155e-05, 5.96077430e-05, 1.04023825e-04,
 -4.63367480e-05,-3.08263693e-04,-2.38500873e-04, 2.25706378e-05,
  4.44367002e-05,-6.92837240e-05,-1.16661676e-04, 4.58966408e-05,
  5.92411463e-02,-6.43235964e-04, 3.99566114e-02,-4.21214889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45176212, -1.42443549,  4.21772089, -1.42443549, 42.19842898,
       12.74804406,  4.21772089, 12.74804406,  8.75711252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027119881641148036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04688029e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.04688029e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082585  , -0.03120274,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98300944e-06, 1.81311741e-05,-1.04241828e-05, 2.88574377e-05,
 -7.61842375e-06,-2.52832797e-05, 1.93716596e-05,-1.60241564e-05,
 -4.51428223e-06,-2.04997696e-05,-3.53491704e-05, 2.77792916e-05,
 -3.99503057e-04,-8.54725383e-05,-1.96815470e-04, 1.74516298e-04,
  1.28951101e-07, 1.64895272e-06,-1.21645282e+00,-4.37113033e-04,
  6.99619391e-06,-5.49111991e-04]


--- Step 323 ---
qpos:
[ 0.01205444,-0.00116196, 0.00240652, 0.04192996, 0.00458367,-0.00233778,
 -0.01816972, 0.0284486 , 0.01314446, 0.00449667,-0.01023075, 0.02636351,
  0.69991344,-0.00177011, 0.52742744, 0.06600448, 0.09286533,-0.06997797,
  0.13108688, 0.50802413, 0.49211951, 0.49238028, 0.50723912]

qacc:
[ 0.37254201,-0.45427337, 1.85764944,-2.77802836, 2.32594551,-0.37367918,
  1.84435327,-4.70988448,-3.64966455, 2.0133567 ,-8.23839876,14.18681811,
 -1.8563218 , 4.41235423,-6.24697836,16.33675172, 0.65603163,-2.06063784,
 -0.19038035, 9.32376044,-2.8623549 ,29.59557041]

qfrc_actuator:
[ 1.02139827e-04, 5.12660806e-05, 6.73309731e-05, 1.01988859e-04,
 -3.24596870e-05,-3.15090384e-04,-2.42637652e-04, 1.32942041e-05,
  2.33229323e-05,-4.70151459e-05,-1.31927499e-04, 6.26593752e-05,
  5.91306100e-02,-6.18931083e-04, 3.98066269e-02,-4.18149950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4848581 ,  1.47709716, -4.23463531,  1.47709716, 10.76451735,
        2.19042873, -4.23463531,  2.19042873,  5.2489088 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028241174340311315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96561059e-13,  1.96561059e-13,  1.00000000e+00, -3.86362497e-26,
        1.00000000e+00, -1.96561059e-13, -1.00000000e+00,  0.00000000e+00,
        1.96561059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258487, -0.03120898,  0.06199194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16069633e-06, 1.00360299e-05, 1.11775160e-05,-1.05992725e-06,
  1.36508216e-05,-1.76662536e-05,-7.53501959e-06,-1.00043267e-05,
 -2.12515159e-05, 4.72454067e-06,-2.28814799e-05, 1.52026016e-05,
 -3.97370007e-04,-4.58005779e-05,-2.23403091e-04, 1.43450666e-05,
 -2.59542609e-07, 5.78627606e-07,-1.21645001e+00,-4.38927303e-04,
  8.50553962e-06,-5.48722791e-04]


--- Step 324 ---
qpos:
[ 0.01205622,-0.00116193, 0.00240697, 0.0419304 , 0.00458319,-0.00233767,
 -0.01816962, 0.02844986, 0.01314429, 0.00449631,-0.01023122, 0.02636478,
  0.70116704,-0.00176774, 0.52859885, 0.06600407, 0.09289548,-0.0699718 ,
  0.13108221, 0.50793265, 0.4922062 , 0.49251877, 0.50711216]

qacc:
[-2.96469691e+00,-1.01368990e+00, 5.31601413e+00,-1.20413751e+01,
  1.49602665e+00, 1.62800821e+00,-8.14664442e+00, 1.81407234e+01,
 -5.29246454e+00,-2.31151659e-02, 1.80774624e-01, 1.26275066e+00,
 -1.70035259e+00, 3.78938639e+00,-9.00835483e-01,-1.35073396e+00,
  6.38861902e-01,-2.02227916e+00,-3.67299618e-01, 9.26086955e+00,
 -2.68183477e+00, 2.90377439e+01]

qfrc_actuator:
[ 8.47029432e-05, 5.17431963e-05, 7.17397104e-05, 8.27117005e-05,
 -2.40299044e-05,-3.01401027e-04,-2.45189228e-04, 4.30582916e-05,
 -7.02374614e-06, 2.04093946e-06,-1.05035598e-04, 7.20693707e-05,
  5.90192021e-02,-6.05445248e-04, 3.97118112e-02,-4.21698091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50629031,  1.6952382 , -4.17526284,  1.6952382 , 14.34862915,
        3.99618165, -4.17526284,  3.99618165,  6.12881805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002893650019069466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258449, -0.03121284,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73727340e-05, 8.34210058e-06, 7.81413485e-06,-1.84840903e-05,
  8.81370224e-06, 1.82218855e-06,-7.48110342e-06, 2.85486615e-05,
 -3.09511233e-05, 4.76467549e-05, 2.55903191e-05, 9.11807736e-06,
 -3.90701538e-04,-5.26732036e-05,-1.97811082e-04,-6.40224909e-05,
 -8.83856308e-07, 1.88680533e-08,-1.21644856e+00,-4.40423715e-04,
  1.06277568e-05,-5.48537722e-04]


--- Step 325 ---
qpos:
[ 0.0120571 ,-0.00116203, 0.00240753, 0.04193097, 0.00458281,-0.0023378 ,
 -0.01816945, 0.02845149, 0.01314376, 0.00449632,-0.01023112, 0.02636578,
  0.70241838,-0.00176485, 0.5297674 , 0.06600625, 0.09292813,-0.0699736 ,
  0.13107546, 0.50780558, 0.49233292, 0.49263588, 0.50700264]

qacc:
[-8.01375137e+00,-2.22299681e-01, 2.43135107e-03, 2.19803293e+00,
  9.28408771e-01, 1.99951439e-01,-2.72659872e+00, 9.09177960e+00,
 -3.17971011e+00,-1.70618089e+00, 7.93421298e+00,-1.38700236e+01,
 -1.85808305e+00, 4.50973867e+00,-1.19232014e+01, 3.57696677e+01,
  6.25264677e-01,-1.99024934e+00,-5.16406559e-01, 9.20820672e+00,
 -2.53009044e+00, 2.85745325e+01]

qfrc_actuator:
[ 3.82230482e-05, 3.42307859e-05, 7.41375787e-05, 8.89472754e-05,
 -1.88805371e-05,-3.28752058e-04,-2.46662548e-04, 6.00724496e-05,
 -2.48035957e-05, 3.14315153e-05,-7.11060764e-05, 5.93807921e-05,
  5.89073486e-02,-5.80734302e-04, 3.95915648e-02,-4.07789035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51732778,  1.93758891, -4.08068615,  1.93758891, 21.11482498,
        7.88081348, -4.08068615,  7.88081348,  8.25929082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002928586737598743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89549282e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89549282e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258391, -0.03121478,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69714058e-05,-1.20442417e-05, 4.43622190e-06, 6.50186780e-06,
  5.40051040e-06,-2.66588845e-05,-1.03629564e-06, 1.73853279e-05,
 -1.86453518e-05, 6.17157744e-05, 4.72469632e-05,-9.58355199e-06,
 -3.87542218e-04,-4.11434414e-05,-2.21904585e-04, 1.09074619e-04,
 -1.72714718e-06,-6.11857518e-08,-1.21644839e+00,-4.41657830e-04,
  1.33461861e-05,-5.48550757e-04]


--- Step 326 ---
qpos:
[ 0.01205775,-0.00116243, 0.00240823, 0.04193164, 0.00458284,-0.00233827,
 -0.01816896, 0.02845366, 0.01314371, 0.0044964 ,-0.01023044, 0.02636666,
  0.70366737,-0.00176099, 0.53093305, 0.06601106, 0.09296325,-0.06998324,
  0.13106615, 0.50764323, 0.49249914, 0.49273204, 0.50691032]

qacc:
[ -1.91475766, -0.55449445,  1.02531164,  0.57440321,  3.60733302,
  -0.23733601, -2.06945395, 11.05440521,  4.24852591, -1.74618431,
   6.86634295, -9.92320683, -2.42936156,  6.76823505,-12.14719437,
  36.49200352,  0.61460522, -1.96358439, -0.64204362,  9.16574396,
  -2.40109735, 28.19190384]

qfrc_actuator:
[ 2.82852690e-05, 6.08874285e-06, 7.52751175e-05, 9.23781077e-05,
  2.05083427e-06,-3.44962911e-04,-2.29911294e-04, 8.71628611e-05,
  4.63584979e-07, 1.33443253e-05,-5.11394627e-05, 5.15313928e-05,
  5.87899846e-02,-5.31859688e-04, 3.94561998e-02,-3.94359722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51957535, -2.20722299,  3.94394828, -2.20722299, 28.99672474,
       13.69858908,  3.94394828, 13.69858908, 12.1859641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002935631152669316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89094434e-13,  1.89094434e-13,  1.00000000e+00, -3.57567051e-26,
        1.00000000e+00, -1.89094434e-13, -1.00000000e+00,  0.00000000e+00,
        1.89094434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258316, -0.03121518,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12790997e-05,-3.37058074e-05,-5.84751285e-07, 3.19434188e-06,
  2.10754249e-05,-3.05864783e-05, 1.17143060e-05, 2.62464563e-05,
  2.47577903e-05, 2.57615314e-05, 3.81993705e-05,-3.75814303e-06,
 -3.88898060e-04,-1.55477889e-05,-2.26715311e-04, 1.11319722e-04,
 -2.77717239e-06, 3.15328839e-07,-1.21644943e+00,-4.42672250e-04,
  1.66484836e-05,-5.48756985e-04]


--- Step 327 ---
qpos:
[ 0.01205898,-0.00116312, 0.00240894, 0.04193269, 0.00458277,-0.00233835,
 -0.01816912, 0.02845575, 0.01314465, 0.00449663,-0.01023006, 0.02636749,
  0.70491413,-0.00175683, 0.53209666, 0.06601531, 0.09300078,-0.07000065,
  0.13105384, 0.50744584, 0.49270439, 0.49280765, 0.50683501]

qacc:
[ 4.97370766, 0.34565518,-3.46861601,10.41881582,-0.85723468, 2.19073205,
 -6.77550209, 6.37403114, 8.72625677, 0.91037386,-2.75213692, 2.24590275,
 -1.69502966, 3.75176847,-1.23947062, 0.12600081, 0.60636575,-1.9414634 ,
 -0.74789893, 9.13321441,-2.29005161,27.87807061]

qfrc_actuator:
[ 5.76967524e-05,-1.04589093e-05, 7.56034972e-05, 1.11867638e-04,
 -3.40050856e-06,-3.01038485e-04,-2.55748867e-04, 8.44796277e-05,
  5.08604205e-05, 2.41773245e-06,-7.52738145e-05, 4.65435665e-05,
  5.86694038e-02,-5.22418575e-04, 3.93651296e-02,-3.97304231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029203870784627606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90081485e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90081485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258228, -0.03121434,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90791480e-05,-3.53812922e-05,-6.60058521e-06, 1.80856424e-05,
 -4.86244662e-06, 3.03789030e-05,-2.98100402e-05,-3.08365420e-06,
  5.11089533e-05, 1.12047710e-05,-1.42497083e-05,-2.63991532e-06,
 -3.88899272e-04,-5.29637456e-05,-1.84199981e-04,-5.28717146e-05,
 -4.02522781e-06, 1.13156586e-06,-1.21645163e+00,-4.43500071e-04,
  2.05259838e-05,-5.49152337e-04]


--- Step 328 ---
qpos:
[ 0.01206054,-0.00116399, 0.00240986, 0.04193429, 0.0045823 ,-0.00233836,
 -0.0181695 , 0.02845781, 0.01314585, 0.00449706,-0.01022999, 0.02636825,
  0.70615882,-0.00175377, 0.53325845, 0.06601972, 0.09304072,-0.07002576,
  0.13103819, 0.50721358, 0.49294827, 0.49286298, 0.50677654]

qacc:
[ 3.02215855, 0.29606509,-3.67607893,12.83155585,-3.59614385, 0.6467413 ,
 -2.01723662, 1.69636829, 2.20402362, 0.94433005,-2.72886455, 1.89799227,
 -0.03720625,-2.93485243,-3.21943812, 7.27398463, 0.60012282,-1.92318602,
 -0.83711249, 9.11019011,-2.19311683,27.62309772]

qfrc_actuator:
[ 7.45158794e-05,-2.17538003e-06, 9.32571533e-05, 1.40657958e-04,
 -2.43409278e-05,-3.10394109e-04,-2.70800165e-04, 8.20704286e-05,
  6.23726693e-05, 1.34239830e-05,-8.97295221e-05, 4.32508381e-05,
  5.85416413e-02,-5.89610908e-04, 3.93006615e-02,-3.95656690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002887526023286763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92244679e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.92244679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258128, -0.03121254,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76348355e-05,-1.20696185e-05, 1.01531377e-05, 2.73943409e-05,
 -2.10671778e-05, 1.34097367e-06,-1.25569112e-05,-2.20274495e-06,
  1.29702296e-05, 1.42213993e-05,-1.39978706e-05,-3.36215193e-06,
 -4.02001624e-04,-1.33202845e-04,-1.59306987e-04,-1.13329938e-05,
 -5.46535138e-06, 2.37585643e-06,-1.21645496e+00,-4.44167428e-04,
  2.49731472e-05,-5.49733369e-04]


--- Step 329 ---
qpos:
[ 0.01206229,-0.00116473, 0.00241088, 0.04193584, 0.00458157,-0.00233863,
 -0.01816965, 0.02845984, 0.01314648, 0.00449754,-0.01022977, 0.02636895,
  0.70740143,-0.00175211, 0.53441825, 0.06602492, 0.09308304,-0.07005849,
  0.13101889, 0.50694657, 0.49323048, 0.4928983 , 0.50673477]

qacc:
[ 1.66557194,-0.17293541, 1.05719842,-2.07052614,-2.15423842,-1.07658658,
  3.51334927,-4.34254399,-4.93069875,-0.41599406, 1.86351734,-3.17296099,
  0.27208536,-4.26008234,-5.33684268,14.32778523, 0.59552943,-1.90815395,
 -0.91236181, 9.09614211,-2.10722471,27.41858961]

qfrc_actuator:
[ 8.37759910e-05, 2.09985938e-05, 1.03355124e-04, 1.39216684e-04,
 -3.64696425e-05,-3.33794675e-04,-2.61790508e-04, 7.98217935e-05,
  3.31454403e-05, 1.97470467e-05,-8.05001093e-05, 4.10127118e-05,
  5.84202858e-02,-6.65991249e-04, 3.92149296e-02,-3.91303952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002840929502101047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825802 , -0.03120998,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.75753759e-06, 1.97138055e-05, 9.79667340e-06,-1.07855325e-06,
 -1.27285495e-05,-2.53457959e-05, 7.66451209e-06,-2.67137555e-06,
 -2.88514860e-05, 1.12306312e-05, 1.03197075e-05,-2.18156691e-06,
 -4.17327035e-04,-1.52165218e-04,-1.65457165e-04, 2.10112512e-05,
 -7.09372158e-06, 4.04083520e-06,-1.21645937e+00,-4.44695384e-04,
  2.99870851e-05,-5.50497109e-04]


--- Step 330 ---
qpos:
[ 0.0120638 ,-0.00116483, 0.00241119, 0.0419377 , 0.00458037,-0.00233876,
 -0.01817031, 0.02846045, 0.01314711, 0.00449789,-0.01022958, 0.02636861,
  0.70864184,-0.00175107, 0.53557619, 0.06602793, 0.09312749,-0.07008663,
  0.1310049 , 0.50668802, 0.49350207, 0.49295839, 0.50667049]

qacc:
[ -2.21002515,  3.44607035,-12.34197   , 18.27370987, -4.27121005,
  -1.29191726, 10.86716405,-34.72990766, -0.08626695, -2.23584014,
  12.09572883,-29.85886251, -0.70302134, -0.40248317,  3.87409861,
 -17.54626379,  0.53203131,  1.15014543,  1.32923162,  7.04603886,
   1.33027068,-16.57868347]

qfrc_actuator:
[ 7.07642600e-05, 7.06221207e-05, 7.34486890e-05, 1.55510862e-04,
 -6.10624455e-05,-3.29824769e-04,-2.91977665e-04, 6.67354298e-06,
  3.34442803e-05,-1.21919148e-05,-9.28820837e-05,-1.38320308e-05,
  5.83188290e-02,-6.93893904e-04, 3.91058670e-02,-4.03149709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028915653752659143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91976124e-13,  1.01987316e-13,  1.00000000e+00,  1.95791295e-26,
        1.00000000e+00, -1.01987316e-13, -1.00000000e+00,  0.00000000e+00,
       -1.91976124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595089, -0.08816941,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27266229e-05, 6.26341889e-05,-2.46739811e-05, 1.74518910e-05,
 -2.49649041e-05,-8.73243281e-06,-3.45699627e-05,-7.40243339e-05,
 -5.15398871e-07,-2.36500907e-05,-8.87439742e-06,-5.40506315e-05,
 -4.11006661e-04,-1.08103489e-04,-1.87557663e-04,-1.39854130e-04,
 -8.90820131e-06, 6.12275226e-06,-1.21646485e+00,-4.45101323e-04,
  3.55671532e-05,-5.51440926e-04]


--- Step 331 ---
qpos:
[ 0.01206583,-0.0011646 , 0.00241096, 0.04193942, 0.00457887,-0.00233855,
 -0.01817149, 0.02846014, 0.01314808, 0.00449767,-0.01022936, 0.02636837,
  0.70987988,-0.00174941, 0.53673125, 0.06603156, 0.093174  ,-0.07011029,
  0.13099506, 0.50643763, 0.49376353, 0.49304263, 0.50658412]

qacc:
[  4.56989321,  1.63291503, -4.63979765,  2.9170774 , -2.52690942,
   0.04770257,  4.34429865,-19.51230373,  3.03633766, -0.65373022,
   0.83405764,  1.14055893, -2.09225923,  5.20965598, -6.04972362,
  15.18270783,  0.51538597,  1.1180721 ,  1.03577921,  6.97712008,
   1.22395736,-16.11586471]

qfrc_actuator:
[ 9.80087338e-05, 6.45461147e-05, 3.80504552e-05, 1.46608520e-04,
 -7.50442617e-05,-2.91961035e-04,-3.09514126e-04,-3.66052496e-05,
  5.11322393e-05,-6.69275193e-05,-1.00376103e-04,-1.04797647e-05,
  5.82134185e-02,-6.57424376e-04, 3.89668895e-02,-3.99594155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030582186350840146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81514659e-13,  1.87186992e-13,  1.00000000e+00, -3.39771830e-26,
        1.00000000e+00, -1.87186992e-13, -1.00000000e+00,  0.00000000e+00,
        1.81514659e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595158, -0.088165  ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69041651e-05, 2.45869231e-05,-2.49032012e-05,-6.73733797e-06,
 -1.46924620e-05, 2.26703270e-05,-2.61508911e-05,-4.62883522e-05,
  1.76689319e-05,-7.21228800e-05,-1.53475421e-05, 9.79444989e-07,
 -4.03748131e-04,-3.86200832e-05,-2.45298351e-04, 2.41105272e-06,
 -8.81191467e-06, 5.04375893e-06,-1.21646394e+00,-4.46536876e-04,
  3.32610132e-05,-5.51974715e-04]


--- Step 332 ---
qpos:
[ 0.01206782,-0.00116469, 0.00241064, 0.04194038, 0.00457723,-0.00233812,
 -0.01817264, 0.02845964, 0.01314925, 0.0044971 ,-0.01022905, 0.02636848,
  0.71111568,-0.00174733, 0.53788324, 0.06603754, 0.09322252,-0.07012959,
  0.13098837, 0.50619516, 0.49401526, 0.49315048, 0.50647604]

qacc:
[-2.95647603e-01,-1.68734722e+00, 8.60238823e+00,-2.12971173e+01,
 -1.37195181e+00,-1.88627845e-01, 1.91452183e+00,-5.47743575e+00,
  1.80649878e+00, 2.80568341e-07,-2.18479094e+00, 8.44645800e+00,
 -1.74181271e+00, 4.00163690e+00,-1.15630181e+01, 3.40205156e+01,
  5.02307644e-01, 1.09102871e+00, 7.88083716e-01, 6.92067718e+00,
  1.13275944e+00,-1.57277093e+01]

qfrc_actuator:
[ 9.54778166e-05, 7.35608309e-06, 1.72212594e-05, 1.05154954e-04,
 -8.26648515e-05,-2.69536271e-04,-3.01498684e-04,-4.41528115e-05,
  6.11512662e-05,-6.38324994e-05,-8.72251806e-05, 9.32627799e-06,
  5.81110569e-02,-6.36578291e-04, 3.88367505e-02,-3.86991856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59845418, -1.4306652 , -4.37023774, -1.4306652 ,  9.71815546,
       -1.67601374, -4.37023774, -1.67601374,  5.14712331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031692951147846427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75152989e-13,  1.36838273e-13,  1.00000000e+00,  2.39676325e-26,
        1.00000000e+00, -1.36838273e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75152989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595193, -0.08816209,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75649162e-06,-4.88800732e-05,-1.90577734e-05,-4.13983490e-05,
 -8.02876966e-06, 2.77184106e-05, 7.88777473e-06,-8.37825518e-06,
  1.04959261e-05,-4.03496725e-05,-3.60271084e-06, 1.62032732e-05,
 -3.84539128e-04,-4.66229844e-05,-2.43576165e-04, 9.42260990e-05,
 -8.71832103e-06, 4.07365705e-06,-1.21646350e+00,-4.47918672e-04,
  3.07361771e-05,-5.52413714e-04]


--- Step 333 ---
qpos:
[ 0.01206874,-0.00116501, 0.0024103 , 0.04194117, 0.00457584,-0.00233777,
 -0.01817355, 0.02845874, 0.01315053, 0.0044962 ,-0.01022858, 0.02636848,
  0.71234954,-0.00174598, 0.53903351, 0.06604144, 0.093273  ,-0.07014462,
  0.130984  , 0.50596038, 0.49425763, 0.49328151, 0.50634656]

qacc:
[ -9.49182912, -0.62504407,  2.55005282, -5.42775479,  2.3445353 ,
  -1.62609936,  7.36240125,-14.75194864,  0.98762257, -1.10469998,
   3.80440246, -5.83678719, -0.4398867 , -1.1278586 ,  3.7379392 ,
 -16.78133329,  0.49218156,  1.06829352,  0.57925675,  6.87639516,
   1.05349403,-15.40282195]

qfrc_actuator:
[ 3.99237871e-05, 8.77263310e-06, 2.26695838e-05, 9.81037692e-05,
 -6.87312955e-05,-2.91890568e-04,-2.96246474e-04,-6.61188296e-05,
  6.65709854e-05,-7.92862363e-05,-7.95153449e-05, 3.19947459e-06,
  5.80105973e-02,-6.78406492e-04, 3.87652936e-02,-3.97563400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62220552, -1.72364643, -4.28880249, -1.72364643, 12.43875076,
       -3.14142708, -4.28880249, -3.14142708,  5.884728  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032350091785877944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43190069e-13,  1.76957380e-13,  1.00000000e+00, -6.07300154e-26,
        1.00000000e+00, -1.76957380e-13, -1.00000000e+00,  0.00000000e+00,
        3.43190069e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085952  , -0.08816038,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.56181469e-05,-3.16297000e-05,-8.42714547e-06,-1.06120561e-05,
  1.37142540e-05,-5.58788216e-06, 1.16691652e-05,-2.06652035e-05,
  5.70184452e-06,-3.80431040e-05,-5.04460294e-07,-7.66515716e-06,
 -3.70542055e-04,-1.07040185e-04,-1.73410254e-04,-1.32068479e-04,
 -8.62428751e-06, 3.20064702e-06,-1.21646348e+00,-4.49262766e-04,
  2.79936750e-05,-5.52760223e-04]


--- Step 334 ---
qpos:
[ 0.01206967,-0.00116532, 0.00240989, 0.04194184, 0.00457498,-0.00233757,
 -0.01817435, 0.02845794, 0.01315187, 0.0044952 ,-0.01022814, 0.02636873,
  0.71358132,-0.00174478, 0.54018214, 0.06604164, 0.09332543,-0.07015545,
  0.13098124, 0.50573311, 0.49449092, 0.49343536, 0.50619591]

qacc:
[ 1.44986297e-01,-2.85665093e-02, 6.34048387e-01,-2.59732840e+00,
  4.58741397e+00,-2.93868927e-01, 2.89510578e-01, 1.52838520e+00,
  4.83985296e-01, 4.50942148e-01,-2.89294178e+00, 7.43660436e+00,
 -1.17907572e+00, 1.70814362e+00, 8.76945831e+00,-3.41247302e+01,
  4.84506777e-01, 1.04925180e+00, 4.03474405e-01, 6.84378000e+00,
  9.83629809e-01,-1.51317256e+01]

qfrc_actuator:
[ 4.23792581e-05, 2.76450255e-05, 2.60794264e-05, 9.36625355e-05,
 -4.22254585e-05,-3.05395776e-04,-2.92876469e-04,-6.09382388e-05,
  6.92426123e-05,-7.02500710e-05,-7.51684029e-05, 1.73484929e-05,
  5.79060079e-02,-6.85857672e-04, 3.86811026e-02,-4.16364265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003263959984769055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70073014e-13,  9.03512887e-14,  1.00000000e+00,  1.53663160e-26,
        1.00000000e+00, -9.03512887e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70073014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595183, -0.08815965,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64143288e-07,-1.01891085e-06,-4.52139879e-06,-6.29260203e-06,
  2.68954500e-05,-1.51005222e-05, 2.94622770e-06, 4.94541887e-06,
  2.81831894e-06,-1.26372614e-05,-3.83256172e-06, 1.23530641e-05,
 -3.74700576e-04,-7.62096085e-05,-1.83696433e-04,-2.19033849e-04,
 -8.52751498e-06, 2.41516012e-06,-1.21646387e+00,-4.50581795e-04,
  2.50334822e-05,-5.53016260e-04]


--- Step 335 ---
qpos:
[ 0.01207131,-0.00116593, 0.00240993, 0.04194246, 0.0045741 ,-0.00233752,
 -0.0181751 , 0.02845756, 0.01315323, 0.00449461,-0.01022794, 0.02636978,
  0.71481099,-0.00174333, 0.54132811, 0.06604195, 0.09337977,-0.07016215,
  0.1309795 , 0.5055132 , 0.4947154 , 0.4936117 , 0.50602428]

qacc:
[  6.27432829, -1.76141417,  5.90128007, -7.285513  , -0.17461223,
   0.53084548, -3.95875412, 11.25134576,  0.17190164,  2.90520656,
 -12.95122136, 26.97006787, -1.53901624,  3.24377809, -4.19150577,
   9.07061866,  0.47887358,  1.03337772,  0.25578705,  6.8222149 ,
   0.92114962,-14.90649032]

qfrc_actuator:
[ 7.89753327e-05, 3.57721670e-06, 4.60836477e-05, 9.08015382e-05,
 -4.40442989e-05,-3.13489716e-04,-2.90601215e-04,-3.98227135e-05,
  7.02771569e-05,-1.11045799e-05,-7.27234717e-05, 6.10894815e-05,
  5.78043479e-02,-6.72966271e-04, 3.85626966e-02,-4.15004189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032633722392091946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.40207290e-13, -3.72101723e-14,  1.00000000e+00,  1.26591719e-26,
        1.00000000e+00,  3.72101723e-14, -1.00000000e+00,  0.00000000e+00,
        3.40207290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595146, -0.08815971,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66220058e-05,-2.58293478e-05, 1.90250653e-05,-3.18368739e-06,
 -1.05729273e-06,-1.57043985e-05,-3.02053497e-07, 2.06685845e-05,
  1.10716864e-06, 5.18522723e-05,-2.02825764e-07, 4.33080669e-05,
 -3.69725610e-04,-5.37179253e-05,-2.32329579e-04,-2.35875087e-05,
 -8.42631109e-06, 1.70936080e-06,-1.21646463e+00,-4.51885899e-04,
  2.18546517e-05,-5.53183629e-04]


--- Step 336 ---
qpos:
[ 0.01207269,-0.00116695, 0.00241029, 0.04194306, 0.00457355,-0.00233772,
 -0.01817573, 0.02845675, 0.01315425, 0.00449462,-0.0102281 , 0.02637099,
  0.71603864,-0.00174233, 0.54247158, 0.06604525, 0.09343601,-0.07016476,
  0.1309783 , 0.50530051, 0.49493127, 0.4938103 , 0.50583181]

qacc:
[ -2.30198095, -1.48704189,  4.60276785, -5.13903953,  2.9028417 ,
  -1.56238272,  6.90043208,-14.32585024, -3.04185525,  2.09034809,
  -6.96047498,  9.75250963, -0.67051082, -0.12363896,-12.7255479 ,
  39.2134494 ,  0.47494572,  1.02022038,  0.13197215,  6.81100722,
   0.86444316,-14.72044827]

qfrc_actuator:
[ 6.43435198e-05,-2.81891989e-05, 5.78068511e-05, 8.88704801e-05,
 -2.70186591e-05,-3.36024452e-04,-2.88961699e-04,-6.27583722e-05,
  5.25885483e-05, 2.43640662e-05,-8.89387666e-05, 6.86761964e-05,
  5.76938726e-02,-7.01459405e-04, 3.84878229e-02,-3.98229101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003239300684899221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42735403e-13,  1.33881017e-13,  1.00000000e+00, -4.58857642e-26,
        1.00000000e+00, -1.33881017e-13, -1.00000000e+00,  0.00000000e+00,
        3.42735403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595093, -0.08816038,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35978273e-05,-4.23889610e-05, 8.62309071e-06,-2.44329594e-06,
  1.69891533e-05,-3.04855983e-05,-9.17136310e-07,-2.32144037e-05,
 -1.76422914e-05, 6.62999829e-05,-4.02747675e-06, 1.06433700e-05,
 -3.71439804e-04,-9.22422371e-05,-1.85900024e-04, 1.36023235e-04,
 -8.31942655e-06, 1.07676425e-06,-1.21646576e+00,-4.53183398e-04,
  1.84554360e-05,-5.53263964e-04]


--- Step 337 ---
qpos:
[ 0.01207388,-0.00116807, 0.00241043, 0.04194328, 0.00457321,-0.00233831,
 -0.01817625, 0.0284557 , 0.01315574, 0.00449507,-0.01022862, 0.02637127,
  0.7172643 ,-0.00174225, 0.54361324, 0.06605008, 0.09349414,-0.07016334,
  0.1309772 , 0.50509493, 0.49513873, 0.49403094, 0.50561862]

qacc:
[ -1.63873183, -0.28247931,  2.3892274 , -8.42687945,  1.83716263,
  -1.33688991,  5.04395626, -9.19451427,  4.11732014, -0.30065445,
   5.86046208,-21.74852736, -0.19376427, -2.12084152, -7.27809958,
  21.53451364,  0.47244643,  1.00939256,  0.02841825,  6.80942623,
   0.81222293,-14.56797187]

qfrc_actuator:
[ 5.51712345e-05,-2.88446830e-05, 4.67463398e-05, 6.97302639e-05,
 -1.67814969e-05,-3.67071416e-04,-2.87802395e-04,-7.59396066e-05,
  7.72799343e-05, 2.75343418e-05,-1.16146932e-04, 1.93934133e-05,
  5.75781747e-02,-7.54195122e-04, 3.84178454e-02,-3.90251939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031968044539383567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73645752e-13,  9.22493056e-14,  1.00000000e+00, -1.60187000e-26,
        1.00000000e+00, -9.22493056e-14, -1.00000000e+00,  0.00000000e+00,
        1.73645752e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08595027, -0.08816155,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.57143609e-06,-2.26609230e-05,-1.88334267e-05,-2.07050297e-05,
  1.07121109e-05,-4.92564073e-05,-6.04299174e-06,-1.49682736e-05,
  2.42131052e-05, 3.98656921e-05,-1.36400531e-05,-4.63751935e-05,
 -3.83647897e-04,-1.20702436e-04,-1.43429445e-04, 6.25479641e-05,
 -8.20593707e-06, 5.11939382e-07,-1.21646723e+00,-4.54481287e-04,
  1.48333979e-05,-5.53258767e-04]


--- Step 338 ---
qpos:
[ 0.01207565,-0.00116919, 0.00241064, 0.04194324, 0.00457265,-0.00233908,
 -0.01817716, 0.02845519, 0.01315785, 0.00449558,-0.01022935, 0.02637168,
  0.71848769,-0.00174208, 0.54475288, 0.06605421, 0.09355274,-0.07015782,
  0.13097704, 0.50490232, 0.49533256, 0.49426823, 0.50538918]

qacc:
[  5.01551469, -0.74636513,  3.76377079, -8.44064881, -1.93330931,
   1.99942276, -9.75145793, 19.94914288,  5.53215387,  0.90240695,
  -3.72503105,  6.4244666 , -1.48889046,  2.76205051, -0.82428017,
  -1.33144549,  0.11630841,  1.02456364,  0.23216163,  1.56615904,
   0.42344217,-14.87016808]

qfrc_actuator:
[ 8.48074352e-05,-1.09737237e-05, 5.79400152e-05, 5.83802400e-05,
 -2.83803403e-05,-3.67471042e-04,-3.04716165e-04,-4.77728766e-05,
  1.08970543e-04, 1.12334941e-05,-1.32037550e-04, 2.57790562e-05,
  5.74594142e-02,-7.49818581e-04, 3.82975767e-02,-3.94626290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003180287266641435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72738004e-14,  2.61821401e-13,  1.00000000e+00,  2.28501487e-26,
        1.00000000e+00, -2.61821401e-13, -1.00000000e+00,  0.00000000e+00,
       -8.72738004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143654, -0.0881104 ,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93609817e-05, 4.52950766e-07, 3.48706006e-06,-1.33736551e-05,
 -1.13096230e-05,-2.97995206e-05,-2.83351284e-05, 2.55598474e-05,
  3.23958959e-05, 1.18960416e-06,-1.09397560e-05, 6.71839278e-06,
 -3.99568942e-04,-6.85137930e-05,-1.84966020e-04,-6.02086808e-05,
 -8.08515826e-06, 1.02760777e-08,-1.21646905e+00,-4.55785609e-04,
  1.09855091e-05,-5.53169440e-04]


--- Step 339 ---
qpos:
[ 0.01207741,-0.00117023, 0.00241092, 0.04194305, 0.0045723 ,-0.00233973,
 -0.0181787 , 0.028455  , 0.01315999, 0.00449605,-0.01022965, 0.02637179,
  0.71970865,-0.00174086, 0.54588981, 0.06605754, 0.09361181,-0.07014824,
  0.13097735, 0.50472252, 0.49551301, 0.494522  , 0.50514357]

qacc:
[ -0.03050692, -0.40162212,  2.20688229, -4.92711349,  1.8208121 ,
   2.55295453,-10.2691033 , 16.78249866,  0.17774997, -1.88001051,
   7.92056008,-13.85916272, -2.63694841,  7.23358604, -1.46585036,
  -0.43689762,  0.11813166,  1.01372759,  0.12061067,  1.61425866,
   0.37675149,-14.70891752]

qfrc_actuator:
[ 8.37888153e-05, 1.97130171e-07, 6.45316079e-05, 5.17452154e-05,
 -1.72309145e-05,-3.49552695e-04,-3.32017565e-04,-3.09972985e-05,
  1.09008028e-04, 1.89739665e-05,-1.05654063e-04, 1.16090311e-05,
  5.73442381e-02,-6.94052551e-04, 3.81472168e-02,-3.99149504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031496224599260325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40617502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.40617502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143632, -0.08811122,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79412459e-07, 1.16144180e-05, 6.65968895e-06,-6.75473178e-06,
  1.08165193e-05,-3.46720218e-06,-3.60413141e-05, 1.50208793e-05,
  9.59419294e-07, 6.44121408e-06, 2.55167695e-05,-1.43681799e-05,
 -3.98688875e-04,-1.47927732e-05,-2.46483126e-04,-7.35638353e-05,
 -7.53221540e-06,-4.82189469e-07,-1.21646973e+00,-4.57084492e-04,
  6.96022130e-06,-5.53105080e-04]


--- Step 340 ---
qpos:
[ 0.0120788 ,-0.00117127, 0.00241101, 0.04194316, 0.00457209,-0.0023402 ,
 -0.01818036, 0.02845463, 0.01316211, 0.00449672,-0.01022918, 0.02637168,
  0.7209273 ,-0.00173895, 0.54702446, 0.06605883, 0.09367136,-0.07013465,
  0.13097778, 0.50455537, 0.49568028, 0.49479215, 0.50488184]

qacc:
[ -3.26095685,  1.1524123 , -5.3316178 , 10.7248672 ,  1.18577919,
   0.18546846,  0.50860789, -3.75367627, -0.12078937, -2.35780304,
   9.7532755 ,-15.05560056, -2.19523678,  5.56084099,  2.83510696,
 -14.61305585,  0.12034395,  1.00495711,  0.0275059 ,  1.66198504,
   0.33276334,-14.57874998]

qfrc_actuator:
[ 6.47231721e-05,-1.04848739e-05, 5.05769723e-05, 6.56798216e-05,
 -1.05270471e-05,-3.20849428e-04,-3.29653077e-04,-3.88037036e-05,
  1.08165364e-04, 5.89580048e-05,-5.44577535e-05, 3.24618444e-06,
  5.72313093e-02,-6.61710792e-04, 3.80481728e-02,-4.09049084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031028645021680124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23628647e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.23628647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143608, -0.08811248,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90636407e-05,-3.07172687e-06,-1.09615478e-05, 1.45329030e-05,
  7.01200800e-06, 2.00098366e-05,-2.24580359e-06,-8.90484763e-06,
 -8.12382010e-07, 4.82344711e-05, 5.51725400e-05,-7.48378263e-06,
 -3.87307943e-04,-3.29206517e-05,-2.21922360e-04,-1.35274387e-04,
 -6.98366411e-06,-8.87490269e-07,-1.21647070e+00,-4.58391410e-04,
  2.89203131e-06,-5.52959280e-04]


--- Step 341 ---
qpos:
[ 0.0120796 ,-0.00117248, 0.00241069, 0.04194451, 0.00457195,-0.00234026,
 -0.01818154, 0.02845375, 0.01316385, 0.0044978 ,-0.01022846, 0.02637181,
  0.7221437 ,-0.00173661, 0.5481578 , 0.06605733, 0.0937314 ,-0.07011706,
  0.13097801, 0.50440075, 0.49583456, 0.49507857, 0.50460399]

qacc:
[ -5.14134496,  3.48885337,-18.00015137, 40.25492177,  0.72503924,
  -1.83765888,  9.46176105,-19.26750333, -3.26901399,  0.40700943,
  -1.73320632,  5.46210678, -1.928226  ,  4.48212888,  6.58330784,
 -25.66521255,  0.12287658,  0.99796259, -0.04997733,  1.7098195 ,
   0.29085033,-14.47528689]

qfrc_actuator:
[ 3.51975756e-05,-3.42360772e-05, 2.45283010e-05, 1.27078053e-04,
 -6.50050536e-06,-2.68052623e-04,-2.91997405e-04,-6.09755811e-05,
  8.90692267e-05, 8.25574075e-05,-4.21466050e-05, 1.61635923e-05,
  5.71144791e-02,-6.43480745e-04, 3.80225834e-02,-4.22020083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003043799487466442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.11872669e-14,  1.82374534e-13,  1.00000000e+00, -1.66302353e-26,
        1.00000000e+00, -1.82374534e-13, -1.00000000e+00,  0.00000000e+00,
        9.11872669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143583, -0.08811407,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00660136e-05,-2.70854197e-05,-2.75202481e-05, 6.11726439e-05,
  4.23399137e-06, 6.31803373e-05, 4.12294416e-05,-2.15600629e-05,
 -1.91016989e-05, 6.16250772e-05, 2.88004164e-05, 1.67459891e-05,
 -3.86251945e-04,-4.70177993e-05,-1.45550890e-04,-1.66619819e-04,
 -6.43735544e-06,-1.20978599e-06,-1.21647196e+00,-4.59710857e-04,
 -1.22792707e-06,-5.52732773e-04]


--- Step 342 ---
qpos:
[ 0.0120797 ,-0.00117376, 0.00241002, 0.04194657, 0.00457187,-0.00233997,
 -0.01818224, 0.02845261, 0.01316501, 0.00449912,-0.01022748, 0.02637178,
  0.72335789,-0.00173402, 0.54928869, 0.06605504, 0.0937891 ,-0.07009493,
  0.13097912, 0.50427183, 0.49596408, 0.49537185, 0.50431764]

qacc:
[ -6.20758154,  2.37351268,-11.54105235, 24.35087988,  0.44203502,
  -1.39877156,  6.70205682,-12.06455648, -5.16250751, -0.78808725,
   3.99223927, -7.56532173, -1.63095903,  3.40826791, -1.17011186,
  -1.02387902, -0.58428293,  1.13658111,  0.22143108, -8.77811897,
  -0.49176077,-16.45635626]

qfrc_actuator:
[-2.42238061e-07,-3.01427098e-05, 9.27514844e-06, 1.62631821e-04,
 -4.08054319e-06,-2.54346759e-04,-2.69218748e-04,-7.36227533e-05,
  5.93829273e-05, 7.82855490e-05,-3.51887212e-05, 5.95248093e-06,
  5.70007127e-02,-6.33740114e-04, 3.78919387e-02,-4.26024333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003040619323491228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19489237e-13,  9.12826390e-14,  1.00000000e+00, -2.91638207e-26,
        1.00000000e+00, -9.12826390e-14, -1.00000000e+00,  0.00000000e+00,
        3.19489237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209591, -0.09004631,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63021491e-05,-1.40851848e-05,-2.21055309e-05, 3.46334399e-05,
  2.56201245e-06, 5.66476800e-05, 4.01777958e-05,-8.92799812e-06,
 -3.02051674e-05, 3.68069879e-05, 2.37954219e-05,-6.25096348e-06,
 -3.84341202e-04,-5.69631885e-05,-2.23112422e-04,-6.98363936e-05,
 -5.89142856e-06,-1.45253970e-06,-1.21647350e+00,-4.61047060e-04,
 -5.40767561e-06,-5.52426243e-04]


--- Step 343 ---
qpos:
[ 0.01207903,-0.00117472, 0.00240901, 0.0419483 , 0.00457113,-0.00233935,
 -0.01818294, 0.02845206, 0.01316581, 0.00450043,-0.01022626, 0.02637132,
  0.72457019,-0.00173289, 0.55041671, 0.06605459, 0.09384451,-0.0700683 ,
  0.13098061, 0.50416827, 0.49606925, 0.49567194, 0.5040228 ]

qacc:
[ -6.79144093,  0.67291775, -0.38430213, -5.05844147, -5.79121329,
   1.66749589, -7.72888645, 17.5284807 , -3.20145484, -1.5661693 ,
   7.42634155,-15.34478613,  0.48804306, -4.68513366, -9.82677036,
  28.09030575, -0.57330743,  1.1241977 ,  0.09459885, -8.60971718,
  -0.52957625,-16.25942969]

qfrc_actuator:
[-3.88757009e-05, 8.36592718e-06, 6.04927660e-07, 1.47212244e-04,
 -3.81300974e-05,-2.46440816e-04,-2.73309508e-04,-4.51016928e-05,
  4.14594019e-05, 5.73052311e-05,-3.15690079e-05,-1.78117346e-05,
  5.68888614e-02,-7.17843453e-04, 3.77729719e-02,-4.15860929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030353865049383144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65760019e-13,  2.85750015e-13,  1.00000000e+00, -1.04515931e-25,
        1.00000000e+00, -2.85750015e-13, -1.00000000e+00,  0.00000000e+00,
        3.65760019e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209593, -0.09004645,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96673621e-05, 2.75862335e-05,-1.30843547e-05,-1.61124459e-05,
 -3.39579576e-05, 4.75008298e-05, 1.22576109e-05, 3.21685293e-05,
 -1.87643876e-05, 4.18385276e-06, 1.39129270e-05,-2.14887569e-05,
 -3.83015463e-04,-1.51430616e-04,-2.31730845e-04, 6.83338119e-05,
 -4.53946755e-06,-1.58989423e-06,-1.21647255e+00,-4.62485288e-04,
 -9.14323340e-06,-5.52254458e-04]


--- Step 344 ---
qpos:
[ 0.01207894,-0.00117529, 0.00240807, 0.04195013, 0.00456998,-0.0023385 ,
 -0.01818364, 0.02845221, 0.01316673, 0.00450149,-0.0102254 , 0.02637064,
  0.7257804 ,-0.00173241, 0.55154252, 0.06605846, 0.09389544,-0.0700499 ,
  0.13098425, 0.50405065, 0.49618455, 0.49592671, 0.50377627]

qacc:
[  5.06301815,  0.5419028 , -1.65430298,  3.14831943, -3.52850521,
   1.73333953, -8.70136858, 20.70077438,  1.08454654,  0.2852692 ,
  -0.62496102, -2.15912306, -0.48064996, -0.99563221,-16.33725172,
  52.42381328, -1.12147577, -2.05857761,  0.53843074,-17.35369258,
   1.48971051, 29.47693331]

qfrc_actuator:
[-8.06699918e-06, 4.94223966e-05, 1.37573227e-05, 1.55221061e-04,
 -5.78663707e-05,-2.42150984e-04,-2.75479680e-04,-1.03648138e-05,
  4.83585240e-05, 8.68830049e-06,-6.55372972e-05,-3.16229152e-05,
  5.67835355e-02,-7.50130417e-04, 3.77250481e-02,-3.92102020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031476132323800254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76359505e-13,  8.81797526e-14,  1.00000000e+00, -1.55513375e-26,
        1.00000000e+00, -8.81797526e-14, -1.00000000e+00,  0.00000000e+00,
        1.76359505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11013033, -0.0340861 ,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96947805e-05, 5.31209406e-05, 1.67031347e-05, 8.42665698e-06,
 -2.06901231e-05, 3.47376273e-05, 1.02678320e-05, 3.78255534e-05,
  6.37311155e-06,-4.43891012e-05,-3.21609619e-05,-1.35723738e-05,
 -3.91038389e-04,-1.08680415e-04,-1.47857733e-04, 2.11204665e-04,
 -3.27869134e-06,-1.55207535e-06,-1.21647208e+00,-4.63944516e-04,
 -1.25445105e-05,-5.51960696e-04]


--- Step 345 ---
qpos:
[ 0.01208025,-0.0011756 , 0.00240734, 0.04195205, 0.00456895,-0.0023378 ,
 -0.01818417, 0.02845317, 0.01316807, 0.00450231,-0.01022497, 0.02637016,
  0.72698826,-0.00173104, 0.55266617, 0.06606549, 0.09394202,-0.0700395 ,
  0.13098886, 0.50391934, 0.49630971, 0.49613761, 0.50357665]

qacc:
[ 12.34552988, -0.07428803,  0.35094102,  0.6991096 ,  1.03649448,
   0.96437583, -7.13354623, 20.8478269 ,  3.69065133,  1.23195608,
  -5.68879302,  9.85155187, -2.33925905,  6.1529127 ,-12.59702335,
  39.691938  , -1.08534534, -1.99860601,  0.23981303,-16.79922921,
   1.49703252, 28.5955648 ]

qfrc_actuator:
[ 6.33677554e-05, 5.62972257e-05, 2.19836144e-05, 1.59227725e-04,
 -5.12558907e-05,-2.75563159e-04,-2.76510002e-04, 2.77456400e-05,
  6.98083246e-05,-3.00705326e-06,-8.60369787e-05,-2.17645693e-05,
  5.66822113e-02,-6.98293116e-04, 3.76186038e-02,-3.76486551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033280480734908247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66797925e-13,  1.66797925e-13,  1.00000000e+00, -2.78215477e-26,
        1.00000000e+00, -1.66797925e-13, -1.00000000e+00,  0.00000000e+00,
        1.66797925e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012601, -0.03409522,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.22994697e-05, 4.04298373e-05, 2.15601770e-05, 7.02247174e-06,
  6.03046268e-06,-1.02755792e-05, 8.71708331e-06, 4.06907306e-05,
  2.16213591e-05,-4.37847862e-05,-3.41200231e-05, 6.57627193e-06,
 -3.84786267e-04,-2.21353256e-05,-1.55752591e-04, 1.47623107e-04,
 -3.71075177e-06,-1.07090364e-06,-1.21646476e+00,-4.64739138e-04,
 -5.25847905e-06,-5.50865014e-04]


--- Step 346 ---
qpos:
[ 0.01208206,-0.001176  , 0.00240692, 0.0419537 , 0.00456801,-0.00233725,
 -0.01818493, 0.0284546 , 0.01316931, 0.00450302,-0.01022491, 0.02637012,
  0.72819396,-0.00172936, 0.55378794, 0.06606712, 0.09398439,-0.07003689,
  0.13099342, 0.50377463, 0.49644448, 0.49630588, 0.50342275]

qacc:
[ 4.41921188e+00,-1.56836342e+00, 6.55611951e+00,-1.17085663e+01,
  7.58597654e-01, 1.44941184e+00,-7.45551333e+00, 1.61786709e+01,
 -8.75117120e-01, 1.82614144e+00,-8.56473462e+00, 1.69003738e+01,
 -1.77529108e+00, 3.90577124e+00, 1.36108942e+01,-5.15091103e+01,
 -1.05480959e+00,-1.94845875e+00,-1.18636218e-02,-1.63329465e+01,
  1.50626033e+00, 2.78590682e+01]

qfrc_actuator:
[ 8.71090106e-05, 2.48847313e-05, 2.70885682e-05, 1.43057171e-04,
 -4.69485936e-05,-2.95790822e-04,-2.94769988e-04, 4.97497856e-05,
  6.41373118e-05, 7.55324412e-06,-9.82562277e-05, 1.98185474e-06,
  5.65727344e-02,-6.86025296e-04, 3.74558184e-02,-4.06643560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003446276099098311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.61075751e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.61075751e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012319, -0.03410116,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58124033e-05,-4.01294292e-06, 1.63581588e-05,-1.35610296e-05,
  4.47367316e-06,-2.24484211e-05,-1.79050266e-05, 2.26545541e-05,
 -5.06796527e-06,-2.07121640e-05,-2.52516416e-05, 2.08151124e-05,
 -3.74369959e-04,-5.23173990e-05,-2.22937034e-04,-3.14694305e-04,
 -3.94309675e-06,-4.46246736e-07,-1.21645908e+00,-4.65720499e-04,
  8.19876569e-07,-5.50072821e-04]


--- Step 347 ---
qpos:
[ 0.01208414,-0.00117643, 0.00240656, 0.0419555 , 0.00456713,-0.00233672,
 -0.01818594, 0.02845592, 0.01317013, 0.0045036 ,-0.01022531, 0.02637073,
  0.72939754,-0.00172751, 0.55490767, 0.06606043, 0.09402263,-0.07004191,
  0.13099708, 0.50361678, 0.49658866, 0.49643254, 0.5033136 ]

qacc:
[  2.38518752,  0.09473987, -1.01938526,  3.5134346 ,  0.50858276,
   0.44476019, -1.15289484, -0.323583  , -3.7276484 ,  2.43168306,
 -11.63201938, 23.5583894 , -1.66929169,  3.4599075 , 22.10378204,
 -81.61103553, -1.02902801, -1.90665112, -0.22380334,-15.94110149,
   1.51722145, 27.24531493]

qfrc_actuator:
[ 1.00327963e-04, 2.40057555e-05, 3.01316293e-05, 1.50612281e-04,
 -4.40399197e-05,-2.90308669e-04,-3.05277917e-04, 4.43420598e-05,
  4.25444039e-05,-4.09274974e-06,-1.23141378e-04, 3.37317766e-05,
  5.64637599e-02,-6.79517161e-04, 3.73285163e-02,-4.49331719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035138572889273356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73933458e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.73933458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012159, -0.03410452,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39531687e-05,-3.06000542e-07, 3.76267367e-06, 7.68192195e-06,
  3.02822279e-06,-9.81107132e-06,-1.65672814e-05,-6.55130766e-06,
 -2.17416415e-05,-2.75768344e-05,-3.15611230e-05, 3.03924850e-05,
 -3.72611995e-04,-5.90362473e-05,-2.68505471e-04,-4.74110990e-04,
 -3.99329341e-06, 3.08643752e-07,-1.21645488e+00,-4.66877699e-04,
  5.81381876e-06,-5.49571203e-04]


--- Step 348 ---
qpos:
[ 0.01208637,-0.00117659, 0.00240607, 0.04195804, 0.00456629,-0.00233617,
 -0.01818709, 0.02845681, 0.01317103, 0.00450396,-0.01022569, 0.02637134,
  0.73059894,-0.00172523, 0.55602493, 0.06605082, 0.09405685,-0.07005442,
  0.13099913, 0.50344596, 0.49674209, 0.49651843, 0.50324836]

qacc:
[  1.24189585,  2.25353249,-10.64306721, 23.48741111,  0.36109655,
  -0.49949198,  3.61189542,-10.85356124,  0.7067127 , -0.34394586,
   0.76518366, -0.50342219, -1.86355307,  4.29713132,  5.25295068,
 -23.49857139, -1.00729063, -1.87192727, -0.4020842 ,-15.61231793,
   1.52970106, 26.73588793]

qfrc_actuator:
[ 1.07263352e-04, 5.91695340e-05, 3.20633214e-05, 1.89842821e-04,
 -4.19770568e-05,-2.87226832e-04,-3.11031304e-04, 2.28813558e-05,
  4.72669060e-05,-1.12289102e-05,-1.19883210e-04, 3.44031087e-05,
  5.63551610e-02,-6.58705205e-04, 3.72598674e-02,-4.61751568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74234606, -3.79999241,  2.83723525, -3.79999241, 12.78196412,
       10.76769634,  2.83723525, 10.76769634, 19.16383768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003540498167799444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56789097e-13,  7.83945487e-14,  1.00000000e+00,  1.22914105e-26,
        1.00000000e+00, -7.83945487e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56789097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012096, -0.03410581,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.33312566e-06, 3.61129086e-05, 2.60016237e-06, 3.94939004e-05,
  2.14675529e-06,-6.11684870e-06,-1.00448983e-05,-2.25839344e-05,
  4.09671678e-06,-2.77968184e-05,-5.27573965e-06,-1.01169051e-06,
 -3.72542898e-04,-4.50389024e-05,-2.46932101e-04,-1.85782737e-04,
 -3.87474627e-06, 1.18434042e-06,-1.21645205e+00,-4.68203264e-04,
  9.82032828e-06,-5.49349967e-04]


--- Step 349 ---
qpos:
[ 0.01208832,-0.00117682, 0.00240602, 0.04196138, 0.00456582,-0.00233553,
 -0.0181886 , 0.02845675, 0.01317163, 0.00450471,-0.01022657, 0.02637156,
  0.7317981 ,-0.00172233, 0.55713963, 0.06604294, 0.09408712,-0.07007429,
  0.13099898, 0.50326233, 0.49690462, 0.49656426, 0.50322635]

qacc:
[ -2.43424196,  0.33031815, -4.71213589, 17.94119407,  3.2833758 ,
  -0.81000387,  7.08037304,-23.00853033, -2.62753581,  1.14981255,
  -1.71347279, -4.43508403, -1.99611153,  4.85875264, -8.93410722,
  25.9431213 , -0.98899475, -1.84321944, -0.55186373,-15.33711784,
   1.54345749, 26.31535661]

qfrc_actuator:
[ 9.26963806e-05, 4.46597505e-05, 5.12489055e-05, 2.29673213e-04,
 -2.26754430e-05,-2.85599571e-04,-3.31696625e-04,-2.55982344e-05,
  3.19402233e-05, 3.77379700e-05,-1.35543694e-04, 1.68045355e-05,
  5.62415431e-02,-6.29639470e-04, 3.71892410e-02,-4.50891032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73975536, -3.81457949,  2.81323019, -3.81457949, 12.5778335 ,
       10.62798636,  2.81323019, 10.62798636, 19.15069795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003534332106596705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57062635e-13,  7.85313173e-14,  1.00000000e+00, -1.23343356e-26,
        1.00000000e+00, -7.85313173e-14, -1.00000000e+00,  0.00000000e+00,
        1.57062635e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012112, -0.03410543,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43470148e-05, 7.91497365e-06, 2.83310459e-05, 4.22312916e-05,
  1.93620576e-05,-4.84349516e-06,-2.39425811e-05,-4.95295535e-05,
 -1.52188689e-05, 3.22840273e-05,-2.20874713e-05,-1.89933336e-05,
 -3.74663421e-04,-3.56841231e-05,-2.06593700e-04, 6.59492677e-05,
 -3.59755397e-06, 2.17444206e-06,-1.21645049e+00,-4.69692450e-04,
  1.29156294e-05,-5.49401147e-04]


--- Step 350 ---
qpos:
[ 0.01209042,-0.00117711, 0.00240626, 0.04196483, 0.00456594,-0.00233479,
 -0.01819011, 0.02845609, 0.01317205, 0.00450593,-0.01022803, 0.02637157,
  0.73299504,-0.00171873, 0.55825167, 0.06603672, 0.09411348,-0.07010145,
  0.13099611, 0.50306599, 0.49707614, 0.49657062, 0.503247  ]

qacc:
[  1.37496584, -0.65931638,  1.78319173, -0.28494748,  5.08001409,
  -1.10844994,  6.6847981 ,-17.21418927, -1.6837969 ,  1.77079093,
  -4.48140177,  1.25227515, -2.0792868 ,  5.18847608, -8.86646922,
  25.52037567, -0.97362692, -1.81961639, -0.67753676,-15.10756357,
   1.55823442, 25.97072431]

qfrc_actuator:
[ 1.01097394e-04, 3.60986834e-05, 6.25207421e-05, 2.34001525e-04,
  6.61828814e-06,-2.67186802e-04,-3.25519427e-04,-5.40917318e-05,
  2.26805273e-05, 6.65830806e-05,-1.62033975e-04, 6.38610583e-06,
  5.61303230e-02,-5.95977510e-04, 3.70642684e-02,-4.42388158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003502156481394181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58505628e-13,  1.58505628e-13,  1.00000000e+00, -2.51240341e-26,
        1.00000000e+00, -1.58505628e-13, -1.00000000e+00,  0.00000000e+00,
        1.58505628e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012189, -0.03410374,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99286249e-06, 3.51696183e-06, 1.78517335e-05, 6.46308688e-06,
  2.98473384e-05, 8.63754414e-06, 5.23229047e-07,-3.04921629e-05,
 -9.67762328e-06, 4.15014329e-05,-2.31970204e-05,-1.01682562e-05,
 -3.71570104e-04,-3.08382511e-05,-2.15247613e-04, 6.13898858e-05,
 -3.16916684e-06, 3.27498177e-06,-1.21645014e+00,-4.71342679e-04,
  1.51594455e-05,-5.49718600e-04]


--- Step 351 ---
qpos:
[ 0.01209226,-0.00117724, 0.00240662, 0.0419676 , 0.00456606,-0.00233434,
 -0.01819116, 0.02845579, 0.01317269, 0.00450687,-0.01022896, 0.02637182,
  0.73418988,-0.00171504, 0.5593615 , 0.06602754, 0.09413601,-0.07013581,
  0.13099011, 0.50285703, 0.49725654, 0.49653797, 0.50330984]

qacc:
[ -2.29204939, -1.51221054,  8.5586546 ,-20.61086605,  0.07041792,
  -0.95672587,  1.2712077 ,  4.62166145,  2.05552795, -1.34336422,
   3.21988462,  0.34042715, -1.45395518,  2.74837995,  5.74363945,
 -24.71672358, -0.96074886, -1.80033865, -0.78285894,-14.91698082,
   1.57377038, 25.69100052]

qfrc_actuator:
[ 8.74513658e-05, 4.88578061e-05, 6.90112048e-05, 1.99645643e-04,
  6.04789272e-06,-2.92001423e-04,-3.03450677e-04,-3.50529404e-05,
  3.48244324e-05, 2.98620942e-05,-1.41497567e-04, 1.80164040e-05,
  5.60206218e-02,-5.95387991e-04, 3.69334177e-02,-4.58440988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003449634208148311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60918949e-13,  1.60918949e-13,  1.00000000e+00, -2.58949083e-26,
        1.00000000e+00, -1.60918949e-13, -1.00000000e+00,  0.00000000e+00,
        1.60918949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012313, -0.03410101,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34184250e-05, 1.86861312e-05, 9.62953280e-06,-3.34700939e-05,
  2.85210247e-07,-2.11804921e-05, 2.28716170e-05, 1.88356134e-05,
  1.18871699e-05,-1.87697703e-05, 2.59035847e-05, 1.24092825e-05,
 -3.67120466e-04,-6.29988488e-05,-2.25187059e-04,-1.85437597e-04,
 -2.59489630e-06, 4.48398576e-06,-1.21645093e+00,-4.73153076e-04,
  1.65983089e-05,-5.50297674e-04]


--- Step 352 ---
qpos:
[ 0.01209427,-0.00117729, 0.00240735, 0.04196993, 0.00456652,-0.00233401,
 -0.01819253, 0.02845611, 0.01317348, 0.00450749,-0.01022959, 0.02637257,
  0.7353826 ,-0.00171129, 0.56046904, 0.06601968, 0.09415572,-0.07016514,
  0.13098865, 0.50267514, 0.4974125 , 0.49651361, 0.50336144]

qacc:
[  1.47961044, -1.87818259,  8.70428781,-17.01317487,  2.94918292,
   2.03221809,-10.05328423, 21.23042645,  1.25189811, -0.23423336,
  -1.87724895, 10.29647786, -1.33759662,  2.32614925, -7.31433764,
  20.78998021, -0.70364057,  1.25696916,  1.13349995, -8.00346586,
  -1.27927762,-17.77012513]

qfrc_actuator:
[ 9.64364430e-05, 5.64736828e-05, 9.04470904e-05, 1.78330399e-04,
  2.34064624e-05,-3.06889908e-04,-3.25583667e-04,-5.98254398e-06,
  4.17136930e-05, 7.62484333e-06,-1.29116367e-04, 4.25030520e-05,
  5.59065736e-02,-5.96572028e-04, 3.68736561e-02,-4.49774813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034311785498894465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61784502e-13,  4.04461255e-14,  1.00000000e+00, -6.54355626e-27,
        1.00000000e+00, -4.04461255e-14, -1.00000000e+00,  0.00000000e+00,
        1.61784502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210698, -0.09003677,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61036998e-06, 1.86043294e-05, 2.53135064e-05,-2.08395089e-05,
  1.73576054e-05,-2.12043631e-05,-2.30311502e-05, 2.93226395e-05,
  7.22094264e-06,-2.68682507e-05, 1.21236173e-05, 2.48191459e-05,
 -3.74106314e-04,-6.71805301e-05,-1.86767549e-04, 4.65709074e-05,
 -1.87831224e-06, 5.80114388e-06,-1.21645283e+00,-4.75124089e-04,
  1.72681584e-05,-5.51134945e-04]


--- Step 353 ---
qpos:
[ 0.01209671,-0.00117716, 0.00240858, 0.04197197, 0.00456718,-0.00233421,
 -0.01819368, 0.02845644, 0.013174  , 0.00450819,-0.01023073, 0.02637327,
  0.73657312,-0.0017072 , 0.56157455, 0.06601413, 0.09417276,-0.07018959,
  0.13099061, 0.50251975, 0.49754436, 0.49649725, 0.50340241]

qacc:
[  3.85042939, -1.74713288,  7.82233412,-13.85226143,  1.81086475,
  -1.31134894,  3.60948857, -3.34596036, -2.38074506,  1.43536826,
  -4.76933792,  4.68390522, -1.66696481,  3.55632646, -9.90957387,
  30.45294506, -0.66727081,  1.22050273,  0.85589849, -7.98921704,
  -1.1457597 ,-17.31465013]

qfrc_actuator:
[ 1.18676472e-04, 7.87712447e-05, 1.20537638e-04, 1.64874229e-04,
  3.34358092e-05,-3.51389340e-04,-3.20357914e-04,-6.78459020e-06,
  2.76956921e-05, 1.19688182e-05,-1.57126056e-04, 3.88417954e-05,
  5.57953220e-02,-5.81062448e-04, 3.68033770e-02,-4.37238807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.74609763,  0.21670795,  4.74114758,  0.21670795,  9.75899714,
       -0.22912916,  4.74114758, -0.22912916,  4.75657065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035493973615716157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22184367e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22184367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210833, -0.09003369,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24902812e-05, 3.70219672e-05, 3.63144946e-05,-1.21964182e-05,
  1.05167498e-05,-5.98478003e-05,-9.65588206e-07,-1.93608240e-06,
 -1.38222459e-05,-7.12507706e-06,-3.12087962e-05,-3.91199055e-06,
 -3.76239688e-04,-5.23905770e-05,-1.54655987e-04, 1.02944016e-04,
 -1.45662889e-06, 4.34419386e-06,-1.21644957e+00,-4.74419188e-04,
  1.49525709e-05,-5.52149913e-04]


--- Step 354 ---
qpos:
[ 0.01209837,-0.00117692, 0.00241024, 0.04197349, 0.00456727,-0.00233525,
 -0.01819371, 0.02845639, 0.013174  , 0.00450868,-0.01023183, 0.02637391,
  0.73776158,-0.00170327, 0.56267807, 0.06600715, 0.09418725,-0.07020928,
  0.13099506, 0.50239034, 0.49765243, 0.49648866, 0.50343322]

qacc:
[ -6.90641949, -2.09209437,  9.82597041,-19.39892375, -4.98621821,
  -4.98796829, 17.75982536,-25.43136344, -4.54212206, -0.50209945,
   1.61947839, -2.44798454, -1.14056836,  1.56259263,  1.4067272 ,
  -9.09429667, -0.63768314,  1.19006437,  0.62222829, -7.96532572,
  -1.04026147,-16.9320041 ]

qfrc_actuator:
[ 7.75224828e-05, 7.42322425e-05, 1.37804891e-04, 1.38411608e-04,
  3.56005033e-06,-3.95450891e-04,-2.63645239e-04,-2.51586069e-05,
  1.48622386e-06,-3.49826795e-06,-1.55413359e-04, 3.63942729e-05,
  5.56911568e-02,-5.91341684e-04, 3.66789151e-02,-4.45610989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.77502626,  0.0872629 ,  4.77422883,  0.0872629 , 12.43717608,
       -0.14004805,  4.77422883, -0.14004805,  4.77758604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036168640378352046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53478678e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53478678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210971, -0.09003203,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05042814e-05, 2.31189134e-05, 2.89412051e-05,-2.38664747e-05,
 -2.95965544e-05,-7.77872818e-05, 4.41795468e-05,-2.10080739e-05,
 -2.66020636e-05,-2.60823552e-05,-3.73376662e-06,-3.90874607e-06,
 -3.67824423e-04,-7.72865001e-05,-1.89260948e-04,-9.92082507e-05,
 -1.08384014e-06, 3.12661828e-06,-1.21644685e+00,-4.73849857e-04,
  1.29691350e-05,-5.53003076e-04]


--- Step 355 ---
qpos:
[ 0.01209987,-0.0011767 , 0.0024119 , 0.04197474, 0.00456665,-0.00233648,
 -0.0181939 , 0.02845682, 0.01317369, 0.00450894,-0.01023293, 0.02637523,
  0.73894808,-0.00169979, 0.56377903, 0.06599894, 0.09419929,-0.07022431,
  0.13100122, 0.5022865 , 0.49773699, 0.49648764, 0.50345425]

qacc:
[ -1.41322723, -0.61524013,  3.38223606, -8.31575627, -6.17140864,
   1.14976446, -6.43082644, 14.95766531, -2.76054578,  1.06309426,
  -7.01245205, 18.61861796, -0.73179922,  0.08425495, -0.04107672,
  -5.33891481, -0.61363435,  1.16474494,  0.42592373, -7.936244  ,
  -0.9569074 ,-16.6115204 ]

qfrc_actuator:
[ 7.03918700e-05, 5.35983092e-05, 1.29492438e-04, 1.22228048e-04,
 -3.18088035e-05,-3.85454975e-04,-2.65775188e-04,-4.33597088e-07,
 -1.39298852e-05,-1.28466403e-05,-1.53973918e-04, 7.02025767e-05,
  5.55913097e-02,-6.16748882e-04, 3.65433149e-02,-4.52045051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7866002 , -0.02113912,  4.78655353, -0.02113912, 16.68574326,
        0.05255084,  4.78655353,  0.05255084,  4.78683229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036433015049297524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.61824833e-14, -1.52364967e-13,  1.00000000e+00,  1.16075415e-26,
        1.00000000e+00,  1.52364967e-13, -1.00000000e+00,  0.00000000e+00,
        7.61824833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211113, -0.09003152,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27777487e-06,-2.80085714e-06,-8.23956591e-07,-1.46625969e-05,
 -3.62410984e-05,-2.52492817e-05,-1.34679844e-05, 2.25149850e-05,
 -1.61801585e-05,-2.48880593e-05,-4.53658714e-06, 3.24863215e-05,
 -3.62334615e-04,-9.34042665e-05,-2.37923487e-04,-9.53403203e-05,
 -7.64717500e-07, 2.13038067e-06,-1.21644463e+00,-4.73386666e-04,
  1.13020817e-05,-5.53703327e-04]


--- Step 356 ---
qpos:
[ 0.01210092,-0.00117655, 0.00241353, 0.04197544, 0.00456596,-0.00233763,
 -0.0181948 , 0.02845754, 0.01317354, 0.00450906,-0.01023399, 0.02637623,
  0.74013279,-0.00169757, 0.56487748, 0.06599351, 0.09420895,-0.07023477,
  0.13100842, 0.50220786, 0.49779826, 0.49649403, 0.50346582]

qacc:
[ -3.8880305 , -1.08983269,  6.01029946,-15.17857015, -0.67793707,
   2.73310061,-10.84177895, 17.08209068,  1.43154651, -0.91730764,
   4.30425317, -9.60609707,  0.33621289, -3.82808474,-12.15184014,
  37.04907427, -0.59411751,  1.14377625,  0.26140432, -7.90520789,
  -0.89104003,-16.34422744]

qfrc_actuator:
[ 4.78585399e-05, 4.11317061e-05, 1.23834638e-04, 9.44391302e-05,
 -3.46089787e-05,-3.78853878e-04,-3.02396863e-04, 1.39475513e-05,
 -5.11318463e-06,-1.84219720e-05,-1.52672225e-04, 5.40612678e-05,
  5.54941190e-02,-6.86370856e-04, 3.64757169e-02,-4.35974714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78377538, -0.1678792 ,  4.78082874, -0.1678792 , 24.33084062,
        0.68639684,  4.78082874,  0.68639684,  4.80787826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036368774639827794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211258, -0.09003191,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27718333e-05,-1.48693824e-05,-6.87125092e-06,-2.82297749e-05,
 -3.84309462e-06,-9.30196266e-06,-4.26998723e-05, 1.32749737e-05,
  8.34709204e-06,-1.90438807e-05,-3.26677418e-06,-1.67330445e-05,
 -3.58873291e-04,-1.38289278e-04,-1.89221901e-04, 1.24278871e-04,
 -5.02278743e-07, 1.34106012e-06,-1.21644288e+00,-4.73007701e-04,
  9.93771389e-06,-5.54257732e-04]


--- Step 357 ---
qpos:
[ 0.01210135,-0.00117658, 0.0024154 , 0.0419758 , 0.00456593,-0.00233873,
 -0.01819615, 0.02845807, 0.01317384, 0.00450893,-0.01023441, 0.02637665,
  0.74131559,-0.00169647, 0.56597346, 0.06599428, 0.0942163 ,-0.07024072,
  0.13101611, 0.50215413, 0.49783646, 0.4965077 , 0.50346817]

qacc:
[ -5.46672905, -1.62220222,  6.90339535,-13.13688294,  5.78147911,
   0.89121468, -2.29745938, -0.34092122,  3.99814179, -3.30343189,
  13.73188063,-24.52687752,  0.16698483, -3.23160659,-22.36929909,
  72.88712552, -0.5783153 ,  1.12650699,  0.12390609, -7.87451772,
  -0.83896318,-16.12253675]

qfrc_actuator:
[ 1.64294810e-05, 3.36386541e-05, 1.37566172e-04, 7.78050091e-05,
 -4.63065162e-07,-3.74484315e-04,-3.23577237e-04, 4.35538015e-06,
  1.78923595e-05,-2.17304095e-05,-1.15980428e-04, 2.64093045e-05,
  5.53879263e-02,-7.46022900e-04, 3.64010749e-02,-4.03204523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76963144, -0.36525662,  4.75562527, -0.36525662, 42.1386989 ,
        2.87013768,  4.75562527,  2.87013768,  4.99007286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036044345098702746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54007934e-13, -3.08015868e-13,  1.00000000e+00,  4.74368875e-26,
        1.00000000e+00,  3.08015868e-13, -1.00000000e+00,  0.00000000e+00,
        1.54007934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211405, -0.09003303,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20829118e-05,-1.84741586e-05, 8.81461360e-06,-1.80631873e-05,
  3.40342204e-05,-9.03365302e-06,-2.78796582e-05,-1.12067947e-05,
  2.32363616e-05,-1.53414034e-05, 3.17850080e-05,-2.89072640e-05,
 -3.72504797e-04,-1.32541794e-04,-1.50729815e-04, 3.09473352e-04,
 -2.98352176e-07, 7.47158302e-07,-1.21644158e+00,-4.72696644e-04,
  8.86435049e-06,-5.54671881e-04]


--- Step 358 ---
qpos:
[ 0.01210175,-0.00117676, 0.00241739, 0.04197631, 0.00456597,-0.00233967,
 -0.01819783, 0.02845846, 0.01317441, 0.00450876,-0.0102342 , 0.02637706,
  0.74249624,-0.00169541, 0.56706725, 0.06599702, 0.09422138,-0.07024221,
  0.13102385, 0.50212505, 0.49785174, 0.49652853, 0.50346151]

qacc:
[-3.04187317e-01,-2.26731534e-01,-8.14181112e-02, 2.51965061e+00,
  5.50796588e-01, 8.79774688e-01,-2.22818828e+00, 2.07300972e-01,
  2.42556668e+00,-1.87876810e+00, 6.65231342e+00,-7.86798788e+00,
 -1.23173575e+00, 1.85724901e+00,-9.12041256e+00, 2.73196266e+01,
 -5.65562986e-01, 1.11238362e+00, 9.35040397e-03,-7.84576205e+00,
 -7.97740331e-01,-1.59400033e+01]

qfrc_actuator:
[ 1.55260882e-05, 2.92663007e-05, 1.44911568e-04, 8.56392492e-05,
  1.88652921e-06,-3.53696117e-04,-3.35480762e-04,-1.49673083e-06,
  3.13043346e-05,-5.76819785e-06,-7.64282200e-05, 2.77461986e-05,
  5.52817330e-02,-7.46085030e-04, 3.62690362e-02,-3.94596403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003551686616281302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.81475919e-14, -1.56295184e-13,  1.00000000e+00, -1.22140922e-26,
        1.00000000e+00,  1.56295184e-13, -1.00000000e+00,  0.00000000e+00,
       -7.81475919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211554, -0.09003471,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82404972e-06,-1.36903396e-05, 3.96859598e-06, 6.99249359e-06,
  3.31880207e-06, 9.56423832e-06,-1.75653221e-05,-7.41914624e-06,
  1.40659833e-05, 1.27275540e-05, 3.93028521e-05, 1.21601808e-06,
 -3.80360230e-04,-7.49978239e-05,-1.70986452e-04, 8.28459950e-05,
 -1.53975219e-07, 3.39542040e-07,-1.21644070e+00,-4.72441350e-04,
  8.07220853e-06,-5.54950183e-04]


--- Step 359 ---
qpos:
[ 0.01210179,-0.00117662, 0.00241899, 0.04197654, 0.00456569,-0.00234042,
 -0.01819967, 0.02845807, 0.01317514, 0.00450855,-0.01023345, 0.0263768 ,
  0.74367467,-0.00169373, 0.56815925, 0.06599448, 0.09422425,-0.07023931,
  0.13103124, 0.50212041, 0.49784427, 0.49655645, 0.503446  ]

qacc:
[ -3.17696068,  0.92468723, -1.50770421, -2.94933785, -2.78488909,
  -0.93856957,  7.01119005,-20.43349456,  1.39396396, -2.92381265,
  13.1954142 ,-25.6679286 , -2.17102976,  5.28559932, 13.36886081,
 -50.40564578, -0.55531907,  1.10093521, -0.08576053, -7.81999476,
  -0.76503595,-15.79113787]

qfrc_actuator:
[-2.90579971e-06, 6.23045486e-05, 1.30697360e-04, 7.22964149e-05,
 -1.45092835e-05,-3.40945649e-04,-3.41742055e-04,-4.05841606e-05,
  3.89578770e-05,-1.38427222e-05,-5.31637410e-05,-7.11267298e-06,
  5.51809558e-02,-7.11009163e-04, 3.61292515e-02,-4.23389052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034833873877515575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.96798418e-14, -3.18719367e-13,  1.00000000e+00,  2.53955088e-26,
        1.00000000e+00,  3.18719367e-13, -1.00000000e+00,  0.00000000e+00,
        7.96798418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211703, -0.09003682,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84905875e-05, 2.64819504e-05,-1.63340543e-05,-1.36611165e-05,
 -1.62967936e-05, 1.42068655e-05,-6.67638192e-06,-3.94248477e-05,
  8.05573060e-06, 7.22307260e-06, 3.07752580e-05,-3.29313347e-05,
 -3.70916934e-04,-3.53866129e-05,-2.13575506e-04,-3.06470526e-04,
 -6.96736500e-08, 1.10992170e-07,-1.21644024e+00,-4.72232789e-04,
  7.55325060e-06,-5.55096095e-04]


--- Step 360 ---
qpos:
[ 0.0121016 ,-0.00117618, 0.00242037, 0.0419766 , 0.00456556,-0.00234119,
 -0.01820097, 0.02845754, 0.01317596, 0.00450837,-0.01023328, 0.02637654,
  0.7448509 ,-0.00169159, 0.56924878, 0.06599144, 0.09422492,-0.07023204,
  0.13103797, 0.50214006, 0.49781414, 0.49659137, 0.50342175]

qacc:
[ -1.9567889 ,  0.67533073, -1.10339702, -1.73253327,  1.33796697,
  -1.81672259,  7.02932234,-10.30579766,  0.74082819,  1.62982865,
  -5.74972622,  6.61802429, -1.86015422,  4.2208012 , -2.06154489,
   2.07776803, -0.54714177,  1.09176084, -0.16442845, -7.79787375,
  -0.73899049,-15.67125748]

qfrc_actuator:
[-1.37638556e-05, 8.18852781e-05, 1.21759221e-04, 6.43669414e-05,
 -6.29166288e-06,-3.33106621e-04,-3.09169691e-04,-4.56590852e-05,
  4.31638381e-05,-3.63347779e-05,-9.30809470e-05,-9.76636740e-06,
  5.50675342e-02,-6.91010636e-04, 3.60434453e-02,-4.24269128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034034743735714135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.15507113e-14, -1.63101423e-13,  1.00000000e+00,  1.33010370e-26,
        1.00000000e+00,  1.63101423e-13, -1.00000000e+00,  0.00000000e+00,
        8.15507113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211853, -0.09003924,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13757420e-05, 3.03995771e-05,-5.97254594e-06,-7.62962118e-06,
  7.75965035e-06, 1.27589621e-05, 3.33522008e-05,-5.45701423e-06,
  4.43753633e-06,-1.35024928e-05,-3.57792514e-05,-1.92100178e-06,
 -3.71073890e-04,-4.46845816e-05,-2.22329931e-04,-5.44721567e-05,
 -4.56551735e-08, 5.58366357e-08,-1.21644018e+00,-4.72064259e-04,
  7.30101717e-06,-5.55112314e-04]


--- Step 361 ---
qpos:
[ 0.01210163,-0.00117582, 0.00242178, 0.04197659, 0.00456587,-0.00234204,
 -0.01820163, 0.02845833, 0.01317716, 0.00450851,-0.0102343 , 0.02637659,
  0.74602495,-0.00168915, 0.57033562, 0.06599415, 0.09422343,-0.07022043,
  0.13104378, 0.50218384, 0.49776145, 0.49663324, 0.50338887]

qacc:
[  1.90301256, -0.31525644,  1.25633902, -2.37508119,  3.91676696,
   0.80756216, -8.62700596, 30.5685987 ,  3.37908797,  4.45142826,
 -16.62359984, 23.90461455, -1.53929423,  3.11047777,-21.29281272,
  68.86918633, -0.54067029,  1.08451934, -0.22922915, -7.77976859,
  -0.71812177,-15.57636364]

qfrc_actuator:
[-2.31941507e-06, 5.77746086e-05, 1.15979932e-04, 5.96894463e-05,
  1.63532521e-05,-3.28081743e-04,-2.71674814e-04, 2.26039820e-05,
  6.30614797e-05,-1.42710255e-05,-1.52264614e-04, 6.50040640e-06,
  5.49519293e-02,-6.80146196e-04, 3.59795010e-02,-3.92690574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003315192930470612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.67444708e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.67444708e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212001, -0.0900419 ,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11291793e-05,-8.70702224e-06,-5.20196596e-07,-3.73393718e-06,
  2.28695807e-05, 1.88620518e-05, 4.40750634e-05, 6.98631946e-05,
  2.00200911e-05, 7.04927794e-06,-6.64449548e-05, 1.44133241e-05,
 -3.74627879e-04,-5.49837943e-05,-1.74674344e-04, 2.83451872e-04,
 -8.19417646e-08, 1.69651078e-07,-1.21644051e+00,-4.71930793e-04,
  7.31045688e-06,-5.55000923e-04]


--- Step 362 ---
qpos:
[ 0.01210215,-0.00117547, 0.00242253, 0.04197691, 0.00456611,-0.00234275,
 -0.01820212, 0.02845959, 0.0131786 , 0.0045088 ,-0.01023519, 0.02637643,
  0.74719685,-0.00168627, 0.57142074, 0.06599395, 0.0942198 ,-0.0702045 ,
  0.13104847, 0.50225165, 0.49768626, 0.49668202, 0.50334743]

qacc:
[  4.2135019 ,  2.49108072,-10.31771814, 17.1099347 , -0.6631107 ,
   0.70612907, -4.23997278, 12.04560086,  2.01737306, -0.65766798,
   3.55586583, -7.71986967, -1.87742603,  4.25807465,  6.34496141,
 -25.71460349, -0.53560964,  1.07892053, -0.28237146, -7.76584305,
  -0.7012471 ,-15.50304199]

qfrc_actuator:
[ 2.21574554e-05, 4.32054265e-05, 7.64262153e-05, 7.46782375e-05,
  1.17953926e-05,-3.24681933e-04,-2.67056790e-04, 4.46986472e-05,
  7.42843386e-05, 1.64676615e-05,-1.33382900e-04,-1.70921641e-06,
  5.48510707e-02,-6.57030156e-04, 3.58488961e-02,-4.09702997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032212025187275395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61652611e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.61652611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212147, -0.09004472,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47880301e-05,-1.97314706e-05,-4.15666886e-05, 1.45206801e-05,
 -3.90364562e-06, 2.60899994e-05, 1.63755809e-05, 2.57883485e-05,
  1.17956221e-05, 2.15907684e-05, 1.26630334e-05,-9.92483848e-06,
 -3.63310440e-04,-4.47610002e-05,-1.82587777e-04,-1.77681019e-04,
 -1.78458560e-07, 4.49013893e-07,-1.21644123e+00,-4.71828712e-04,
  7.57776313e-06,-5.54763511e-04]


--- Step 363 ---
qpos:
[ 0.01210295,-0.00117508, 0.00242275, 0.04197739, 0.00456595,-0.00234299,
 -0.01820319, 0.02846043, 0.01317947, 0.00450913,-0.01023531, 0.02637683,
  0.74836679,-0.00168374, 0.57250408, 0.06598967, 0.09421405,-0.07018428,
  0.13105185, 0.5023434 , 0.49758862, 0.49673767, 0.50329749]

qacc:
[  2.52561306,  1.86083812, -7.25095976, 10.87508197, -3.54404133,
   1.34576556, -2.10115523, -4.70230069, -4.96020573, -0.92851547,
   1.03305835,  7.41834395, -0.91916951,  0.73621409,  9.72429275,
 -37.78454867, -0.53171846,  1.07471787, -0.32574735, -7.75611799,
  -0.68742166,-15.4483783 ]

qfrc_actuator:
[ 3.63491642e-05, 5.20857198e-05, 5.27882294e-05, 8.33444802e-05,
 -8.74155385e-06,-3.04690313e-04,-2.99691048e-04, 2.16616610e-05,
  4.48013643e-05, 3.47067179e-05,-8.62769128e-05, 2.90686778e-05,
  5.47484831e-02,-6.80081459e-04, 3.57581905e-02,-4.30378794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003123667856541751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7771144e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7771144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212291, -0.09004763,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48891515e-05,-1.01327172e-05,-3.23458286e-05, 6.66108228e-06,
 -2.06409217e-05, 3.90960070e-05,-2.43243812e-05,-2.08503710e-05,
 -2.91404196e-05, 3.25120180e-05, 5.27905129e-05, 3.19496397e-05,
 -3.56144179e-04,-8.78232932e-05,-1.99569422e-04,-2.41482890e-04,
 -3.35092125e-07, 8.91305562e-07,-1.21644233e+00,-4.71755293e-04,
  8.10022225e-06,-5.54401273e-04]


--- Step 364 ---
qpos:
[ 0.01210323,-0.00117461, 0.00242288, 0.04197829, 0.00456554,-0.00234327,
 -0.01820449, 0.02846172, 0.01317998, 0.00450977,-0.01023551, 0.02637796,
  0.74953471,-0.00168145, 0.57358551, 0.06598642, 0.09420617,-0.07015977,
  0.13105379, 0.50245904, 0.49746855, 0.49680016, 0.50323907]

qacc:
[ -4.62639448,  1.23127973, -5.93302227, 13.07325385, -2.15007641,
   1.5512562 , -7.47135616, 15.62682635, -3.17559004,  2.1460035 ,
 -10.16900649, 22.8007732 , -0.99914798,  1.05814779, -5.92912531,
  16.69496447, -0.52879919,  1.07170221, -0.36097507, -7.75051841,
  -0.67588974,-15.40988734]

qfrc_actuator:
[ 8.86421454e-06, 7.49883044e-05, 5.65878168e-05, 1.06006391e-04,
 -2.07575634e-05,-3.28380505e-04,-3.18500832e-04, 4.32650155e-05,
  2.71039978e-05, 4.54925162e-05,-9.39323572e-05, 6.47911801e-05,
  5.46395919e-02,-6.94706676e-04, 3.57234461e-02,-4.22839920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003024336997076993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17740835e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.17740835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212432, -0.09005058,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70654274e-05, 1.08252676e-05,-2.05632613e-06, 2.12351158e-05,
 -1.25892671e-05,-7.73328929e-06,-1.44378003e-05, 2.20333090e-05,
 -1.85163938e-05, 4.12215064e-05, 6.66682076e-06, 3.95641974e-05,
 -3.65035396e-04,-8.25892355e-05,-1.57792190e-04, 3.50967202e-05,
 -5.51727359e-07, 1.49454411e-06,-1.21644381e+00,-4.71708514e-04,
  8.87607597e-06,-5.53915082e-04]


--- Step 365 ---
qpos:
[ 0.01210283,-0.00117424, 0.00242337, 0.04197978, 0.00456534,-0.00234398,
 -0.01820525, 0.02846325, 0.01318096, 0.00451037,-0.01023557, 0.02637851,
  0.75070052,-0.001679  , 0.57466507, 0.06598403, 0.0941962 ,-0.07013098,
  0.13105417, 0.50259851, 0.49732605, 0.49686946, 0.50317221]

qacc:
[ -5.92972467,  0.08813526, -3.0235575 , 12.88709517,  1.81377706,
  -1.58203543,  3.7448433 ,  0.01886644,  4.17480135, -1.66230723,
   8.34175952,-18.72577138, -1.4517006 ,  2.73660881, -5.29686131,
  14.66212023, -0.52669002,  1.06969634, -0.3894364 , -7.74890846,
  -0.66604608,-15.38545228]

qfrc_actuator:
[-2.51745131e-05, 7.07361691e-05, 7.66274600e-05, 1.36754165e-04,
 -9.90464805e-06,-3.60221917e-04,-2.93618364e-04, 5.54432605e-05,
  5.20034709e-05, 1.60238252e-05,-9.83970297e-05, 3.20712762e-05,
  5.45376481e-02,-6.86512578e-04, 3.56424686e-02,-4.18248748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029246081024250636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89807144e-13,  1.18629465e-14,  1.00000000e+00,  2.25167200e-27,
        1.00000000e+00, -1.18629465e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89807144e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212568, -0.09005355,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48075412e-05, 2.25548425e-06, 2.27489862e-05, 3.15514968e-05,
  1.04907911e-05,-3.81858626e-05, 2.22851526e-05, 1.17772435e-05,
  2.43878912e-05,-3.37278932e-06, 6.23395039e-06,-2.99553508e-05,
 -3.62621878e-04,-6.11051404e-05,-1.54878771e-04, 2.62156451e-05,
 -8.28269670e-07, 2.25725018e-06,-1.21644567e+00,-4.71686857e-04,
  9.90439936e-06,-5.53305553e-04]


--- Step 366 ---
qpos:
[ 0.01210271,-0.00117406, 0.00242418, 0.04198165, 0.00456561,-0.00234491,
 -0.01820633, 0.0284653 , 0.01318189, 0.00451065,-0.01023555, 0.0263794 ,
  0.75186438,-0.00167678, 0.57574217, 0.06598229, 0.09418211,-0.07010993,
  0.13105412, 0.50272427, 0.49719319, 0.49689692, 0.50315076]

qacc:
[  2.51705771, -0.39613804, -0.54738576,  6.63461588,  4.16996987,
   1.63397475, -8.42622479, 17.96042783, -0.46725756,  0.04164061,
  -2.20735894,  8.18116929, -0.94321215,  0.94436695, -5.56129755,
  14.22960872, -1.02596229, -1.93503743, -0.10749528,-15.97967829,
   1.75546794, 27.66444021]

qfrc_actuator:
[-9.52687594e-06, 5.03436442e-05, 8.82334406e-05, 1.54244919e-04,
  1.43187710e-05,-3.78778951e-04,-3.14213378e-04, 7.97400142e-05,
  4.85132153e-05,-1.96336946e-05,-1.01139711e-04, 4.80794929e-05,
  5.44399514e-02,-7.00420962e-04, 3.55071864e-02,-4.15450220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000292058440364118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90068642e-13,  1.90068642e-13,  1.00000000e+00, -3.61260888e-26,
        1.00000000e+00, -1.90068642e-13, -1.00000000e+00,  0.00000000e+00,
        1.90068642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012695, -0.03407289,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46539744e-05,-1.31139540e-05, 1.59536730e-05, 1.89848983e-05,
  2.45079374e-05,-3.47676598e-05,-2.53163561e-05, 2.36600136e-05,
 -2.79557245e-06,-3.75504291e-05,-3.71561538e-06, 1.54931325e-05,
 -3.53005111e-04,-8.06963650e-05,-2.09092162e-04, 8.10846811e-06,
 -1.16465715e-06, 3.17833636e-06,-1.21644790e+00,-4.71689164e-04,
  1.11849943e-05,-5.52573092e-04]


--- Step 367 ---
qpos:
[ 0.01210175,-0.00117407, 0.00242515, 0.04198406, 0.00456617,-0.00234582,
 -0.01820802, 0.02846726, 0.01318242, 0.00451072,-0.0102356 , 0.0263808 ,
  0.75302604,-0.00167374, 0.57681693, 0.06597887, 0.094164  ,-0.07009647,
  0.13105289, 0.50283664, 0.49706978, 0.49688335, 0.50317381]

qacc:
[ -7.43289177,  0.46793357, -4.32211172, 13.7087186 ,  2.50596914,
   1.5623147 , -5.19887782,  4.77267135, -3.46439808,  1.04693768,
  -6.32196261, 15.67094967, -2.27997353,  5.76886466,  1.69392995,
 -10.71357484, -1.00728396, -1.89676135, -0.29689899,-15.67202654,
   1.70105554, 27.0980031 ]

qfrc_actuator:
[-5.35212312e-05, 3.81568728e-05, 9.46790553e-05, 1.81522202e-04,
  2.84579162e-05,-3.71653672e-04,-3.43701321e-04, 7.54402451e-05,
  2.83275154e-05,-2.31882888e-05,-1.02842042e-04, 7.48800548e-05,
  5.43342147e-02,-6.56256009e-04, 3.53820491e-02,-4.24391753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54007581, -4.15122624,  1.8383713 , -4.15122624,  8.04285497,
        7.90962561,  1.8383713 ,  7.90962561, 22.40080142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002998834544790663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70218166e-13,  1.85109083e-13,  1.00000000e+00, -6.85307451e-26,
        1.00000000e+00, -1.85109083e-13, -1.00000000e+00,  0.00000000e+00,
        3.70218166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012513, -0.03407688,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35852251e-05,-1.54259564e-05, 6.34232307e-06, 2.76300256e-05,
  1.48261019e-05,-1.64813549e-05,-3.89511122e-05,-6.20635470e-06,
 -2.02776568e-05,-2.46668026e-05,-9.38484060e-06, 2.53619789e-05,
 -3.58147522e-04,-2.29318604e-05,-2.23039032e-04,-1.16612672e-04,
 -1.57658691e-06, 2.01323169e-06,-1.21644559e+00,-4.70898003e-04,
  1.13346566e-05,-5.52229147e-04]


--- Step 368 ---
qpos:
[ 0.01209958,-0.0011742 , 0.00242621, 0.04198644, 0.0045669 ,-0.00234655,
 -0.01821014, 0.02846844, 0.01318306, 0.00451085,-0.01023576, 0.0263818 ,
  0.75418559,-0.00167016, 0.57788945, 0.06597659, 0.09414192,-0.07009047,
  0.13104982, 0.50293589, 0.49695565, 0.49682944, 0.50324058]

qacc:
[-10.62515679, -0.47935167,  1.6809595 , -2.47926621,  1.43051206,
  -0.18509641,  4.34353894,-17.4708908 ,  0.86380151, -0.49809286,
   3.61605848,-10.62482915, -1.86858434,  4.34566428, -6.63925963,
  18.62296167, -0.99198102, -1.86474138, -0.45649177,-15.41909399,
   1.65069294, 26.62635262]

qfrc_actuator:
[-1.14530463e-04, 3.09603855e-05, 9.80651497e-05, 1.78839012e-04,
  3.65442062e-05,-3.49273258e-04,-3.60351732e-04, 3.66173465e-05,
  3.39912271e-05,-7.47821305e-06,-1.03792374e-04, 5.45762923e-05,
  5.42290714e-02,-6.31464955e-04, 3.53163336e-02,-4.17092820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55363688, -4.18178653,  1.80229582, -4.18178653,  7.88647306,
        7.733031  ,  1.80229582,  7.733031  , 22.49624347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003039644005514014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82623857e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.82623857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012418, -0.03407895,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.22574094e-05,-1.33574819e-05, 1.92293964e-06,-2.59233326e-06,
  8.50526239e-06, 4.90641307e-06,-2.50419581e-05,-4.09969427e-05,
  5.07876057e-06, 1.05400236e-06,-6.32596772e-06,-2.11942168e-05,
 -3.51333400e-04,-3.72605465e-05,-1.84007649e-04, 3.70319967e-05,
 -1.81296492e-06, 1.00391174e-06,-1.21644456e+00,-4.70321485e-04,
  1.06366546e-05,-5.52166226e-04]


--- Step 369 ---
qpos:
[ 0.01209738,-0.00117424, 0.00242725, 0.04198805, 0.00456737,-0.00234708,
 -0.01821229, 0.02846979, 0.01318375, 0.00451088,-0.01023646, 0.02638294,
  0.75534322,-0.00166689, 0.57895972, 0.06597712, 0.09411592,-0.07009181,
  0.1310444 , 0.50302225, 0.49685065, 0.49673573, 0.50335043]

qacc:
[ -0.22238658, -1.39394884,  8.36329573,-21.5809397 , -2.22703434,
   0.72834937, -2.9667079 ,  6.02991315,  0.53876294,  1.68406503,
  -6.79843427, 10.23375545, -0.78765433,  0.43327023,-11.77941842,
  36.42800388, -0.9795514 , -1.83803307, -0.59090193,-15.2129017 ,
   1.60336626, 26.23528851]

qfrc_actuator:
[-1.14036524e-04, 4.45224079e-05, 9.96183619e-05, 1.40798063e-04,
  2.32538723e-05,-3.17909054e-04,-3.51482358e-04, 4.88335770e-05,
  3.70769878e-05,-3.36409574e-05,-1.39744296e-04, 5.99949793e-05,
  5.41243552e-02,-6.53856973e-04, 3.52330883e-02,-4.02038623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030502519028653696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81988744e-13,  1.81988744e-13,  1.00000000e+00, -3.31199029e-26,
        1.00000000e+00, -1.81988744e-13, -1.00000000e+00,  0.00000000e+00,
        1.81988744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012395, -0.03407947,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28297661e-06, 6.35087537e-06,-1.07017750e-06,-3.86014887e-05,
 -1.30433026e-05, 2.72302273e-05, 5.41004977e-06, 1.07655494e-05,
  3.23200458e-06,-2.77895690e-05,-3.72481643e-05, 4.83024813e-06,
 -3.48256860e-04,-8.50033176e-05,-1.67685341e-04, 1.27888007e-04,
 -1.88420269e-06, 1.38612565e-07,-1.21644475e+00,-4.69940094e-04,
  9.13817238e-06,-5.52374582e-04]


--- Step 370 ---
qpos:
[ 0.01209486,-0.00117384, 0.00242816, 0.04198847, 0.00456768,-0.00234749,
 -0.01821374, 0.02847125, 0.01318448, 0.00451055,-0.01023801, 0.02638385,
  0.75649897,-0.00166448, 0.580028  , 0.06597449, 0.09408605,-0.07010043,
  0.13103616, 0.50309589, 0.49675467, 0.49660268, 0.50350283]

qacc:
[ -2.85002424, -1.4761324 , 11.18148615,-32.0039454 , -1.40785257,
  -1.59546982,  5.48946723, -4.99683621,  0.2599707 ,  1.41597969,
  -4.76680556,  2.37524133, -0.31459432, -1.49224912,  6.56875622,
 -27.29328832, -0.96956875, -1.81583073, -0.70406183,-15.04674214,
   1.55823032, 25.91290209]

qfrc_actuator:
[-1.30599350e-04, 8.81248460e-05, 1.00144528e-04, 8.22796976e-05,
  1.52428964e-05,-2.99006713e-04,-3.09782023e-04, 5.55094844e-05,
  3.86122019e-05,-8.47999899e-05,-1.96215803e-04, 4.49502564e-05,
  5.40146292e-02,-7.03915203e-04, 3.50914752e-02,-4.19824646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003036712118344165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65600354e-13,  9.14000884e-14,  1.00000000e+00, -3.34159047e-26,
        1.00000000e+00, -9.14000884e-14, -1.00000000e+00,  0.00000000e+00,
        3.65600354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012428, -0.03407876,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65967036e-05, 4.52712405e-05, 3.57609816e-07,-5.90400479e-05,
 -8.37418217e-06, 3.57448172e-05, 4.83925466e-05, 8.24305298e-06,
  1.61825748e-06,-7.41784412e-05,-6.66267733e-05,-1.74315037e-05,
 -3.59127208e-04,-1.17262979e-04,-2.08682679e-04,-1.93416231e-04,
 -1.79808119e-06,-5.91267940e-07,-1.21644609e+00,-4.69737722e-04,
  6.87463219e-06,-5.52846213e-04]


--- Step 371 ---
qpos:
[ 0.01209251,-0.00117293, 0.0024287 , 0.04198819, 0.00456754,-0.00234786,
 -0.01821461, 0.02847279, 0.01318522, 0.0045101 ,-0.01024065, 0.02638456,
  0.75765282,-0.00166296, 0.58109373, 0.06597334, 0.09405232,-0.07011623,
  0.13102472, 0.50315699, 0.49666759, 0.49643061, 0.50369732]

qacc:
[  1.4380787 ,  0.22754088,  3.08088192,-14.91909983, -3.86892401,
  -1.36908014,  4.62616424, -4.13267909,  0.07825436,  2.46113638,
  -8.1720903 ,  6.53556135, -0.18129233, -1.91975986, -8.25801242,
  23.3903001 , -0.96167   , -1.79744561, -0.79932153,-14.91495509,
   1.51457747, 25.64916925]

qfrc_actuator:
[-1.21583119e-04, 1.13854034e-04, 8.24307696e-05, 4.77199920e-05,
 -7.34234761e-06,-3.05317185e-04,-2.84598677e-04, 5.88740943e-05,
  3.92229757e-05,-7.96396625e-05,-2.46721584e-04, 3.56988721e-05,
  5.39126135e-02,-7.52150797e-04, 3.50054376e-02,-4.10673818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003004073523229511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69572521e-13,  9.23931302e-14,  1.00000000e+00, -3.41459620e-26,
        1.00000000e+00, -9.23931302e-14, -1.00000000e+00,  0.00000000e+00,
        3.69572521e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012506, -0.03407707,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.56002597e-06, 4.85655264e-05,-1.03742013e-05,-3.37597200e-05,
 -2.28139284e-05, 2.40527280e-05, 3.88318175e-05, 6.73259211e-06,
  6.31822986e-07,-5.07993703e-05,-7.46173591e-05,-1.50726080e-05,
 -3.64959494e-04,-1.20552793e-04,-2.07160190e-04, 5.29036214e-05,
 -1.56026036e-06,-1.19169898e-06,-1.21644855e+00,-4.69700825e-04,
  3.87210105e-06,-5.53574484e-04]


--- Step 372 ---
qpos:
[ 0.01209097,-0.00117204, 0.0024295 , 0.04198752, 0.00456679,-0.00234825,
 -0.01821481, 0.02847436, 0.01318596, 0.0045095 ,-0.01024342, 0.02638509,
  0.75880453,-0.00166136, 0.58215731, 0.0659758 , 0.09401478,-0.07013916,
  0.13100976, 0.50320567, 0.49658934, 0.49621979, 0.50393353]

qacc:
[ 7.18253821e+00,-1.56463668e+00, 7.15264220e+00,-1.42374795e+01,
 -5.36546491e+00,-1.83685720e+00, 6.39992816e+00,-6.95413857e+00,
  1.02104942e-02,-2.01465131e-01, 1.21492686e+00,-4.05270858e+00,
 -1.33329899e+00, 2.26659535e+00,-1.39745822e+01, 4.44222632e+01,
 -9.55545437e-01,-1.78228823e+00,-8.79540067e-01,-1.48127502e+01,
  1.47181288e+00, 2.54356282e+01]

qfrc_actuator:
[-7.98264905e-05, 9.31231344e-05, 8.95535701e-05, 2.75138400e-05,
 -3.83265038e-05,-3.08983809e-04,-2.51732668e-04, 6.02259135e-05,
  3.92856632e-05,-5.85319478e-05,-2.39811732e-04, 2.99846040e-05,
  5.38099685e-02,-7.45657699e-04, 3.49475411e-02,-3.91024666e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002956533131482503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87757582e-13,  1.87757582e-13,  1.00000000e+00, -3.52529097e-26,
        1.00000000e+00, -1.87757582e-13, -1.00000000e+00,  0.00000000e+00,
        1.87757582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11012618, -0.03407463,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20155594e-05, 2.80982255e-06, 1.46944844e-05,-1.91440963e-05,
 -3.16283483e-05, 1.81051861e-05, 4.28625529e-05, 3.85754152e-06,
  6.25409627e-08,-2.33102939e-05,-1.32603636e-05,-1.07609687e-05,
 -3.69766893e-04,-6.74092067e-05,-1.49747594e-04, 1.72083482e-04,
 -1.17467298e-06,-1.66642297e-06,-1.21645210e+00,-4.69817764e-04,
  1.49169558e-07,-5.54553833e-04]


--- Step 373 ---
qpos:
[ 0.01208961,-0.00117142, 0.00243051, 0.041987  , 0.00456637,-0.00234845,
 -0.01821466, 0.02847593, 0.0131867 , 0.00450868,-0.01024524, 0.02638513,
  0.75995416,-0.00165969, 0.58321948, 0.06597556, 0.09397444,-0.07015714,
  0.13099867, 0.50328119, 0.49648669, 0.49601694, 0.5041589 ]

qacc:
[ 1.48452065e+00,-6.21921425e-01, 1.09681125e+00, 1.27537058e+00,
  2.84747563e+00,-7.50976177e-01, 3.02983078e+00,-3.73535300e+00,
 -1.26828734e-02,-3.90847461e+00, 1.55487598e+01,-2.52430924e+01,
 -1.46588851e+00, 2.65247813e+00, 6.10257545e+00,-2.42740113e+01,
 -6.97200751e-01, 1.23765714e+00, 9.67590326e-01,-8.10153421e+00,
 -1.20226388e+00,-1.75233121e+01]

qfrc_actuator:
[-7.24003276e-05, 6.25885629e-05, 9.33507888e-05, 3.36425347e-05,
 -2.07435363e-05,-2.93263343e-04,-2.32337700e-04, 6.03903298e-05,
  3.90256762e-05,-4.55429345e-05,-1.81224016e-04, 8.70160406e-06,
  5.37070350e-02,-7.42450015e-04, 3.48480007e-02,-4.06178514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030607855537045925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1335152e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1335152e-14, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213774, -0.0900513 ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61915522e-06,-2.67686988e-05, 5.50663564e-06, 6.38111162e-06,
  1.66852356e-05, 3.48654658e-05, 2.85526766e-05, 2.49760472e-06,
 -2.69984229e-07,-3.19125500e-06, 5.18059630e-05,-2.29437187e-05,
 -3.63612530e-04,-6.62917861e-05,-1.54327192e-04,-1.62525926e-04,
 -6.43830938e-07,-2.01726837e-06,-1.21645672e+00,-4.70078287e-04,
 -4.28157244e-06,-5.55779531e-04]


--- Step 374 ---
qpos:
[ 0.01208799,-0.00117107, 0.00243104, 0.0419866 , 0.00456616,-0.00234829,
 -0.01821488, 0.02847752, 0.01318743, 0.00450837,-0.01024697, 0.02638523,
  0.76110182,-0.00165858, 0.58427912, 0.06597101, 0.09393144,-0.0701703 ,
  0.13099046, 0.50338306, 0.49635985, 0.49582178, 0.50437402]

qacc:
[ -2.16160773,  1.20704173, -5.37446997,  8.52719753,  1.85502877,
   1.5714559 , -4.99526261,  5.6622969 , -0.08859224,  0.49690083,
  -1.00400248,  1.35513541, -0.70037609, -0.1361464 ,  9.26042515,
 -37.82956502, -0.66816034,  1.20530691,  0.71950096, -8.14999886,
  -1.04127321,-17.12606394]

qfrc_actuator:
[-8.52502909e-05, 2.64241600e-05, 5.96002679e-05, 3.74424524e-05,
 -1.02182935e-05,-2.83862742e-04,-2.56481086e-04, 5.98612186e-05,
  3.85781007e-05, 1.59703467e-05,-1.63654945e-04, 1.39565630e-05,
  5.35986755e-02,-7.76748058e-04, 3.46755538e-02,-4.29301310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59941327,  0.11948131,  4.5978611 ,  0.11948131, 12.1253762 ,
       -0.19557179,  4.5978611 , -0.19557179,  4.60449546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031719871529392596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75021691e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.75021691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10213891, -0.09004837,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26174843e-05,-4.97486135e-05,-3.83977194e-05, 2.96526857e-06,
  1.10120798e-05, 3.49097686e-05,-1.33418718e-05, 1.99751256e-06,
 -4.61956015e-07, 6.94999387e-05, 2.25287008e-05, 6.47018432e-06,
 -3.65061193e-04,-1.02545503e-04,-2.68026984e-04,-2.61790975e-04,
 -1.75326454e-06,-2.13303377e-06,-1.21645674e+00,-4.68258832e-04,
 -1.66421578e-06,-5.55954770e-04]


--- Step 375 ---
qpos:
[ 0.01208693,-0.00117099, 0.00243145, 0.04198588, 0.00456573,-0.00234798,
 -0.01821558, 0.02847913, 0.01318814, 0.00450842,-0.01024869, 0.02638507,
  0.76224748,-0.00165787, 0.58533558, 0.06596633, 0.09388585,-0.07017874,
  0.13098429, 0.50351083, 0.49620898, 0.49563407, 0.50457939]

qacc:
[  4.81971576, -0.66242654,  3.20589018, -8.37382542, -1.91762775,
   1.57197519, -5.38456176,  6.31870276, -0.10226856, -0.08160138,
   2.07230105, -6.81266883, -0.81060367,  0.35269962, -4.27123922,
   8.1720489 , -0.64522932,  1.17832721,  0.51032774, -8.1856827 ,
  -0.90751326,-16.7930764 ]

qfrc_actuator:
[-5.66625771e-05, 2.25109636e-05, 5.71705596e-05, 2.20516973e-05,
 -2.16996434e-05,-2.96255486e-04,-2.88402319e-04, 5.88971085e-05,
  3.80242896e-05, 1.71874452e-05,-1.70238001e-04,-7.12529205e-07,
  5.34977757e-02,-7.97426887e-04, 3.45500532e-02,-4.28532492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62321189,  0.03566005,  4.62307436,  0.03566005, 15.98543565,
       -0.08764244,  4.62307436, -0.08764244,  4.62388792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032377506891582974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.7144974e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.7144974e-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([ 0.1021401 , -0.09004672,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82112731e-05,-3.95543499e-05,-1.73395182e-05,-1.87931221e-05,
 -1.11546052e-05, 4.45562309e-06,-2.62881141e-05, 1.05313524e-07,
 -5.46574142e-07, 4.50459430e-05, 1.07961560e-05,-1.07807992e-05,
 -3.65616467e-04,-9.27622731e-05,-2.78834672e-04,-4.17249780e-05,
 -2.89954419e-06,-2.06251035e-06,-1.21645727e+00,-4.66550765e-04,
  1.18388397e-06,-5.56018748e-04]


--- Step 376 ---
qpos:
[ 0.01208621,-0.00117126, 0.00243184, 0.04198499, 0.00456517,-0.0023476 ,
 -0.01821637, 0.02848069, 0.0131885 , 0.00450845,-0.01025001, 0.0263851 ,
  0.76339094,-0.00165644, 0.58638969, 0.06596547, 0.09383775,-0.07018257,
  0.13097946, 0.50366415, 0.4960342 , 0.49545359, 0.50477543]

qacc:
[  3.08831395, -0.77367297,  2.81968651, -5.55463901, -1.18005118,
   0.25119619, -0.56424323, -0.09451974, -3.1280396 , -0.70568741,
   1.65098593,  1.12334957, -2.04363832,  4.89848071,-14.88279059,
  47.25476183, -0.62727607,  1.15590164,  0.33420653, -8.2137846 ,
  -0.79508364,-16.51504241]

qfrc_actuator:
[-3.94128521e-05, 2.53495421e-06, 5.56264043e-05, 1.32982051e-05,
 -2.82873122e-05,-2.86150183e-04,-2.89233243e-04, 5.76666658e-05,
  1.96593780e-05,-7.38426496e-08,-1.55755675e-04, 8.45774738e-06,
  5.34014259e-02,-7.56628938e-04, 3.45167786e-02,-4.06572957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6339078 , -0.07745775,  4.63326038, -0.07745775, 22.66192316,
        0.30138811,  4.63326038,  0.30138811,  4.63894634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003266679325706068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69931437e-13, -1.69931437e-13,  1.00000000e+00,  2.88766933e-26,
        1.00000000e+00,  1.69931437e-13, -1.00000000e+00,  0.00000000e+00,
        1.69931437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214132, -0.0900461 ,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80394612e-05,-4.64746721e-05,-1.25044453e-05,-1.14142753e-05,
 -6.90322874e-06, 7.16109219e-06,-3.14366943e-06,-1.94929066e-06,
 -1.83663152e-05, 9.71724555e-06, 2.47644385e-05, 1.12686646e-05,
 -3.59494063e-04,-3.05331132e-05,-1.65418332e-04, 1.81451875e-04,
 -4.08933665e-06,-1.81452268e-06,-1.21645827e+00,-4.64925527e-04,
  4.26729392e-06,-5.55972050e-04]


--- Step 377 ---
qpos:
[ 0.01208467,-0.00117207, 0.00243201, 0.04198404, 0.00456488,-0.00234709,
 -0.01821714, 0.02848118, 0.01318795, 0.00450847,-0.01025088, 0.02638593,
  0.76453229,-0.00165451, 0.58744165, 0.06596524, 0.0937872 ,-0.07018184,
  0.13097538, 0.50384271, 0.49583564, 0.49528018, 0.50496246]

qacc:
[ -7.22191167, -0.22841369,  0.05484431, -0.37451519,  2.36577312,
  -2.09801318, 12.25336432,-30.9825778 , -8.01775775,  0.35572548,
  -4.60135264, 17.5648286 , -1.837538  ,  4.14063459, -5.01693917,
  13.13000083, -0.6133878 ,  1.13734185,  0.1861582 , -8.23812903,
  -0.69932152,-16.28412106]

qfrc_actuator:
[-8.22455936e-05,-4.46396729e-05, 3.68037402e-05, 8.50884401e-06,
 -1.41820283e-05,-2.80287803e-04,-2.89366937e-04, 3.07058089e-06,
 -2.67944587e-05, 7.32633093e-06,-1.29014030e-04, 4.93342714e-05,
  5.32972445e-02,-7.33148537e-04, 3.43950832e-02,-4.04243072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6336552 , -0.22909733,  4.62798822, -0.22909733, 36.75574418,
        1.59012606,  4.62798822,  1.59012606,  4.71237053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032660004852577695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.69966757e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.69966757e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214257, -0.09004629,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.23341457e-05,-7.62197415e-05,-3.03568815e-05,-7.43413794e-06,
  1.39110848e-05, 9.12329605e-06, 8.92254471e-07,-5.44382198e-05,
 -4.69749900e-05, 1.84415955e-05, 3.22052943e-05, 4.23727913e-05,
 -3.51361909e-04,-4.06993504e-05,-1.81832162e-04, 1.10194590e-05,
 -5.32771847e-06,-1.39612127e-06,-1.21645973e+00,-4.63361102e-04,
  7.58996582e-06,-5.55815314e-04]


--- Step 378 ---
qpos:
[ 0.01208333,-0.00117311, 0.00243236, 0.04198331, 0.00456545,-0.00234683,
 -0.01821778, 0.02848139, 0.01318684, 0.00450795,-0.01025113, 0.0263873 ,
  0.76567172,-0.00165291, 0.58849146, 0.06596624, 0.09373424,-0.07017662,
  0.13097154, 0.50404625, 0.49561335, 0.4951137 , 0.50514078]

qacc:
[  1.66515886, -0.31645813, -0.29917157,  4.18176582,  7.55852271,
  -1.28654557,  5.24091089, -9.97572772, -4.82936419, -1.34387515,
   1.46661179,  7.30520573, -0.81986162,  0.50818015, -6.8660304 ,
  19.44786553, -0.60282668,  1.12206565,  0.06193891, -8.26148246,
  -0.6165396 ,-16.09367391]

qfrc_actuator:
[-7.13320638e-05,-1.90394845e-05, 6.10726115e-05, 2.38048911e-05,
  2.97409731e-05,-3.12553046e-04,-2.89147956e-04,-1.14836785e-05,
 -5.38976692e-05,-5.92490225e-05,-1.12896854e-04, 7.30537528e-05,
  5.31937608e-02,-7.55637394e-04, 3.43056143e-02,-3.97548530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62468983,  0.43075792, -4.60458506,  0.43075792, 45.93217634,
        3.86430629, -4.60458506,  3.86430629,  4.98619483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032417706232322485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56185673e-14,  1.71237135e-13,  1.00000000e+00, -1.46610781e-26,
        1.00000000e+00, -1.71237135e-13, -1.00000000e+00,  0.00000000e+00,
        8.56185673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214386, -0.09004715,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68666279e-06,-2.35919299e-05, 4.54169049e-06, 1.08412151e-05,
  4.43252133e-05,-2.93178507e-05, 3.31140807e-07,-1.51929442e-05,
 -2.84351300e-05,-4.78050583e-05, 2.53688473e-05, 2.64506569e-05,
 -3.47174522e-04,-8.62905524e-05,-1.76064517e-04, 4.30638984e-05,
 -6.61865757e-06,-8.12918144e-07,-1.21646162e+00,-4.61840276e-04,
  1.11556379e-05,-5.55549202e-04]


--- Step 379 ---
qpos:
[ 0.01208281,-0.00117405, 0.00243276, 0.04198343, 0.00456654,-0.00234671,
 -0.01821845, 0.02848177, 0.01318611, 0.00450686,-0.01025162, 0.02638901,
  0.76680914,-0.00165151, 0.58953996, 0.06596849, 0.0936789 ,-0.07016697,
  0.13096753, 0.50427457, 0.4953674 , 0.49495401, 0.50531062]

qacc:
[  7.2993245 ,  1.69505923, -9.39991221, 23.79116667,  4.57735461,
   0.25300019, -1.90536453,  5.00347135,  3.28770538,  0.64027924,
  -4.79824001, 11.46542397, -1.02275064,  1.13815771, -5.66145825,
  17.08247861, -0.59499516,  1.10957954, -0.04207779, -8.28580367,
  -0.54382027,-15.93806   ]

qfrc_actuator:
[-2.88524267e-05, 1.46325117e-05, 7.53941015e-05, 6.86394258e-05,
  5.53500378e-05,-3.14115857e-04,-2.88845455e-04,-2.38543398e-06,
 -3.38807964e-05,-1.16406950e-04,-1.39008138e-04, 8.64125958e-05,
  5.30854291e-02,-7.69576224e-04, 3.42834915e-02,-3.90095015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000319904980132249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67619366e-14,  8.67619366e-14,  1.00000000e+00,  7.52763365e-27,
        1.00000000e+00, -8.67619366e-14, -1.00000000e+00,  0.00000000e+00,
       -8.67619366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214518, -0.09004851,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27494455e-05, 2.19248806e-05, 1.03935606e-05, 4.41950071e-05,
  2.68637748e-05,-1.85270496e-05,-6.23599369e-06, 7.55610777e-06,
  1.91885204e-05,-7.75115272e-05,-3.19401027e-05, 1.27023847e-05,
 -3.56998643e-04,-8.19633120e-05,-1.02485522e-04, 5.31791965e-05,
 -7.96535227e-06,-6.93636840e-08,-1.21646393e+00,-4.60349363e-04,
  1.49680877e-05,-5.55174392e-04]


--- Step 380 ---
qpos:
[ 0.01208211,-0.00117488, 0.00243282, 0.04198342, 0.00456793,-0.00234653,
 -0.01821921, 0.02848224, 0.01318562, 0.00450521,-0.01025236, 0.02639017,
  0.76794459,-0.00165057, 0.59058729, 0.06596763, 0.09362399,-0.07015308,
  0.1309653 , 0.50451583, 0.4951082 , 0.49481148, 0.5054634 ]

qacc:
[ -1.56427444,  0.84922147, -2.30503456,  0.62302602,  2.61409378,
   0.50738861, -2.05194522,  3.60360215,  2.15961539, -1.17503179,
   5.4045493 ,-13.99607975, -0.84318492,  0.38562103,  7.66626325,
 -29.30500693,  0.10791653,  1.0593189 ,  0.44557986,  2.00302811,
   0.24715561,-15.09716277]

qfrc_actuator:
[-3.91611706e-05,-3.64147720e-07, 4.82825227e-05, 5.94835837e-05,
  6.99655056e-05,-2.97261247e-04,-2.88372333e-04, 2.81947712e-06,
 -2.18018314e-05,-1.49928622e-04,-1.54328132e-04, 5.80374022e-05,
  5.29795915e-02,-7.96125593e-04, 3.41952618e-02,-4.07090914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003193316834853993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34588502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.34588502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148577, -0.08812965,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08465184e-06, 1.34944909e-06,-1.97688903e-05,-6.99743182e-06,
  1.53751950e-05, 5.54223219e-06,-3.85583838e-06, 4.34147833e-06,
  1.25942213e-05,-8.28740462e-05,-3.48124335e-05,-3.25560662e-05,
 -3.59908056e-04,-9.61447303e-05,-1.37518933e-04,-1.82193430e-04,
 -9.37046861e-06, 8.31024169e-07,-1.21646667e+00,-4.58877256e-04,
  1.90312834e-05,-5.54691568e-04]


--- Step 381 ---
qpos:
[ 0.0120813 ,-0.00117588, 0.0024327 , 0.04198298, 0.00456949,-0.0023465 ,
 -0.01821963, 0.0284831 , 0.01318494, 0.00450308,-0.01025277, 0.02639059,
  0.769078  ,-0.00164962, 0.59163288, 0.06596212, 0.0935695 ,-0.07013502,
  0.13096428, 0.50476991, 0.49483575, 0.49468583, 0.50559949]

qacc:
[ -1.0356875 , -0.59583302,  3.62226791,-10.66104952,  1.4572863 ,
  -0.3326388 , -0.78200333,  7.25979162, -1.71091895, -3.09829355,
  13.28137537,-26.36643655, -1.40705437,  2.40740427, 11.48430401,
 -43.80516851,  0.10553096,  1.04280152,  0.29903192,  1.88646104,
   0.2994181 ,-14.91105447]

qfrc_actuator:
[-4.49627896e-05,-2.68416841e-05, 3.22004765e-05, 3.63153072e-05,
  7.79993692e-05,-3.05008951e-04,-2.69973518e-04, 2.34589885e-05,
 -3.22594584e-05,-1.51294376e-04,-1.27571715e-04, 2.31203303e-05,
  5.28806450e-02,-7.94407520e-04, 3.40833804e-02,-4.31269538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003195827756910796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30274115e-13,  1.73698821e-13,  1.00000000e+00,  2.26284602e-26,
        1.00000000e+00, -1.73698821e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30274115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148622, -0.0881299 ,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.05592969e-06,-3.00776804e-05,-1.84700285e-05,-2.39283987e-05,
  8.47433124e-06,-5.25205075e-06, 1.92240620e-05, 2.08277333e-05,
 -1.01317225e-05,-5.62269150e-05, 4.24764149e-06,-4.03046105e-05,
 -3.57926832e-04,-6.98085575e-05,-2.02813969e-04,-2.71487704e-04,
 -9.92232639e-06, 1.68630488e-06,-1.21646704e+00,-4.57398037e-04,
  2.26248131e-05,-5.54244980e-04]


--- Step 382 ---
qpos:
[ 0.01208008,-0.00117715, 0.00243292, 0.04198328, 0.00457078,-0.00234683,
 -0.01821965, 0.02848354, 0.01318448, 0.00450081,-0.01025306, 0.02639125,
  0.7702093 ,-0.00164832, 0.59267637, 0.06595663, 0.09351542,-0.07011284,
  0.13096395, 0.50503672, 0.49455007, 0.49457686, 0.50571916]

qacc:
[ -3.57106699,  0.20064683, -4.33759815, 16.74400885, -2.26360347,
  -2.47950173,  9.93201474,-17.65857815,  1.98326576, -0.02052535,
  -1.23775499,  5.34510741, -1.69064835,  3.54386665, -3.06171028,
   6.3630131 ,  0.10284439,  1.02944626,  0.17622611,  1.78464211,
   0.34680486,-14.75919242]

qfrc_actuator:
[-6.58012011e-05,-2.44743951e-05, 5.82160543e-05, 7.61059773e-05,
  6.43461335e-05,-3.45090470e-04,-2.58972432e-04,-2.48445931e-07,
 -2.03901112e-05,-1.33223340e-04,-1.11556721e-04, 3.79551972e-05,
  5.27805850e-02,-7.76008036e-04, 3.40266363e-02,-4.29300738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174963241189266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74840296e-13,  8.74201479e-14,  1.00000000e+00, -1.52845645e-26,
        1.00000000e+00, -8.74201479e-14, -1.00000000e+00,  0.00000000e+00,
        1.74840296e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148653, -0.0881307 ,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10160684e-05,-1.92535224e-05, 1.67152361e-05, 3.74011625e-05,
 -1.34149920e-05,-3.81503771e-05, 1.30072353e-05,-2.28634199e-05,
  1.15563002e-05,-1.41460709e-05, 3.55758908e-06, 1.17928828e-05,
 -3.53557319e-04,-4.98569757e-05,-1.84732823e-04,-2.26996761e-05,
 -1.04643559e-05, 2.61275576e-06,-1.21646772e+00,-4.55931215e-04,
  2.60906179e-05,-5.53721801e-04]


--- Step 383 ---
qpos:
[ 0.01207828,-0.00117829, 0.00243356, 0.041984  , 0.00457156,-0.00234747,
 -0.01821927, 0.02848403, 0.01318451, 0.00449844,-0.0102535 , 0.02639243,
  0.77133863,-0.00164709, 0.59371753, 0.06595498, 0.09346175,-0.07008658,
  0.13096392, 0.50531618, 0.49425113, 0.49448438, 0.50582267]

qacc:
[ -5.13445333, -0.13961627, -0.99975083,  7.42662817, -4.52776743,
  -1.40972289,  4.2655163 , -3.86153453,  4.31372708,  1.3606382 ,
  -7.26737586, 16.71045591, -1.05905155,  1.4044018 ,-14.98648369,
  47.53122293,  0.09994822,  1.01876921,  0.07357516,  1.69460884,
   0.39047461,-14.63704156]

qfrc_actuator:
[-9.53240020e-05, 1.31221243e-05, 9.12809442e-05, 9.94173208e-05,
  3.80398604e-05,-3.51030180e-04,-2.34852217e-04, 3.35832213e-06,
  4.53284063e-06,-1.39133072e-04,-1.19651095e-04, 6.42005592e-05,
  5.26799349e-02,-7.83454063e-04, 3.39551379e-02,-4.08372336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031357325571858274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77027697e-13,  8.85138484e-14,  1.00000000e+00,  1.56694027e-26,
        1.00000000e+00, -8.85138484e-14, -1.00000000e+00,  0.00000000e+00,
       -1.77027697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148671, -0.08813195,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01258969e-05, 3.19241750e-05, 3.24542736e-05, 2.37956209e-05,
 -2.67018067e-05,-2.55596647e-05, 1.70550136e-05, 1.97729837e-06,
  2.52383290e-05,-1.24930945e-05,-1.01425576e-05, 2.59954370e-05,
 -3.47223647e-04,-7.30524391e-05,-1.63204972e-04, 1.83158579e-04,
 -1.09986227e-05, 3.61068420e-06,-1.21646870e+00,-4.54470647e-04,
  2.94420767e-05,-5.53120708e-04]


--- Step 384 ---
qpos:
[ 0.01207613,-0.001179  , 0.00243391, 0.041985  , 0.00457201,-0.00234795,
 -0.01821879, 0.02848453, 0.01318484, 0.00449608,-0.01025379, 0.02639389,
  0.7724659 ,-0.00164532, 0.59475684, 0.06595152, 0.09340993,-0.07005618,
  0.13096451, 0.50560272, 0.49394383, 0.49441434, 0.50590497]

qacc:
[ -3.00525762,  1.98851531, -7.44333854, 12.48706603, -2.81969279,
  -0.08171818,  0.56729922, -0.80024236,  2.62900905,  0.1789103 ,
  -1.77885878,  6.27499108, -1.93086598,  4.43100215,  2.81861971,
 -13.62774602,  0.46454705,  1.03702796,  0.15375346,  7.0530339 ,
   0.79459764,-14.75938678]

qfrc_actuator:
[-1.11964162e-04, 3.60613180e-05, 7.51048226e-05, 1.12867282e-04,
  2.22567728e-05,-3.18657101e-04,-2.20775532e-04, 5.29731126e-06,
  1.91795999e-05,-1.23925066e-04,-1.06493997e-04, 7.91566124e-05,
  5.25843217e-02,-7.52860096e-04, 3.38322765e-02,-4.19058065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030887662695915086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79719494e-13,  5.61623420e-15,  1.00000000e+00, -1.00934677e-27,
        1.00000000e+00, -5.61623420e-15, -1.00000000e+00,  0.00000000e+00,
        1.79719494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599955, -0.08819217,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74855413e-05, 4.85421041e-05,-4.75412358e-06, 1.64048562e-05,
 -1.65544150e-05, 2.16957808e-05, 1.09694504e-05, 1.47280340e-06,
  1.53510714e-05, 7.33781780e-06, 1.02558262e-05, 1.45782050e-05,
 -3.41526205e-04,-3.66257365e-05,-1.81744037e-04,-1.18744289e-04,
 -1.15269154e-05, 4.68050505e-06,-1.21646998e+00,-4.53010957e-04,
  3.26905174e-05,-5.52440659e-04]


--- Step 385 ---
qpos:
[ 0.0120738 ,-0.00117946, 0.00243384, 0.04198653, 0.00457296,-0.00234841,
 -0.01821834, 0.02848437, 0.013185  , 0.00449405,-0.01025435, 0.02639551,
  0.77359122,-0.00164347, 0.5957935 , 0.06594492, 0.09335994,-0.07002167,
  0.13096529, 0.50589631, 0.49362811, 0.49436651, 0.50596636]

qacc:
[ -1.62382527,  2.60049232,-11.0273777 , 20.6992943 ,  4.35426074,
  -1.20106181,  7.05926972,-18.21141829, -1.52840509,  1.48988991,
  -5.33641895,  8.19180496, -1.36226114,  2.41576524,  5.58773919,
 -25.13928013,  0.45729947,  1.02613225,  0.04844948,  6.91778489,
   0.83509385,-14.6411773 ]

qfrc_actuator:
[-1.20885978e-04, 3.20961482e-05, 4.76844620e-05, 1.38119740e-04,
  4.83034802e-05,-3.34630065e-04,-2.30337332e-04,-2.92429976e-05,
  9.90405970e-06,-9.61105501e-05,-1.16317274e-04, 8.73830869e-05,
  5.24811579e-02,-7.53295706e-04, 3.36679861e-02,-4.35873991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030582716220399486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63023028e-13,  1.41805870e-13,  1.00000000e+00, -5.14787964e-26,
        1.00000000e+00, -1.41805870e-13, -1.00000000e+00,  0.00000000e+00,
        3.63023028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599941, -0.08819324,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.40110775e-06, 2.29207703e-05,-1.74065070e-05, 2.74866589e-05,
  2.55815804e-05,-1.50667410e-06,-3.67867020e-06,-3.32027176e-05,
 -8.84533828e-06, 3.47530570e-05,-6.51240449e-06, 9.18160141e-06,
 -3.39277092e-04,-6.26302190e-05,-2.65951721e-04,-1.99407607e-04,
 -1.15731343e-05, 5.71261202e-06,-1.21647025e+00,-4.51482916e-04,
  3.52394394e-05,-5.51737106e-04]


--- Step 386 ---
qpos:
[ 0.01207173,-0.00117972, 0.00243375, 0.04198799, 0.00457456,-0.0023488 ,
 -0.01821805, 0.0284845 , 0.0131847 , 0.00449241,-0.01025534, 0.02639686,
  0.77471476,-0.00164253, 0.59682659, 0.06594165, 0.09331294,-0.06999603,
  0.13096842, 0.50614933, 0.49335733, 0.49429508, 0.50604721]

qacc:
[ 2.24524682e+00, 1.54533162e-01, 1.66487563e-01,-1.62059513e+00,
  5.68692531e+00, 1.13087657e+00,-5.11935917e+00, 1.02606109e+01,
 -4.04525580e+00, 1.20279225e+00,-2.43302663e+00,-1.63022238e+00,
 -2.18884114e-02,-2.22372608e+00,-1.53228842e+01, 4.59064025e+01,
  7.46217511e-01,-2.21572162e+00, 5.89600425e-01, 1.06027905e+01,
 -2.50995588e+00, 3.21264402e+01]

qfrc_actuator:
[-1.07445388e-04, 4.75033217e-05, 4.92646287e-05, 1.34587038e-04,
  8.10053434e-05,-3.26296068e-04,-2.36233280e-04,-1.40114762e-05,
 -1.33737787e-05,-7.88044059e-05,-1.39580959e-04, 7.38279208e-05,
  5.23788534e-02,-8.07598398e-04, 3.35375614e-02,-4.17107279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032398184013834874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71340317e-13,  1.71340317e-13,  1.00000000e+00, -2.93575043e-26,
        1.00000000e+00, -1.71340317e-13, -1.00000000e+00,  0.00000000e+00,
        1.71340317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255636, -0.03126506,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31819333e-05, 2.58248460e-05, 5.12745078e-06,-2.61933211e-06,
  3.34325525e-05, 5.32936254e-06,-7.80974635e-06, 1.43927868e-05,
 -2.35238325e-05, 3.58624396e-05,-1.65422053e-05,-1.21099086e-05,
 -3.42031396e-04,-1.18739750e-04,-2.75670940e-04, 1.42055450e-04,
 -1.16110480e-05, 6.79335254e-06,-1.21647088e+00,-4.49954883e-04,
  3.75123405e-05,-5.50948761e-04]


--- Step 387 ---
qpos:
[ 0.01206984,-0.0011798 , 0.00243404, 0.04198833, 0.00457585,-0.00234907,
 -0.01821818, 0.02848516, 0.01318413, 0.00449084,-0.01025619, 0.0263977 ,
  0.77583639,-0.00164219, 0.59785746, 0.06594103, 0.09326879,-0.06997898,
  0.13097268, 0.50636296, 0.49313013, 0.49420089, 0.50614692]

qacc:
[  1.56445705, -3.10493209, 16.06028639,-35.97233193, -2.73285784,
   2.41893833,-10.63882081, 20.46599409, -2.43125933, -1.37585868,
   7.21330935,-16.42010196, -0.49493124, -0.67526684,-11.28572857,
  34.74482361,  0.71390762, -2.14994695,  0.27965569, 10.32089044,
  -2.39479344, 31.12030757]

qfrc_actuator:
[-9.87056385e-05, 5.67229253e-05, 6.80086741e-05, 7.86738661e-05,
  6.40910683e-05,-3.21179086e-04,-2.57534619e-04, 1.26590300e-05,
 -2.69462533e-05,-8.57556737e-05,-1.35132220e-04, 4.75534270e-05,
  5.22771190e-02,-8.40008028e-04, 3.34808917e-02,-4.02365495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003426281881016291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.10078580e-14, -4.05039290e-14,  1.00000000e+00,  3.28113653e-27,
        1.00000000e+00,  4.05039290e-14, -1.00000000e+00,  0.00000000e+00,
        8.10078580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255789, -0.03127549,  0.06199021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.12428595e-06, 2.46259372e-05, 2.46215972e-05,-5.46830028e-05,
 -1.59590757e-05, 7.12313524e-06,-2.06648946e-05, 2.69073461e-05,
 -1.42330678e-05, 9.22590424e-06, 9.42838429e-06,-2.55419300e-05,
 -3.52780645e-04,-1.03635718e-04,-1.65961000e-04, 1.20147119e-04,
 -9.12893465e-06, 4.20180202e-06,-1.21646396e+00,-4.49829725e-04,
  3.01912411e-05,-5.50053127e-04]


--- Step 388 ---
qpos:
[ 0.01206772,-0.00117991, 0.00243461, 0.04198838, 0.00457624,-0.0023494 ,
 -0.01821848, 0.0284858 , 0.01318374, 0.00448928,-0.01025695, 0.02639824,
  0.77695586,-0.00164126, 0.59888629, 0.06594084, 0.09322739,-0.06997031,
  0.13097701, 0.50653823, 0.49294535, 0.49408465, 0.50626502]

qacc:
[-1.96948082e+00,-1.45783075e+00, 6.42263262e+00,-1.20440942e+01,
 -7.91134540e+00, 3.34322710e-01,-1.19651180e+00, 1.07749036e+00,
  1.64359612e+00,-8.77411777e-01, 4.46249390e+00,-9.99196727e+00,
 -1.98104991e+00, 4.51376481e+00,-4.20641448e+00, 1.05319199e+01,
  6.86887481e-01,-2.09480658e+00, 1.83458696e-02, 1.00777556e+01,
 -2.30731419e+00, 3.02791772e+01]

qfrc_actuator:
[-1.10562547e-04, 4.44403649e-05, 7.89215518e-05, 6.34072228e-05,
  1.81069597e-05,-3.35830153e-04,-2.70017454e-04, 1.03216786e-05,
 -1.69406560e-05,-8.93361056e-05,-1.32211484e-04, 3.17612328e-05,
  5.21758026e-02,-8.05975108e-04, 3.33726176e-02,-4.00756507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003548227118488484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56447571e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56447571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825587 , -0.0312823 ,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15875184e-05, 4.23986961e-06, 1.71386097e-05,-1.44253606e-05,
 -4.64371230e-05,-1.37789683e-05,-1.26222433e-05,-2.22339305e-06,
  9.59943398e-06, 2.48987783e-06, 5.13039287e-06,-1.55636818e-05,
 -3.56287536e-04,-3.78523874e-05,-1.75534929e-04, 3.12676812e-07,
 -6.98616144e-06, 2.23443248e-06,-1.21645867e+00,-4.49477256e-04,
  2.38772258e-05,-5.49398282e-04]


--- Step 389 ---
qpos:
[ 0.01206512,-0.00118026, 0.0024354 , 0.04198896, 0.00457642,-0.00234963,
 -0.01821874, 0.02848672, 0.01318381, 0.00448765,-0.01025734, 0.02639857,
  0.77807323,-0.00163962, 0.59991276, 0.0659425 , 0.09318864,-0.06996984,
  0.13098053, 0.506676  , 0.49280202, 0.49394692, 0.50640107]

qacc:
[ -4.12183152,  0.21438257, -3.47710828, 12.6408321 , -1.83761574,
   0.63964019, -3.23638433,  7.8952369 ,  4.12808835, -1.53266157,
   6.1585822 ,-10.14739613, -2.03445212,  4.83574459, -8.96290981,
  26.51949351,  0.66426888, -2.04871487, -0.20177459,  9.86830415,
  -2.24219665, 29.57766866]

qfrc_actuator:
[-1.34446007e-04, 1.93747939e-05, 8.50634534e-05, 8.99132207e-05,
  8.65494068e-06,-3.08941924e-04,-2.59539900e-04, 2.64294858e-05,
  6.85928555e-06,-9.08694393e-05,-1.12458443e-04, 2.22601060e-05,
  5.20801545e-02,-7.68527837e-04, 3.32707258e-02,-3.90932469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036176376160756973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30168789e-13,  1.53445859e-13,  1.00000000e+00, -3.53184476e-26,
        1.00000000e+00, -1.53445859e-13, -1.00000000e+00,  0.00000000e+00,
        2.30168789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255893, -0.03128619,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42119668e-05,-1.97726339e-05, 8.62649288e-06, 2.69995860e-05,
 -1.07807899e-05, 1.64785237e-05, 6.00748350e-06, 1.50391904e-05,
  2.40683788e-05, 3.17995907e-07, 2.03858494e-05,-9.51629954e-06,
 -3.41548213e-04,-2.79357051e-05,-1.87227661e-04, 7.44788356e-05,
 -5.14549332e-06, 8.32910432e-07,-1.21645487e+00,-4.48931124e-04,
  1.84752131e-05,-5.48971250e-04]


--- Step 390 ---
qpos:
[ 0.01206296,-0.00118079, 0.00243632, 0.04198917, 0.00457683,-0.00234984,
 -0.01821887, 0.02848817, 0.01318418, 0.0044862 ,-0.01025753, 0.02639772,
  0.77918863,-0.00163781, 0.60093774, 0.06594023, 0.09315248,-0.06997741,
  0.13098251, 0.50677698, 0.49269933, 0.49378818, 0.50655473]

qacc:
[  3.73028875, -1.39395642,  6.18464404,-12.75906164,  2.01913547,
   0.73804791, -4.87121666, 13.91342352,  2.50506735, -2.73393955,
  15.04648548,-35.80845965, -1.51442834,  2.89136579,  9.69494178,
 -36.99962185,  0.64531915, -2.01032725, -0.386986  ,  9.68818816,
  -2.1951534 , 28.99469562]

qfrc_actuator:
[-1.11952318e-04, 4.61237455e-06, 8.83043140e-05, 6.97528067e-05,
  2.07904385e-05,-3.10535916e-04,-2.53163357e-04, 5.33138907e-05,
  2.08274090e-05,-7.33400379e-05,-1.00667164e-04,-3.67098293e-05,
  5.19773286e-02,-7.64898368e-04, 3.31780909e-02,-4.11844120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78716328, -3.53634138,  3.22664252, -3.53634138, 25.69867257,
       22.91863297,  3.22664252, 22.91863297, 29.90556723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036445798436907095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52311525e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.52311525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825587 , -0.03128771,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17966799e-05,-2.28791436e-05, 1.15032444e-06,-2.01842811e-05,
  1.18328705e-05, 9.51162907e-06, 1.10447638e-05, 2.80906437e-05,
  1.46461203e-05, 2.15819685e-05, 1.40607061e-05,-5.84333458e-05,
 -3.36942239e-04,-5.81334459e-05,-1.74061975e-04,-2.30011714e-04,
 -3.57780604e-06,-4.79240554e-08,-1.21645243e+00,-4.48214717e-04,
  1.39087734e-05,-5.48761979e-04]


--- Step 391 ---
qpos:
[ 0.01206142,-0.0011814 , 0.00243697, 0.04198881, 0.00457704,-0.00235003,
 -0.0182189 , 0.02848994, 0.01318436, 0.00448494,-0.01025761, 0.02639618,
  0.78030216,-0.00163654, 0.60196105, 0.06593309, 0.09311883,-0.0699929 ,
  0.13098231, 0.50684179, 0.49263663, 0.49360877, 0.50672571]

qacc:
[  5.53895932, -0.55582475,  4.23951587,-13.68571753, -1.77424309,
   0.40253723, -2.7056121 ,  7.93298939, -1.58596985, -1.52219741,
   8.73594566,-21.12241546, -0.73240664,  0.06983791, 12.25617571,
 -46.42993193,  0.62943139, -1.97849722, -0.54261795,  9.53365606,
  -2.16271784, 28.51261841]

qfrc_actuator:
[-8.00908238e-05,-3.91859407e-06, 7.20517997e-05, 4.00464392e-05,
  1.00175719e-05,-3.11416094e-04,-2.49366268e-04, 6.85425130e-05,
  1.11400162e-05,-6.23518398e-05,-9.36331328e-05,-7.10496048e-05,
  5.18702589e-02,-7.99042876e-04, 3.30910174e-02,-4.36491566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.78404538, -3.87701237,  2.80283165, -3.87701237, 17.77950535,
       17.97594908,  2.80283165, 17.97594908, 29.64924799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003637492264051134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.526083e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        1.526083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825581 , -0.03128736,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24751131e-05,-2.19296962e-05,-2.15387622e-05,-3.10414596e-05,
 -1.04336439e-05, 7.93396208e-06, 8.09451294e-06, 1.65621175e-05,
 -9.26683049e-06, 2.35201684e-05, 1.12229979e-05,-3.40605746e-05,
 -3.43675045e-04,-9.83617366e-05,-1.98459699e-04,-2.83141493e-04,
 -2.26033651e-06,-4.42750116e-07,-1.21645127e+00,-4.47343817e-04,
  1.01164912e-05,-5.48762711e-04]


--- Step 392 ---
qpos:
[ 0.01205993,-0.00118213, 0.0024374 , 0.04198844, 0.00457711,-0.00235001,
 -0.01821892, 0.02849116, 0.01318408, 0.00448387,-0.01025794, 0.0263953 ,
  0.78141381,-0.00163594, 0.60298157, 0.06592801, 0.09308765,-0.07001619,
  0.13097942, 0.50687091, 0.49261335, 0.49340897, 0.50691376]

qacc:
[  0.42666997,  0.44510468, -1.80855881,  2.17745792, -1.1496353 ,
  -0.86776135,  5.78894481,-15.32865397, -4.07972911,  2.35131571,
 -10.80251404, 22.53604571, -0.40695263, -0.97734582,-10.33736569,
  30.18641782,  0.61610115, -1.95224348, -0.67321334,  9.40145329,
  -2.14207727, 28.11659943]

qfrc_actuator:
[-7.84908396e-05,-8.74630031e-06, 6.21987162e-05, 4.04665851e-05,
  3.59299799e-06,-2.94129293e-04,-2.47133577e-04, 4.12810727e-05,
 -1.23897847e-05,-5.53693138e-05,-1.07210572e-04,-3.73619850e-05,
  5.17660302e-02,-8.37470903e-04, 3.29966980e-02,-4.24073076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036034299595730235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54050868e-13,  1.54050868e-13,  1.00000000e+00, -2.37316699e-26,
        1.00000000e+00, -1.54050868e-13, -1.00000000e+00,  0.00000000e+00,
        1.54050868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255721, -0.0312855 ,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51972326e-06,-2.28383678e-05,-1.81090485e-05,-1.86914689e-06,
 -6.72042912e-06, 2.41048404e-05, 5.44071432e-06,-2.63220442e-05,
 -2.37882730e-05, 2.10409677e-05,-8.49564868e-06, 3.44278425e-05,
 -3.52676895e-04,-1.08260660e-04,-2.21726346e-04, 8.16859828e-05,
 -1.17535193e-06,-3.77827647e-07,-1.21645133e+00,-4.46328553e-04,
  7.04910810e-06,-5.48967496e-04]


--- Step 393 ---
qpos:
[ 0.01205848,-0.00118269, 0.00243753, 0.04198839, 0.00457677,-0.00235   ,
 -0.01821852, 0.02849171, 0.01318386, 0.00448331,-0.01025888, 0.02639517,
  0.78252342,-0.00163545, 0.60399931, 0.06592671, 0.09305889,-0.07004721,
  0.1309734 , 0.50686476, 0.49262903, 0.49318901, 0.50711868]

qacc:
[  0.25820042,  1.75641721, -7.25474455, 13.12431018, -3.69001843,
  -2.57651139, 12.03818936,-24.47117737,  0.54241202,  3.89652052,
 -16.04242305, 29.4388379 , -1.06341219,  1.31871884,-15.49080363,
  48.31162469,  0.60490808, -1.93072408, -0.78265624,  9.2887478 ,
  -2.13094193, 27.79410578]

qfrc_actuator:
[-7.69655528e-05, 2.42313721e-05, 5.62478491e-05, 5.86221783e-05,
 -1.79661251e-05,-3.01646780e-04,-2.28042312e-04, 7.00628452e-06,
 -8.36554617e-06,-1.53620322e-05,-1.32821214e-04, 5.56294342e-07,
  5.16635758e-02,-8.42611739e-04, 3.28875406e-02,-4.04115776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003548272633370486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12891127e-13,  1.56445564e-13,  1.00000000e+00, -4.89504288e-26,
        1.00000000e+00, -1.56445564e-13, -1.00000000e+00,  0.00000000e+00,
        3.12891127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255609, -0.03128249,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59177408e-06, 1.64136395e-05,-1.29575610e-05, 1.65159041e-05,
 -2.17415266e-05, 5.95191727e-06, 2.38270903e-05,-3.35682575e-05,
  3.35073622e-06, 5.15293242e-05,-2.11005479e-05, 3.92020591e-05,
 -3.58367300e-04,-7.78865377e-05,-2.03587331e-04, 1.75134537e-04,
 -3.09126788e-07, 1.27408588e-07,-1.21645253e+00,-4.45174839e-04,
  4.66725619e-06,-5.49371820e-04]


--- Step 394 ---
qpos:
[ 0.0120574 ,-0.00118286, 0.00243743, 0.04198887, 0.00457616,-0.00235019,
 -0.01821781, 0.02849221, 0.01318335, 0.00448291,-0.01025943, 0.02639511,
  0.78363088,-0.00163467, 0.60501534, 0.06592534, 0.09303251,-0.07008588,
  0.13096389, 0.50682368, 0.4926833 , 0.49294904, 0.50734029]

qacc:
[ 3.2771857 , 2.21217322,-9.4233867 ,18.7212746 ,-2.22717199,-1.20142239,
  4.08974001,-5.13865768,-2.58775605,-0.71305692, 2.4847931 ,-1.75193508,
 -1.67189588, 3.32568113,-2.21268652, 4.23868295, 0.59550125,-1.91321579,
 -0.87427348, 9.19307227,-2.12744181,27.53451921]

qfrc_actuator:
[-5.77338089e-05, 6.18806048e-05, 5.28116241e-05, 8.70975160e-05,
 -3.05093244e-05,-3.23902218e-04,-2.16996576e-04, 4.38428299e-06,
 -2.36563382e-05,-9.19086791e-06,-1.11939697e-04, 5.16627268e-06,
  5.15569418e-02,-8.28076386e-04, 3.28121870e-02,-4.04743482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003476902030702389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825548 , -0.03127858,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92842262e-05, 4.48826782e-05,-1.06371329e-06, 2.90529831e-05,
 -1.31608380e-05,-1.54578649e-05, 1.40435998e-05,-2.19699752e-06,
 -1.51811551e-05, 3.23401245e-05, 3.03005157e-05, 6.85454970e-06,
 -3.60717784e-04,-5.60864729e-05,-1.51645653e-04,-2.33169037e-05,
  3.48850697e-07, 1.05910643e-06,-1.21645486e+00,-4.43885450e-04,
  2.93964329e-06,-5.49972307e-04]


--- Step 395 ---
qpos:
[ 0.01205724,-0.0011827 , 0.00243759, 0.04198896, 0.00457576,-0.00235033,
 -0.01821733, 0.02849269, 0.01318301, 0.00448247,-0.01025909, 0.0263958 ,
  0.78473601,-0.00163243, 0.60603001, 0.06592182, 0.0930083 ,-0.0701199 ,
  0.13096013, 0.50679137, 0.49272667, 0.49273388, 0.50753942]

qacc:
[  8.16445953, -1.10860027,  6.18102743,-13.44547081,  1.7359662 ,
   0.62253871, -2.01932309,  1.85693678,  1.48733396, -0.99337982,
   0.38019903, 10.96113077, -3.10153917,  8.3095149 ,  4.61270206,
 -18.70935061,  0.54094423,  1.16186032,  1.44070951,  6.91384657,
   1.34808814,-16.7189287 ]

qfrc_actuator:
[-1.04814898e-05, 8.43155364e-05, 6.86770968e-05, 6.81660360e-05,
 -1.98882329e-05,-3.19313069e-04,-2.28592551e-04, 2.63294225e-06,
 -1.46968327e-05,-5.41820546e-06,-6.39219128e-05, 4.34069757e-05,
  5.14532081e-02,-7.48833392e-04, 3.27464673e-02,-4.15711925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003531609603978775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.62095705e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.62095705e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599814, -0.08818145,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78160063e-05, 4.85751803e-05, 2.60131428e-05,-1.64809448e-05,
  1.02398239e-05,-1.25554274e-06,-1.31416915e-05,-1.97237857e-06,
  8.53610646e-06, 2.84244701e-05, 5.86787744e-05, 4.08112255e-05,
 -3.55412090e-04, 1.04580541e-05,-1.44039983e-04,-1.31996174e-04,
  8.06498984e-07, 2.40802190e-06,-1.21645827e+00,-4.42460823e-04,
  1.84159140e-06,-5.50766487e-04]


--- Step 396 ---
qpos:
[ 0.01205731,-0.00118222, 0.00243798, 0.04198849, 0.00457514,-0.00235026,
 -0.01821706, 0.02849277, 0.01318381, 0.00448226,-0.0102588 , 0.02639731,
  0.78583902,-0.00162926, 0.60704322, 0.06591758, 0.09298615,-0.07014941,
  0.13096087, 0.50676754, 0.49275961, 0.49254283, 0.50771664]

qacc:
[  1.95816305, -1.34804612,  7.82946265,-18.25110634, -1.89275015,
   0.06670697,  1.81243754, -8.40016578, 10.06866207,  2.0831547 ,
 -10.55456647, 24.87189538, -2.35130884,  5.86489055,  0.10525171,
  -3.25200035,  0.5163127 ,  1.12672848,  1.12300889,  6.78490333,
   1.27279254,-16.21565568]

qfrc_actuator:
[-3.78849726e-07, 9.75123600e-05, 7.79695033e-05, 3.92451084e-05,
 -3.12261367e-05,-2.98777396e-04,-2.35610037e-04,-1.63438722e-05,
  4.39752450e-05,-2.96528030e-06,-7.12804523e-05, 8.33895383e-05,
  5.13566357e-02,-7.03057578e-04, 3.26972098e-02,-4.18472832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036821564704664356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.00897499e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.00897499e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599834, -0.08817751,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14788628e-05, 4.50368166e-05, 2.19539030e-05,-2.62635507e-05,
 -1.10456503e-05, 1.70365298e-05,-8.96941020e-06,-1.95259901e-05,
  5.89195572e-05, 3.22299701e-05, 7.15151543e-06, 4.40235417e-05,
 -3.32865388e-04,-1.47653073e-05,-1.37318052e-04,-5.52577211e-05,
  6.32432686e-07, 1.78422559e-06,-1.21645458e+00,-4.42478587e-04,
  4.87032087e-06,-5.51642697e-04]


--- Step 397 ---
qpos:
[ 0.01205681,-0.00118135, 0.00243786, 0.04198841, 0.00457474,-0.00234996,
 -0.01821722, 0.02849298, 0.01318496, 0.00448171,-0.01025796, 0.02639829,
  0.78694025,-0.00162647, 0.60805494, 0.0659133 , 0.09296598,-0.07017454,
  0.13096503, 0.50675194, 0.4927825 , 0.49237532, 0.50787245]

qacc:
[ -5.02135309,  2.71299875,-10.57831808, 17.84687727,  1.85725059,
   1.80377168, -6.50514073,  9.23247769,  3.12368937, -3.05275923,
  12.4934827 ,-22.37315074, -0.72703106,  0.27368323, -2.02560957,
   3.94186943,  0.49594088,  1.09716125,  0.85521455,  6.6704982 ,
   1.21294578,-15.79297984]

qfrc_actuator:
[-2.99841072e-05, 1.05038285e-04, 4.77558524e-05, 5.79275548e-05,
 -1.99000492e-05,-2.86603598e-04,-2.57553236e-04,-9.77648372e-06,
  6.04190627e-05,-5.47946620e-05,-5.80387196e-05, 5.30171042e-05,
  5.12590976e-02,-7.30675776e-04, 3.26419105e-02,-4.18141718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003773854045000524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.21768256e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.21768256e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599823, -0.08817514,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92646117e-05, 3.61030972e-05,-1.91253259e-05, 2.08588876e-05,
  1.10181439e-05, 1.90016118e-05,-2.02084091e-05, 6.60665370e-06,
  1.81268506e-05,-3.04182765e-05, 2.22974988e-05,-2.78928757e-05,
 -3.22931401e-04,-8.70260393e-05,-1.31500123e-04,-1.91457906e-05,
  4.73977453e-07, 1.26695762e-06,-1.21645140e+00,-4.42439491e-04,
  7.54296287e-06,-5.52399009e-04]


--- Step 398 ---
qpos:
[ 0.01205631,-0.00118032, 0.00243776, 0.0419882 , 0.00457447,-0.00234927,
 -0.01821804, 0.02849362, 0.01318596, 0.00448061,-0.01025627, 0.02639925,
  0.78803974,-0.00162432, 0.60906521, 0.06590804, 0.09294773,-0.07019538,
  0.13097171, 0.50674438, 0.49279563, 0.49223085, 0.50800727]

qacc:
[ -0.05354112, -0.09724544,  1.20981671, -3.59341143,  1.18903906,
   3.18401058,-12.40496434, 20.44176187, -1.33795487, -3.15248193,
  10.28171062,-11.60190033, -0.46764543, -0.6584174 ,  0.79715523,
  -5.91241868,  0.47910031,  1.07236465,  0.62992583,  6.5696522 ,
   1.16553024,-15.4386869 ]

qfrc_actuator:
[-2.94536799e-05, 1.08979308e-04, 4.77257425e-05, 5.11815068e-05,
 -1.30709849e-05,-2.61817119e-04,-2.88142918e-04, 1.17553630e-05,
  5.18603178e-05,-8.54691627e-05,-1.52430889e-05, 5.24770311e-05,
  5.11663527e-02,-7.65879878e-04, 3.25723891e-02,-4.23094474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86649374, -1.20148096, -4.71584615, -1.20148096, 10.97251559,
       -1.55566335, -4.71584615, -1.55566335,  5.26283829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038178281387650503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36199451e-13,  4.08936985e-14,  1.00000000e+00, -1.78378088e-26,
        1.00000000e+00, -4.08936985e-14, -1.00000000e+00,  0.00000000e+00,
        4.36199451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599786, -0.08817404,  0.0619891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92233061e-07, 2.10346820e-05, 5.78664200e-06,-5.45519731e-06,
  7.15051583e-06, 3.15152672e-05,-2.89281393e-05, 2.17742541e-05,
 -8.05479454e-06,-4.42559745e-05, 3.82886431e-05,-1.61829121e-06,
 -3.24208796e-04,-1.00956668e-04,-1.38873740e-04,-6.91944011e-05,
  3.31604827e-07, 8.45635484e-07,-1.21644870e+00,-4.42357287e-04,
  9.88623571e-06,-5.53041050e-04]


--- Step 399 ---
qpos:
[ 0.01205581,-0.00117909, 0.00243793, 0.0419879 , 0.00457394,-0.00234836,
 -0.0182189 , 0.02849413, 0.01318684, 0.00447958,-0.01025486, 0.02640019,
  0.78913734,-0.00162225, 0.61007381, 0.06590088, 0.09293134,-0.07021201,
  0.13098015, 0.50674469, 0.49279926, 0.49210903, 0.50812145]

qacc:
[  0.09185536, -0.69192791,  3.25997797, -5.55653966, -2.29174249,
   0.18061616,  0.28346318, -2.3876091 , -0.98261223,  0.83603314,
  -2.76997759,  2.88099257, -1.15659957,  1.68388433,  3.30237711,
 -15.03173874,  0.46519314,  1.05166035,  0.4408603 ,  6.48135944,
   1.12812484,-15.14258867]

qfrc_actuator:
[-2.89299834e-05, 1.28583586e-04, 6.54880001e-05, 4.72948015e-05,
 -2.67031122e-05,-2.47447137e-04,-2.88025145e-04, 6.41695969e-06,
  4.64203139e-05,-6.76004788e-05,-2.62594417e-05, 5.17822439e-05,
  5.10712182e-02,-7.69733304e-04, 3.24837337e-02,-4.32898160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.86916563, -1.50942317, -4.62929969, -1.50942317, 14.54519791,
       -3.15495396, -4.62929969, -3.15495396,  5.89786563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003823438854677619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45186450e-13,  2.22316751e-13,  1.00000000e+00, -3.22773797e-26,
        1.00000000e+00, -2.22316751e-13, -1.00000000e+00,  0.00000000e+00,
        1.45186450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859973 , -0.08817395,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19586770e-07, 3.22942563e-05, 2.26211791e-05,-2.89302431e-06,
 -1.34169078e-05, 2.69369029e-05, 3.81718684e-06,-4.56641307e-06,
 -5.68734359e-06, 9.78465544e-07,-1.55055761e-05,-1.30093826e-06,
 -3.30021202e-04,-7.14313640e-05,-1.66803129e-04,-1.21401898e-04,
  2.05474227e-07, 5.12056807e-07,-1.21644643e+00,-4.42242146e-04,
  1.19220775e-05,-5.53573287e-04]


--- Step 400 ---
qpos:
[ 0.01205533,-0.00117787, 0.00243816, 0.04198724, 0.0045736 ,-0.00234724,
 -0.01821974, 0.02849424, 0.01318766, 0.00447861,-0.01025385, 0.02640043,
  0.79023292,-0.00161986, 0.61108007, 0.0658946 , 0.09291677,-0.0702245 ,
  0.13098973, 0.50675274, 0.49279359, 0.49200949, 0.50821531]

qacc:
[  0.09175819, -0.88451047,  4.60776561,-10.72316695,  1.62486221,
  -0.66549299,  4.50366142,-11.86792889, -0.64904398, -0.23239357,
   3.88017619,-15.32298496, -1.60069995,  3.21681215, -6.03598541,
  16.26189434,  0.45372701,  1.0344664 ,  0.28265515,  6.40460772,
   1.09878127,-14.89613077]

qfrc_actuator:
[-2.84237068e-05, 1.04233922e-04, 5.81661369e-05, 2.73937235e-05,
 -1.67625942e-05,-2.39325590e-04,-2.87585870e-04,-1.46762886e-05,
  4.28683820e-05,-7.42657536e-05,-5.10220531e-05, 1.54928054e-05,
  5.09640740e-02,-7.55069261e-04, 3.23836690e-02,-4.27728814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379854065267235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.76358654e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.76358654e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599657, -0.08817466,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27540619e-07,-1.78579125e-06, 2.01966140e-06,-1.77935188e-05,
  9.56725312e-06, 2.37484319e-05, 6.31414598e-06,-1.98963686e-05,
 -3.71411439e-06,-9.35738830e-06,-2.65208529e-05,-3.68118885e-05,
 -3.40866545e-04,-5.06634723e-05,-1.95789932e-04, 2.20850450e-05,
  9.55523765e-08, 2.59867215e-07,-1.21644456e+00,-4.42101565e-04,
  1.36684556e-05,-5.53999265e-04]


--- Step 401 ---
qpos:
[ 0.0120552 ,-0.00117692, 0.00243844, 0.04198638, 0.00457304,-0.00234617,
 -0.01822049, 0.0284948 , 0.01318842, 0.00447735,-0.01025386, 0.02640068,
  0.79132648,-0.00161726, 0.61208343, 0.06589069, 0.09290397,-0.07023291,
  0.1309999 , 0.5067684 , 0.49277879, 0.49193197, 0.50828909]

qacc:
[  3.12550993, -0.93283786,  3.63645318, -6.9580231 , -1.9515821 ,
   0.68138923, -4.46442894, 12.40235624, -0.45457397,  2.46037028,
  -9.33221184, 11.1537598 , -1.40650582,  2.58359387,-11.39223833,
  33.74423818,  0.44429529,  1.02028232,  0.15071526,  6.33839974,
   1.07592726,-14.69209439]

qfrc_actuator:
[-1.01795685e-05, 7.13896044e-05, 5.36504983e-05, 1.59254290e-05,
 -2.85259863e-05,-2.52770577e-04,-2.87004805e-04, 8.38117631e-06,
  4.04551304e-05,-1.31171012e-04,-1.19301765e-04, 1.17906356e-05,
  5.08604565e-02,-7.47422998e-04, 3.22449246e-02,-4.15552536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037497042067259623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.96082828e-13,  1.15657355e-13,  1.00000000e+00, -3.42441566e-26,
        1.00000000e+00, -1.15657355e-13, -1.00000000e+00,  0.00000000e+00,
        2.96082828e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599572, -0.08817601,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82552257e-05,-3.42316037e-05,-5.26632443e-06,-1.18229543e-05,
 -1.14816359e-05, 2.59061353e-07, 5.57183414e-06, 2.39052180e-05,
 -2.52141585e-06,-6.91698067e-05,-7.47530414e-05,-5.73757682e-06,
 -3.40867860e-04,-5.74096995e-05,-2.29695901e-04, 9.69259259e-05,
  1.69315213e-09, 8.41517545e-08,-1.21644307e+00,-4.41941037e-04,
  1.51400277e-05,-5.54321791e-04]


--- Step 402 ---
qpos:
[ 0.01205529,-0.00117616, 0.0024386 , 0.04198609, 0.00457234,-0.00234518,
 -0.01822065, 0.02849596, 0.01318915, 0.00447551,-0.01025431, 0.02640087,
  0.79241817,-0.00161488, 0.6130845 , 0.06588585, 0.09289292,-0.07023729,
  0.13101024, 0.50679159, 0.49275498, 0.49187621, 0.50834301]

qacc:
[  1.92918545,  1.24022029, -7.13947927, 17.16729264, -1.17663253,
  -0.54820014, -0.67363054,  9.93813231, -0.31052489,  0.37740831,
  -2.24105855,  2.52068418, -0.97533103,  1.04932227, -0.52753927,
  -2.97845709,  0.43656145,  1.00867722,  0.04109424,  6.2817717 ,
   1.05829069,-14.52436551]

qfrc_actuator:
[ 6.05862702e-07, 6.92184741e-05, 5.07944005e-05, 4.50116480e-05,
 -3.52246067e-05,-2.43488915e-04,-2.50897650e-04, 3.94627854e-05,
  3.87303698e-05,-1.64631143e-04,-1.41900598e-04, 9.47237700e-06,
  5.07643519e-02,-7.61750755e-04, 3.21310405e-02,-4.20659468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036824063911260196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50746945e-13,  4.23975782e-14,  1.00000000e+00, -6.39130537e-27,
        1.00000000e+00, -4.23975782e-14, -1.00000000e+00,  0.00000000e+00,
        1.50746945e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599477, -0.08817783,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12904114e-05,-2.29368907e-05,-1.09977252e-05, 2.72057567e-05,
 -7.02725036e-06, 1.15664840e-05, 3.76696192e-05, 3.17492336e-05,
 -1.82124612e-06,-8.77804951e-05,-4.62775347e-05,-7.97812599e-06,
 -3.34631833e-04,-8.01748885e-05,-2.09909579e-04,-7.55893704e-05,
 -7.63099414e-08,-1.88817533e-08,-1.21644194e+00,-4.41764545e-04,
  1.63486865e-05,-5.54543078e-04]


--- Step 403 ---
qpos:
[ 0.01205551,-0.00117549, 0.00243871, 0.04198578, 0.00457191,-0.00234412,
 -0.01822037, 0.02849677, 0.01318951, 0.00447316,-0.01025399, 0.02640095,
  0.79350805,-0.00161299, 0.61408368, 0.06587964, 0.09288359,-0.07023766,
  0.13102038, 0.50682223, 0.49272227, 0.49184202, 0.50837724]

qacc:
[ 1.13027951e+00,-5.32784784e-03,-1.53439032e-01, 1.76964977e-01,
  2.37772225e+00,-1.83408021e+00, 8.09946741e+00,-1.46907299e+01,
 -3.23780707e+00,-3.07868388e+00, 1.05360620e+01,-1.35453287e+01,
 -6.63083271e-01,-2.00256521e-02, 1.39241883e+00,-8.88734863e+00,
  4.30246488e-01, 9.99280164e-01,-4.96008224e-02, 6.23380819e+00,
  1.04483980e+00,-1.43877533e+01]

qfrc_actuator:
[ 6.90947692e-06, 6.77167756e-05, 4.90853072e-05, 4.44925634e-05,
 -2.11290083e-05,-2.38267774e-04,-2.29522883e-04, 2.17931738e-05,
  1.96717464e-05,-1.48120725e-04,-8.40023343e-05, 8.03276006e-06,
  5.06728159e-02,-7.88919605e-04, 3.20587494e-02,-4.27024763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003601193353812149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08293089e-13,  1.20426988e-13,  1.00000000e+00, -3.71268082e-26,
        1.00000000e+00, -1.20426988e-13, -1.00000000e+00,  0.00000000e+00,
        3.08293089e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599377, -0.08818002,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61357926e-06,-1.54596894e-05,-6.87092927e-06,-1.35459826e-06,
  1.38963485e-05, 2.07913437e-05, 2.94906119e-05,-1.52567674e-05,
 -1.91450547e-05,-4.24048966e-05, 3.38171068e-05,-6.95300973e-06,
 -3.30011445e-04,-9.44979830e-05,-1.80226859e-04,-9.56679474e-05,
 -1.38690150e-07,-5.21501381e-08,-1.21644115e+00,-4.41574942e-04,
  1.73040124e-05,-5.54664863e-04]


--- Step 404 ---
qpos:
[ 0.0120558 ,-0.00117469, 0.00243893, 0.04198577, 0.00457165,-0.00234328,
 -0.01821969, 0.02849776, 0.01318964, 0.0044707 ,-0.01025345, 0.02640133,
  0.79459601,-0.0016111 , 0.6150803 , 0.06587536, 0.09287596,-0.07023408,
  0.13103003, 0.50686027, 0.49268075, 0.49182925, 0.50839192]

qacc:
[  0.64845697,  0.49858634, -2.74935997,  7.60301492,  1.52864612,
  -1.09432453,  2.74350578, -0.29117674, -2.02911793, -0.10258277,
  -1.16861026,  6.33014813, -1.15520686,  1.74683932, -9.60246294,
  28.19638732,  0.42511885,  0.9917721 , -0.12428736,  6.19365285,
   1.03473595,-14.27784407]

qfrc_actuator:
[ 1.05271260e-05, 1.02120692e-04, 6.58025778e-05, 6.20605964e-05,
 -1.26613117e-05,-2.71111143e-04,-2.17074888e-04, 2.88201226e-05,
  8.31624936e-06,-1.36971288e-04,-6.76080200e-05, 2.49668682e-05,
  5.05787560e-02,-7.87932452e-04, 3.19528767e-02,-4.16310410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035098206456690706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.21261504e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.21261504e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599271, -0.08818248,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79859160e-06, 2.42585669e-05, 1.26220041e-05, 1.66402583e-05,
  8.87077362e-06,-1.58183364e-05, 1.98291466e-05, 8.63603686e-06,
 -1.19224024e-05,-5.80069016e-06, 1.15844458e-05, 1.61568903e-05,
 -3.31802907e-04,-6.72738420e-05,-2.03982616e-04, 7.74580548e-05,
 -1.85686759e-07,-1.78895924e-08,-1.21644070e+00,-4.41374229e-04,
  1.80136489e-05,-5.54688498e-04]


--- Step 405 ---
qpos:
[ 0.01205544,-0.00117426, 0.00243957, 0.04198602, 0.00457184,-0.00234263,
 -0.01821911, 0.02849919, 0.01318997, 0.00446842,-0.01025339, 0.02640158,
  0.79568201,-0.00160859, 0.61607393, 0.06587214, 0.09287001,-0.07022655,
  0.13103893, 0.50690566, 0.49263046, 0.49183776, 0.50838716]

qacc:
[ -5.67790602, -1.16577537,  2.36832202,  1.62937527,  3.93184378,
   0.99515274, -5.83261035, 14.00820285,  1.80730891,  1.26192243,
  -3.5920712 ,  1.87096748, -1.8364577 ,  4.1771184 , -7.5150581 ,
  20.05995524,  0.42098624,  0.98587901, -0.18547251,  6.16051516,
   1.02729601,-14.19088298]

qfrc_actuator:
[-2.29685670e-05, 5.13406798e-05, 7.56800042e-05, 7.24263229e-05,
  1.01717061e-05,-2.91014450e-04,-2.27877593e-04, 5.02933569e-05,
  1.93438471e-05,-1.29230148e-04,-9.36208217e-05, 1.70320974e-05,
  5.04939085e-02,-7.52595627e-04, 3.17897038e-02,-4.11602590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003411373653312705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25447499e-13,  1.27127929e-13,  1.00000000e+00, -4.13734667e-26,
        1.00000000e+00, -1.27127929e-13, -1.00000000e+00,  0.00000000e+00,
        3.25447499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599163, -0.08818512,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33831455e-05,-3.39257800e-05, 1.70061253e-05, 1.21631394e-05,
  2.30793651e-05,-2.43205802e-05,-1.13490651e-05, 2.16435310e-05,
  1.06785330e-05, 7.66084301e-06,-2.52028475e-05,-7.46413052e-06,
 -3.18778770e-04,-3.02891199e-05,-2.50904527e-04, 2.44628222e-05,
 -2.17533121e-07, 8.21901754e-08,-1.21644057e+00,-4.41163772e-04,
  1.84836173e-05,-5.54615019e-04]


--- Step 406 ---
qpos:
[ 0.01205538,-0.00117453, 0.00244004, 0.04198579, 0.00457196,-0.00234209,
 -0.01821895, 0.02850054, 0.01318974, 0.00446651,-0.01025346, 0.02640134,
  0.79676619,-0.00160569, 0.61706468, 0.06586684, 0.09286574,-0.07021509,
  0.13104689, 0.50695835, 0.49257145, 0.49186746, 0.50836306]

qacc:
[  2.56873517, -1.42823497,  5.77784733,-13.32632093, -0.64809799,
   0.82354245, -2.77181392,  1.98230428, -4.94605184, -0.12884995,
   3.2509783 ,-11.79982289, -1.60239584,  3.41057136,  2.0990312 ,
 -13.34751472,  0.41768887,  0.98136599, -0.23530833,  6.13367385,
   1.02196252,-14.12367535]

qfrc_actuator:
[-7.02913095e-06,-3.23290681e-05, 4.55840890e-05, 4.28876873e-05,
  5.77354657e-06,-3.03104781e-04,-2.52272944e-04, 4.45774557e-05,
 -9.80298268e-06,-8.82743600e-05,-9.12219963e-05,-5.50023083e-06,
  5.04093355e-02,-7.32761984e-04, 3.16295626e-02,-4.22914205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033083710444510583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67789980e-13,  1.73033417e-13,  1.00000000e+00, -2.90332737e-26,
        1.00000000e+00, -1.73033417e-13, -1.00000000e+00,  0.00000000e+00,
        1.67789980e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08599054, -0.08818788,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49746116e-05,-9.86415361e-05,-3.45997481e-05,-3.01684260e-05,
 -3.74878165e-06,-2.71325096e-05,-3.00864598e-05,-6.73656208e-06,
 -2.88465435e-05, 3.97999791e-05, 6.43961464e-07,-2.32173326e-05,
 -3.03410719e-04,-3.91647322e-05,-2.73199824e-04,-1.44220885e-04,
 -2.34450535e-07, 2.46783283e-07,-1.21644076e+00,-4.40944456e-04,
  1.87185780e-05,-5.54445206e-04]


--- Step 407 ---
qpos:
[ 0.0120562 ,-0.00117521, 0.00243977, 0.0419852 , 0.00457237,-0.00234151,
 -0.01821913, 0.0285011 , 0.01318882, 0.00446466,-0.0102534 , 0.02640085,
  0.79784852,-0.00160249, 0.61805305, 0.06586101, 0.09286313,-0.07019972,
  0.13105375, 0.50701832, 0.49250376, 0.49191827, 0.50831967]

qacc:
[  7.72540668,  0.79841277, -2.19016325, -2.32553445,  2.54196578,
  -0.62471741,  5.63287764,-18.81544292, -6.08968463, -0.74530642,
   3.86088014, -8.4235805 , -1.48994587,  2.98046204, -1.8835603 ,
   1.61727885,  0.41509399,  0.97803212, -0.27563925,  6.1124776 ,
   1.01827976,-14.07350462]

qfrc_actuator:
[ 3.78907304e-05,-4.64962878e-05, 9.69313816e-06, 2.55483275e-05,
  2.08837816e-05,-2.92757327e-04,-2.66728494e-04, 5.15537647e-06,
 -4.46165473e-05,-9.86618346e-05,-8.96728066e-05,-1.86298664e-05,
  5.03090080e-02,-7.22259044e-04, 3.15565495e-02,-4.24038659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032028535218538157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19953387e-13,  2.65392875e-13,  1.00000000e+00, -1.37991924e-25,
        1.00000000e+00, -2.65392875e-13, -1.00000000e+00,  0.00000000e+00,
        5.19953387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598945, -0.08819071,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53145289e-05,-7.77572301e-05,-6.15738529e-05,-2.33502417e-05,
  1.49953318e-05,-1.13540284e-05,-2.40101811e-05,-4.17614264e-05,
 -3.56244831e-05, 1.10667837e-05, 9.07101689e-06,-1.18474830e-05,
 -3.10759805e-04,-4.66294031e-05,-2.14663298e-04,-5.45181674e-05,
 -2.36645929e-07, 4.74889668e-07,-1.21644126e+00,-4.40716820e-04,
  1.87220491e-05,-5.54179633e-04]


--- Step 408 ---
qpos:
[ 0.01205685,-0.00117604, 0.00243913, 0.0419847 , 0.0045733 ,-0.00234099,
 -0.01821922, 0.02850116, 0.01318784, 0.00446276,-0.01025298, 0.02640021,
  0.79892895,-0.00159882, 0.61903937, 0.06586051, 0.09286216,-0.07018045,
  0.13105938, 0.50708555, 0.4924274 , 0.49199012, 0.50825704]

qacc:
[ -1.39727045,  0.99207377, -4.15987828,  6.25225352,  4.58594122,
  -1.35813449,  6.82343183,-15.50741842, -0.56282267, -1.44897035,
   5.69130151, -8.89986142, -1.56593082,  3.34095493,-18.97841762,
  62.19762252,  0.41309136,  0.97570592, -0.30804318,  6.09634354,
   1.01587455,-14.0380629 ]

qfrc_actuator:
[ 2.84823030e-05,-1.89711146e-05, 6.46578802e-06, 3.33399189e-05,
  4.73640695e-05,-2.86800078e-04,-2.57368814e-04,-1.82453539e-05,
 -4.69690643e-05,-1.04199508e-04,-7.10845437e-05,-2.61636907e-05,
  5.02152736e-02,-6.99660608e-04, 3.15411988e-02,-3.94269585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030964598554904244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58545913e-13,  9.52387580e-14,  1.00000000e+00, -3.41474674e-26,
        1.00000000e+00, -9.52387580e-14, -1.00000000e+00,  0.00000000e+00,
        3.58545913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598837, -0.08819356,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.14039307e-06,-2.96337352e-05,-2.76704917e-05, 1.87679009e-06,
  2.69067553e-05,-7.15576962e-06, 2.60539139e-06,-2.55335912e-05,
 -3.36655180e-06, 2.06881270e-06, 2.16041340e-05,-6.96988148e-06,
 -3.09915578e-04,-3.70140421e-05,-1.22722451e-04, 2.66338330e-04,
 -2.24311983e-07, 7.65736519e-07,-1.21644206e+00,-4.40481143e-04,
  1.84965875e-05,-5.53818701e-04]


--- Step 409 ---
qpos:
[ 0.0120567 ,-0.00117658, 0.00243817, 0.04198458, 0.00457316,-0.00234057,
 -0.01821894, 0.02850128, 0.01318718, 0.00446119,-0.01025225, 0.02640013,
  0.80000779,-0.00159612, 0.62002381, 0.06586324, 0.09286285,-0.07015728,
  0.13106367, 0.50716003, 0.49234237, 0.49208298, 0.5081752 ]

qacc:
[ -7.1130746 ,  2.11354574, -8.55549986, 15.44016579, -9.35990716,
  -1.06160769,  3.41127798, -3.10064359,  2.85180338,  0.76239625,
  -4.43897367, 13.39382629,  0.10121895, -2.39798902,-12.58167453,
  39.92278398,  0.41158942,  0.97424146, -0.33386728,  6.0847543 ,
   1.01444083,-14.01539187]

qfrc_actuator:
[-1.28365189e-05, 3.34711208e-05, 5.00267116e-06, 5.59195579e-05,
 -8.44475984e-06,-2.83403935e-04,-2.34020079e-04,-1.42598308e-05,
 -3.01949277e-05,-5.34620927e-05,-4.25750581e-05, 5.16976815e-06,
  5.01202401e-02,-7.58864491e-04, 3.14433331e-02,-3.78482024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029904918969007876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.45019911e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.45019911e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598731, -0.08819641,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15563308e-05, 3.02694272e-05,-1.09093120e-05, 2.03938380e-05,
 -5.50428902e-05,-1.17016779e-06, 2.13018201e-05, 3.26985553e-06,
  1.66728940e-05, 5.61194523e-05, 3.13745542e-05, 3.20386773e-05,
 -3.07858236e-04,-1.18065004e-04,-1.30480756e-04, 1.55472918e-04,
 -1.97628710e-07, 1.11871508e-06,-1.21644318e+00,-4.40237520e-04,
  1.80439400e-05,-5.53362671e-04]


--- Step 410 ---
qpos:
[ 0.01205572,-0.00117689, 0.00243716, 0.04198472, 0.00457236,-0.00234021,
 -0.01821861, 0.02850076, 0.01318741, 0.00445953,-0.01025127, 0.02640048,
  0.80108493,-0.00159438, 0.62100621, 0.06586496, 0.09286517,-0.07013022,
  0.13106654, 0.50724174, 0.49224868, 0.49219681, 0.50807415]

qacc:
[ -7.37793437,  0.94983943, -4.02535933,  8.377772  , -5.84878458,
  -1.48978769,  7.83436093,-18.68671149,  7.89749381,  0.03267317,
  -2.1485048 ,  9.33391154, -0.08294115, -1.97954203,  0.02231378,
  -4.52458402,  0.41051224,  0.9735148 , -0.35425917,  6.077254  ,
   1.01372719,-14.00383224]

qfrc_actuator:
[-5.48360550e-05, 4.72218698e-05, 4.71012342e-06, 6.92866801e-05,
 -4.12334132e-05,-2.99227644e-04,-2.38103492e-04,-4.74486195e-05,
  1.54449362e-05,-9.36046078e-05,-4.36892208e-05, 2.36677808e-05,
  5.00191418e-02,-8.12638899e-04, 3.13013432e-02,-3.85290699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002885970058208176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.4097967e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.4097967e-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([ 0.08598628, -0.08819922,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31689077e-05, 2.93148725e-05, 5.34161894e-06, 1.46888303e-05,
 -3.43600800e-05,-1.19761656e-05,-1.59432624e-06,-3.24377771e-05,
  4.61262990e-05,-8.54087447e-07, 1.54598056e-05, 2.26133401e-05,
 -3.27369633e-04,-1.21507293e-04,-1.90400748e-04,-7.76565591e-05,
 -1.56765874e-07, 1.53332974e-06,-1.21644460e+00,-4.39985921e-04,
  1.73651670e-05,-5.52811689e-04]


--- Step 411 ---
qpos:
[ 0.01205492,-0.00117729, 0.00243689, 0.04198431, 0.0045722 ,-0.00234045,
 -0.01821808, 0.02849991, 0.01318854, 0.00445785,-0.01025079, 0.0264004 ,
  0.80216014,-0.00159291, 0.62198686, 0.06586442, 0.09286914,-0.07009926,
  0.13106794, 0.50733068, 0.49214632, 0.49233161, 0.5079539 ]

qacc:
[ 1.72928281e+00,-3.29244195e+00, 1.38846398e+01,-2.44460635e+01,
  5.69522147e+00,-2.02523059e+00, 7.50431100e+00,-1.32002274e+01,
  7.81778379e+00, 4.93077324e-01,-1.05562769e-03,-6.55973365e+00,
 -1.01834410e+00, 1.05267722e+00, 4.25253776e+00,-1.85545934e+01,
  4.09796873e-01, 9.73421040e-01,-3.70194266e-01, 6.07344358e+00,
  1.01352679e+00,-1.40019805e+01]

qfrc_actuator:
[-4.36317310e-05, 3.77104843e-05, 4.04645056e-05, 4.15907304e-05,
 -6.92617826e-06,-3.62078015e-04,-2.40711849e-04,-6.67817375e-05,
  5.99494381e-05,-1.16970922e-04,-8.04115130e-05,-1.13917143e-06,
  4.99144712e-02,-8.27268788e-04, 3.12235000e-02,-3.96484737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027836805493239303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99416385e-13, -4.36223342e-14,  1.00000000e+00,  8.69900820e-27,
        1.00000000e+00,  4.36223342e-14, -1.00000000e+00,  0.00000000e+00,
        1.99416385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598528, -0.08820197,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98760594e-06, 8.62517340e-06, 4.29936343e-05,-2.59646825e-05,
  3.33243975e-05,-7.12943633e-05,-6.40631657e-06,-2.05317648e-05,
  4.58089635e-05,-1.96166921e-05,-3.42065259e-05,-2.38696809e-05,
 -3.45312755e-04,-8.61370938e-05,-1.77883363e-04,-1.41771376e-04,
 -1.01885809e-07, 2.00915680e-06,-1.21644633e+00,-4.39726226e-04,
  1.64607458e-05,-5.52165803e-04]


--- Step 412 ---
qpos:
[ 0.01205427,-0.00117756, 0.00243701, 0.04198357, 0.00457211,-0.00234148,
 -0.01821749, 0.02849956, 0.01318985, 0.00445641,-0.01025118, 0.02640037,
  0.80323332,-0.00159157, 0.62296588, 0.06586406, 0.09287474,-0.07006441,
  0.1310678 , 0.50742685, 0.49203527, 0.49248737, 0.50781442]

qacc:
[  1.24000549, -1.60490657,  7.33745546,-13.74428589,  0.60666449,
  -0.21421403, -2.89459019, 12.08182556,  1.55116851,  2.81750664,
  -9.7986223 , 11.78701815, -1.16056625,  1.52259858, -2.87195286,
   6.65360065,  0.4093912 ,  0.97387155, -0.38249966,  6.07297588,
   1.01366918,-14.00865167]

qfrc_actuator:
[-3.67077792e-05, 4.99609317e-05, 6.15828912e-05, 2.54640442e-05,
 -4.42041717e-06,-4.17096986e-04,-2.42605223e-04,-4.23339877e-05,
  6.79150321e-05,-9.48094287e-05,-1.20088366e-04, 2.01649493e-06,
  4.98077407e-02,-8.36472947e-04, 3.11841912e-02,-3.94168240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002684215503411108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20417599e-13,  1.61567083e-13,  1.00000000e+00, -1.00239062e-25,
        1.00000000e+00, -1.61567083e-13, -1.00000000e+00,  0.00000000e+00,
        6.20417599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08598431, -0.08820466,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21204874e-06, 2.48663686e-05, 2.73058467e-05,-1.47729117e-05,
  3.43252519e-06,-9.70739183e-05,-1.81219013e-05, 2.07710228e-05,
  9.25780077e-06, 3.17769339e-06,-4.87547147e-05, 6.68027649e-07,
 -3.52955672e-04,-8.00478175e-05,-1.41920117e-04,-8.89569772e-06,
 -3.31463618e-08, 2.54581118e-06,-1.21644837e+00,-4.39458270e-04,
  1.53306543e-05,-5.51424986e-04]


--- Step 413 ---
qpos:
[ 0.01205267,-0.00117741, 0.00243666, 0.04198336, 0.00457171,-0.00234294,
 -0.01821674, 0.02849877, 0.01319089, 0.00445497,-0.01025201, 0.02640038,
  0.80430437,-0.00158971, 0.62394271, 0.06586598, 0.09288304,-0.07003807,
  0.13106815, 0.50748505, 0.49196714, 0.49262001, 0.50769359]

qacc:
[ -8.34217318,  2.96267054,-11.92000172, 21.36197407, -2.74231609,
  -1.89737701,  7.84219222,-15.52669731, -2.29514423,  1.34622744,
  -4.92978404,  6.26971698, -1.8375384 ,  3.92030979,-10.0606168 ,
  30.69005229,  0.67391701, -2.12765073,  0.12206819,  9.76717043,
  -2.82449476, 30.63087018]

qfrc_actuator:
[-8.56335064e-05, 7.51018188e-05, 3.84698461e-05, 5.17862913e-05,
 -2.06741414e-05,-4.13711272e-04,-2.26267983e-04,-6.33335718e-05,
  5.43115903e-05,-9.88248324e-05,-1.43218112e-04, 3.89642883e-06,
  4.97105029e-02,-8.06950116e-04, 3.10881684e-02,-3.82122303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027058008487822194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.10312173e-13,  2.05156086e-13,  1.00000000e+00, -8.41780395e-26,
        1.00000000e+00, -2.05156086e-13, -1.00000000e+00,  0.00000000e+00,
        4.10312173e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253463, -0.03123691,  0.06199227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87114658e-05, 4.40684748e-05,-1.51209007e-05, 2.80465916e-05,
 -1.61898278e-05,-5.37182768e-05,-5.22150979e-06,-2.53809005e-05,
 -1.33423393e-05,-1.22164430e-05,-2.84329897e-05, 3.46183937e-07,
 -3.47029714e-04,-4.22872736e-05,-1.68582637e-04, 1.00137474e-04,
  4.92961985e-08, 3.14291920e-06,-1.21645072e+00,-4.39181860e-04,
  1.39744397e-05,-5.50589143e-04]


--- Step 414 ---
qpos:
[ 0.01205084,-0.00117693, 0.00243604, 0.04198381, 0.00457146,-0.00234423,
 -0.01821637, 0.02849734, 0.01319211, 0.00445388,-0.01025358, 0.02640038,
  0.80537349,-0.00158782, 0.62491758, 0.06586372, 0.09289396,-0.07002004,
  0.13106809, 0.50750603, 0.49194093, 0.49273027, 0.507591  ]

qacc:
[ -2.02475706,  2.55163492,-11.26771836, 22.91566453,  1.32476638,
  -0.04618101,  3.15738536,-13.63844359,  1.49806507,  2.50043029,
  -8.27070286,  9.20089908, -1.3779034 ,  2.30113977,  9.78396715,
 -38.31495562,  0.65360413, -2.0783701 , -0.10410555,  9.61721319,
  -2.66954241, 29.90134136]

qfrc_actuator:
[-9.60277199e-05, 8.98684713e-05, 2.50216952e-05, 8.51046488e-05,
 -1.23236585e-05,-3.75331865e-04,-2.34604224e-04,-9.30989787e-05,
  6.36390939e-05,-6.51607632e-05,-1.74244970e-04, 5.00047304e-06,
  4.96137169e-02,-8.08045088e-04, 3.09422495e-02,-4.05288425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48883903,  2.1829478 , -3.92229712,  2.1829478 ,  8.16220503,
        2.04440561, -3.92229712,  2.04440561,  5.6266495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002837207579667739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253541, -0.03124419,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17652724e-05, 3.74752538e-05,-5.23089965e-06, 3.52323607e-05,
  7.87121189e-06, 6.21459709e-06,-2.09424560e-05,-3.27380762e-05,
  8.93990254e-06, 2.10345747e-05,-3.70123351e-05,-3.90736090e-07,
 -3.35718487e-04,-6.75387514e-05,-2.16745876e-04,-2.48902394e-04,
  2.47216261e-07, 1.56711211e-06,-1.21644660e+00,-4.40365245e-04,
  1.33699421e-05,-5.50004195e-04]


--- Step 415 ---
qpos:
[ 0.01204924,-0.00117639, 0.00243536, 0.04198501, 0.00457165,-0.00234517,
 -0.0182163 , 0.02849623, 0.01319343, 0.00445354,-0.01025525, 0.02640064,
  0.80644066,-0.00158621, 0.62589024, 0.06586091, 0.09290742,-0.07001016,
  0.13106685, 0.50749044, 0.49195578, 0.49281876, 0.50750628]

qacc:
[ 2.05633303, 1.8366214 ,-9.62429377,22.82299174, 3.89921197, 1.95756937,
 -7.63525873,13.31895427, 0.87834081, 1.79684348,-6.0590223 ,10.14972036,
 -0.96009651, 0.90140538,-1.59184936, 0.88647487, 0.6371154 ,-2.03710754,
 -0.29471442, 9.49025677,-2.54082412,29.29252256]

qfrc_actuator:
[-8.36422633e-05, 8.05924374e-05, 1.73634166e-05, 1.22271847e-04,
  1.04479757e-05,-3.34136269e-04,-2.39532917e-04,-7.45019955e-05,
  6.86434703e-05, 2.62833718e-05,-1.56285549e-04, 2.34138404e-05,
  4.95066106e-02,-8.27224812e-04, 3.08729664e-02,-4.06419825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51523406,  2.55355015, -3.72380454,  2.55355015, 10.02397637,
        3.77754782, -3.72380454,  3.77754782,  7.10563795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002922003517139421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89976333e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89976333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253575, -0.03124887,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20616146e-05, 1.20999907e-05, 6.60427560e-07, 3.92777065e-05,
  2.30005270e-05, 3.89905954e-05,-7.34388115e-06, 1.75064717e-05,
  5.26214817e-06, 9.56097036e-05, 1.77640629e-05, 1.80323345e-05,
 -3.43781352e-04,-8.62250490e-05,-2.00199497e-04,-5.39927778e-05,
  2.00214035e-07, 5.23924049e-07,-1.21644390e+00,-4.41275045e-04,
  1.34604532e-05,-5.49638023e-04]


--- Step 416 ---
qpos:
[ 0.01204712,-0.00117603, 0.00243505, 0.04198597, 0.00457177,-0.00234606,
 -0.01821567, 0.02849602, 0.01319446, 0.00445372,-0.01025665, 0.02640113,
  0.80750572,-0.00158415, 0.62686068, 0.06586216, 0.09292337,-0.07000829,
  0.13106378, 0.50743879, 0.492011  , 0.49288597, 0.50743913]

qacc:
[ -4.63406369, -1.81486435,  7.17491757,-11.99277171, -0.62508152,
   0.34713341, -4.9705914 , 19.66469668, -2.5971562 ,  0.40282231,
  -1.3563251 ,  4.36181171, -1.70071179,  3.46593539,-15.41473958,
  49.37242084,  0.62379538, -2.00264695, -0.45528663,  9.38394745,
  -2.43298993, 28.78608407]

qfrc_actuator:
[-1.11218527e-04, 5.70137155e-05, 3.08347044e-05, 1.08128465e-04,
  6.01211893e-06,-3.27013554e-04,-2.06832022e-04,-2.75822837e-05,
  5.33038483e-05, 4.53289217e-05,-1.44785097e-04, 3.42007342e-05,
  4.94040331e-02,-8.03712384e-04, 3.08231293e-02,-3.83875245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53028187,  2.86826782, -3.50663565,  2.86826782, 13.14178889,
        7.04381947, -3.50663565,  7.04381947, 10.29180453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029688722855163163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.34886144e-14,  2.33721536e-13,  1.00000000e+00, -2.18503025e-26,
        1.00000000e+00, -2.33721536e-13, -1.00000000e+00,  0.00000000e+00,
        9.34886144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253573, -0.03125145,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72318184e-05,-1.49983597e-05, 1.74110659e-05,-1.28401663e-05,
 -3.76662346e-06, 2.82031111e-05, 4.04673256e-05, 4.86807295e-05,
 -1.51609479e-05, 7.69904983e-05, 3.40859029e-05, 1.58537137e-05,
 -3.47648123e-04,-4.74153355e-05,-1.51300192e-04, 1.95798772e-04,
 -7.33002021e-08,-2.35761184e-08,-1.21644252e+00,-4.41952589e-04,
  1.42113528e-05,-5.49483021e-04]


--- Step 417 ---
qpos:
[ 0.01204433,-0.00117594, 0.00243525, 0.04198675, 0.00457184,-0.00234698,
 -0.01821455, 0.02849604, 0.0131953 , 0.00445361,-0.01025777, 0.02640185,
  0.80856871,-0.00158152, 0.62782967, 0.06586498, 0.09294178,-0.07001432,
  0.13105835, 0.5073515 , 0.49210598, 0.49293232, 0.50738929]

qacc:
[ -5.7688141 , -2.13906379,  7.88376198,-11.58832094, -0.45584819,
  -0.92459098,  2.2694036 ,  0.97641469, -1.66739427, -0.69466341,
   0.95510266,  2.78847933, -1.90467984,  4.17047678, -6.81011466,
  20.91852829,  0.61310604, -1.97395648, -0.59049573,  9.29614773,
  -2.34175676, 28.36672856]

qfrc_actuator:
[-1.44349566e-04, 4.28410961e-05, 5.65682281e-05, 9.94106919e-05,
  3.34568227e-06,-3.40158988e-04,-1.87799261e-04,-1.76403175e-05,
  4.38665289e-05,-3.23946120e-05,-1.55238920e-04, 4.03460646e-05,
  4.93095845e-02,-7.72937172e-04, 3.07637363e-02,-3.75967275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53556747,  3.18240787, -3.23166402,  3.18240787, 20.31465441,
       15.53858638, -3.23166402, 15.53858638, 19.83731892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029850942758742616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78941699e-13, -2.32451416e-13,  1.00000000e+00,  6.48403928e-26,
        1.00000000e+00,  2.32451416e-13, -1.00000000e+00,  0.00000000e+00,
        2.78941699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253541, -0.03125234,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39121436e-05,-1.95275142e-05, 2.43361964e-05,-9.00854390e-06,
 -2.76769257e-06, 1.30947912e-05, 3.15311674e-05, 1.34994618e-05,
 -9.84398210e-06,-2.69431120e-05, 1.02113512e-05, 1.09351173e-05,
 -3.34332596e-04,-3.67270699e-05,-1.12021236e-04, 6.93059394e-05,
 -5.59554838e-07,-1.03488854e-07,-1.21644237e+00,-4.42429437e-04,
  1.55959213e-05,-5.49533088e-04]


--- Step 418 ---
qpos:
[ 0.01204152,-0.00117631, 0.00243557, 0.04198816, 0.00457188,-0.00234792,
 -0.01821315, 0.02849619, 0.01319601, 0.00445298,-0.01025848, 0.02640196,
  0.80962991,-0.00157917, 0.62879786, 0.0658627 , 0.09296261,-0.07002814,
  0.13105011, 0.50722891, 0.49224023, 0.49295814, 0.50735654]

qacc:
[ -0.25649247,  0.38315936, -4.8972124 , 15.97950797, -0.27573514,
  -0.52341827,  1.26784693,  0.61181007, -1.03078127, -3.04993961,
  12.40263478,-23.02855976, -1.00201565,  1.08060705, 14.23090345,
 -51.46342054,  0.60460424, -1.95015774, -0.70430787,  9.22491676,
  -2.26368763, 28.02162853]

qfrc_actuator:
[-1.44966828e-04,-1.04416721e-06, 5.38658676e-05, 1.29479733e-04,
  1.75074294e-06,-3.47662454e-04,-1.77121213e-04,-1.18225639e-05,
  3.79846110e-05,-7.88127559e-05,-1.43481633e-04, 8.10351859e-06,
  4.92200853e-02,-7.91379510e-04, 3.06879696e-02,-4.03384577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029767604100137957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.26343075e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.26343075e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253486, -0.03125187,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59008585e-06,-5.01745450e-05,-4.05132788e-06, 2.98986649e-05,
 -1.67114900e-06, 6.92977471e-06, 1.77317022e-05, 7.73229283e-06,
 -6.17320737e-06,-5.88924491e-05, 7.84191303e-06,-3.28293317e-05,
 -3.18382740e-04,-8.23753575e-05,-1.27094281e-04,-2.86576846e-04,
 -1.24838991e-06, 2.63226547e-07,-1.21644341e+00,-4.42729939e-04,
  1.75938786e-05,-5.49783284e-04]


--- Step 419 ---
qpos:
[ 0.0120401 ,-0.00117686, 0.00243552, 0.04198958, 0.00457224,-0.0023485 ,
 -0.01821208, 0.02849675, 0.01319665, 0.0044523 ,-0.01025927, 0.02640235,
  0.81068941,-0.00157736, 0.62976451, 0.06585681, 0.09298583,-0.07004969,
  0.13103867, 0.5070713 , 0.49241334, 0.4929637 , 0.50734071]

qacc:
[ 12.24059091,  0.75517788, -3.12188945,  3.97307035,  2.83494708,
   2.20468697, -8.89574193, 16.19047763, -0.67475043,  0.7084624 ,
  -3.78258275,  8.70594773, -0.62252168, -0.11536181,  8.60898874,
 -33.39566452,  0.59792402, -1.93050125, -0.80009833,  9.16849602,
  -2.19601833, 27.73998675]

qfrc_actuator:
[-7.31826829e-05,-9.20675867e-06, 3.42946273e-05, 1.28824760e-04,
  1.85515333e-05,-3.16272520e-04,-1.89191893e-04, 9.27888267e-06,
  3.42408521e-05,-5.28397749e-05,-1.36384161e-04, 2.45758167e-05,
  4.91336049e-02,-8.20963076e-04, 3.06130244e-02,-4.21212747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029489531577542305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82360290e-13,  4.70600483e-14,  1.00000000e+00, -1.32878889e-26,
        1.00000000e+00, -4.70600483e-14, -1.00000000e+00,  0.00000000e+00,
        2.82360290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253411, -0.03125033,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17208723e-05,-3.57617902e-05,-2.93995147e-05,-2.36517521e-06,
  1.67545037e-05, 3.92757517e-05,-8.19319716e-06, 2.21611427e-05,
 -3.94135164e-06,-6.71602886e-06,-5.22112420e-06, 1.35840588e-05,
 -3.13566367e-04,-9.57319689e-05,-1.73595253e-04,-2.12643227e-04,
 -2.13247834e-06, 1.06144192e-06,-1.21644559e+00,-4.42873128e-04,
  2.01902104e-05,-5.50229560e-04]


--- Step 420 ---
qpos:
[ 0.01203989,-0.00117727, 0.00243453, 0.04199062, 0.0045728 ,-0.00234846,
 -0.01821152, 0.02849651, 0.01319724, 0.004452  ,-0.01026021, 0.02640324,
  0.81174703,-0.00157556, 0.63072941, 0.06585169, 0.09301142,-0.0700789 ,
  0.1310237 , 0.50687884, 0.49262496, 0.49294922, 0.50734165]

qacc:
[ 10.65454504,  2.07180608, -5.59926698,  0.70628271,  1.71126489,
   0.59197063,  2.4712249 ,-16.06029929, -0.45400613,  1.95626395,
  -8.31029225, 16.74951737, -1.17865531,  1.7876752 , -4.81964602,
  13.21854261,  0.5927624 , -1.91434665, -0.88074489,  9.12529758,
  -2.13652094, 27.51268847]

qfrc_actuator:
[-1.26277372e-05, 3.98582128e-06,-1.27151076e-05, 1.10109991e-04,
  2.82923615e-05,-2.79671435e-04,-2.14424375e-04,-3.17865450e-05,
  3.17847822e-05,-1.44954092e-06,-1.31767239e-04, 5.18893709e-05,
  4.90383410e-02,-8.21356699e-04, 3.05759470e-02,-4.15480926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002905900270314399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.77572749e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.77572749e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253322, -0.03124795,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.25856813e-05,-1.29326990e-05,-5.80969765e-05,-2.13146359e-05,
  1.02318437e-05, 5.78343407e-05,-1.73701782e-05,-3.92375274e-05,
 -2.57362521e-06, 4.71717982e-05, 3.07363762e-06, 2.71121390e-05,
 -3.21739240e-04,-6.71927769e-05,-1.45984869e-04, 2.17794031e-05,
 -3.20673136e-06, 2.28083735e-06,-1.21644887e+00,-4.42874130e-04,
  2.33742222e-05,-5.50868559e-04]


--- Step 421 ---
qpos:
[ 0.01203938,-0.00117773, 0.00243321, 0.04199211, 0.00457244,-0.002348  ,
 -0.01821147, 0.02849511, 0.01319779, 0.0044522 ,-0.01026113, 0.02640337,
  0.81280282,-0.00157377, 0.63169273, 0.0658472 , 0.09303914,-0.07010357,
  0.13101338, 0.50669493, 0.49282578, 0.49295899, 0.50732083]

qacc:
[ -2.70475063,  1.73546264, -8.10590862, 16.20713634, -8.10584934,
  -0.36489807,  7.02186804,-26.54645515, -0.30896209, -0.97190678,
   7.5480261 ,-20.83784109, -1.16342301,  1.76519246, -4.20618721,
  11.43073492,  0.53254171,  1.13503345,  1.16232848,  6.67179039,
   1.41881148,-16.31369618]

qfrc_actuator:
[-3.02006675e-05, 1.19796741e-05,-2.21991209e-05, 1.34186698e-04,
 -1.94638707e-05,-2.75847514e-04,-2.47230325e-04,-9.13484760e-05,
  3.01057200e-05, 2.92762852e-05,-1.28522837e-04, 1.43734772e-05,
  4.89485351e-02,-8.22312157e-04, 3.05137327e-02,-4.11882227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002921150452095539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85047717e-13, -3.80063623e-13,  1.00000000e+00, -1.08336268e-25,
        1.00000000e+00,  3.80063623e-13, -1.00000000e+00,  0.00000000e+00,
       -2.85047717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597918, -0.0881985 ,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57915837e-05,-1.21051745e-05,-2.00363330e-05, 2.10958845e-05,
 -4.74418627e-05, 3.08915329e-05,-2.43643040e-05,-5.84492933e-05,
 -1.73871293e-06, 5.89222197e-05, 1.43183403e-05,-3.48593458e-05,
 -3.15984274e-04,-6.62183141e-05,-1.32732309e-04, 1.69794704e-05,
 -4.46784215e-06, 3.91509828e-06,-1.21645323e+00,-4.42745218e-04,
  2.71387718e-05,-5.51697454e-04]


--- Step 422 ---
qpos:
[ 0.01203866,-0.0011782 , 0.00243229, 0.04199417, 0.0045715 ,-0.00234729,
 -0.0182121 , 0.02849373, 0.01319764, 0.00445282,-0.01026197, 0.02640272,
  0.81385668,-0.00157164, 0.63265385, 0.06584292, 0.09306892,-0.07012381,
  0.13100665, 0.50651928, 0.4930163 , 0.49299246, 0.5072786 ]

qacc:
[ -1.79856706,  0.06463903, -2.67087871, 11.91914417, -5.0152157 ,
   2.27199761, -7.69881758,  8.95776842, -6.29163849, -1.24753003,
   8.64115666,-22.79509911, -1.5656667 ,  3.09964735, -3.82833649,
   8.83658965,  0.51305237,  1.10578871,  0.89704731,  6.64378115,
   1.30850135,-15.89937819]

qfrc_actuator:
[-4.03559898e-05, 3.47351260e-05, 8.33054124e-06, 1.65527735e-04,
 -4.74193771e-05,-2.73991568e-04,-2.84375708e-04,-9.03261014e-05,
 -6.60837484e-06, 4.73412444e-05,-1.26229585e-04,-2.54973136e-05,
  4.88514170e-02,-8.05849337e-04, 3.03885521e-02,-4.11356800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56028454, -0.71309773, -4.50418546, -0.71309773,  9.69715281,
       -0.81326338, -4.50418546, -0.81326338,  4.68903951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030593705099678237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81446317e-13,  5.10317767e-14,  1.00000000e+00, -9.25952796e-27,
        1.00000000e+00, -5.10317767e-14, -1.00000000e+00,  0.00000000e+00,
        1.81446317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597913, -0.08819487,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06063835e-05, 1.27758081e-05, 2.63099132e-05, 3.05412051e-05,
 -2.92945270e-05, 1.15623360e-05,-3.57891726e-05, 3.69669024e-07,
 -3.67423554e-05, 5.24829652e-05, 1.50306388e-05,-3.75272222e-05,
 -3.19149121e-04,-4.77339396e-05,-1.90836408e-04,-1.24807469e-05,
 -4.36373371e-06, 3.05971013e-06,-1.21645203e+00,-4.43906140e-04,
  2.59381031e-05,-5.52210625e-04]


--- Step 423 ---
qpos:
[ 0.01203887,-0.00117867, 0.00243179, 0.04199554, 0.00457059,-0.00234688,
 -0.0182127 , 0.02849274, 0.01319669, 0.0044534 ,-0.01026227, 0.02640128,
  0.81490847,-0.00156892, 0.63361286, 0.06583803, 0.09310068,-0.07013973,
  0.13100262, 0.50635165, 0.49319692, 0.49304918, 0.50721525]

qacc:
[  8.08518505, -2.60510949, 12.17010622,-24.67094871,  0.15582773,
   0.30950401, -3.3437257 , 10.28781021, -6.87602513, -3.18911924,
  14.64128297,-29.15830393, -1.95578335,  4.28301483, -1.1441418 ,
  -0.30109356,  0.49757592,  1.08120478,  0.67333967,  6.61846027,
   1.21603613,-15.55221078]

qfrc_actuator:
[ 7.21922695e-06, 3.08392847e-05, 2.67860913e-05, 1.29909826e-04,
 -4.57257623e-05,-3.08817288e-04,-2.88252512e-04,-7.14213922e-05,
 -4.58970318e-05, 2.21655236e-05,-1.06808021e-04,-6.64361083e-05,
  4.87393337e-02,-7.79269031e-04, 3.02896138e-02,-4.14434012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59092373, -0.8745721 , -4.50685082, -0.8745721 , 12.52414253,
       -1.53947226, -4.50685082, -1.53947226,  4.88966436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003148042441465937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81845943e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81845943e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859789 , -0.08819257,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72776542e-05, 1.00135227e-05, 2.54045374e-05,-3.35666596e-05,
  8.63490014e-07,-3.57621692e-05,-5.88101089e-06, 1.81731948e-05,
 -4.03122954e-05, 5.64497924e-06, 3.08207980e-05,-3.88964951e-05,
 -3.33208642e-04,-3.59323272e-05,-1.91766006e-04,-5.69613323e-05,
 -4.26187824e-06, 2.30714491e-06,-1.21645126e+00,-4.45004635e-04,
  2.45042887e-05,-5.52623519e-04]


--- Step 424 ---
qpos:
[ 0.01203964,-0.00117902, 0.00243124, 0.04199615, 0.00456936,-0.00234677,
 -0.01821273, 0.02849125, 0.01319598, 0.00445368,-0.01026221, 0.02640009,
  0.81595838,-0.00156618, 0.63456988, 0.06583761, 0.09313438,-0.0701514 ,
  0.13100052, 0.50619183, 0.49336798, 0.49312876, 0.50713103]

qacc:
[  4.99238719, -1.29392035,  8.01657448,-21.17133614, -2.76361541,
  -2.99084643, 12.20466901,-21.48404803,  2.00824485, -0.87027407,
   1.44297359,  2.66028189, -1.1013002 ,  1.58726856,-16.42667217,
  53.28427771,  0.4853962 ,  1.06060991,  0.48495191,  6.5972952 ,
   1.13770586,-15.26207432]

qfrc_actuator:
[ 3.51326150e-05, 2.86802476e-05, 2.00496122e-05, 9.06480622e-05,
 -6.21065484e-05,-3.11937741e-04,-2.54852957e-04,-9.54230413e-05,
 -3.31177571e-05,-1.08982235e-05,-9.53625316e-05,-5.44436307e-05,
  4.86449820e-02,-7.82517039e-04, 3.02597493e-02,-3.89418322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60816128, -1.07884297, -4.48009467, -1.07884297, 17.07723417,
       -3.00265342, -4.48009467, -3.00265342,  5.33122447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031963901508257064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.21004777e-13, -3.79899316e-14,  1.00000000e+00,  1.97929359e-26,
        1.00000000e+00,  3.79899316e-14, -1.00000000e+00,  0.00000000e+00,
        5.21004777e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597851, -0.08819133,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92639749e-05, 7.28551261e-06,-2.69453292e-06,-3.86100984e-05,
 -1.63691560e-05,-2.35596280e-05, 2.59216144e-05,-2.53814400e-05,
  1.16375421e-05,-2.52388585e-05, 1.50625105e-05, 1.25479127e-05,
 -3.22715947e-04,-6.70455619e-05,-1.28357833e-04, 2.21307519e-04,
 -4.15845745e-06, 1.64730777e-06,-1.21645092e+00,-4.46057764e-04,
  2.28397178e-05,-5.52938627e-04]


--- Step 425 ---
qpos:
[ 0.01204039,-0.00117926, 0.00243032, 0.04199631, 0.00456828,-0.0023464 ,
 -0.0182123 , 0.02848908, 0.01319611, 0.00445436,-0.01026258, 0.02639937,
  0.81700648,-0.00156379, 0.63552532, 0.0658385 , 0.09316999,-0.07015891,
  0.13099973, 0.50603967, 0.49352978, 0.49323089, 0.50702614]

qacc:
[ -0.15341728,  0.24434961,  1.26665045, -8.61820063,  1.39193821,
  -2.35086217, 11.7689739 ,-24.55137572,  7.44035208,  2.67141378,
 -10.7511534 , 19.21063134, -0.76903857,  0.41428924, -6.20940768,
  18.41671183,  0.47593219,  1.04343186,  0.32658475,  6.58122304,
   1.07055945,-15.02052231]

qfrc_actuator:
[ 3.34788758e-05, 2.74621093e-05,-1.49502710e-06, 6.73035113e-05,
 -5.34986084e-05,-2.60420794e-04,-2.17390452e-04,-1.26685697e-04,
  1.02059080e-05, 4.03375721e-05,-1.06488626e-04,-2.91757082e-05,
  4.85506764e-02,-8.03320506e-04, 3.01755316e-02,-3.83537349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61387056, -1.34790254, -4.41259111, -1.34790254, 25.80861901,
       -6.47430377, -4.41259111, -6.47430377,  6.59155901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003212171452919438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78215502e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78215502e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597798, -0.08819096,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.15378835e-07, 6.70948878e-07,-2.17002308e-05,-2.38779225e-05,
  8.13281992e-06, 4.26028484e-05, 3.49140614e-05,-3.18655316e-05,
  4.36450954e-05, 4.07645831e-05,-1.40526725e-05, 2.49529551e-05,
 -3.20553164e-04,-8.67254414e-05,-1.24340382e-04, 5.32053017e-05,
 -4.05066575e-06, 1.07211390e-06,-1.21645096e+00,-4.47078720e-04,
  2.09459843e-05,-5.53158049e-04]


--- Step 426 ---
qpos:
[ 0.01204112,-0.00117955, 0.00242948, 0.04199618, 0.00456835,-0.00234574,
 -0.01821178, 0.02848727, 0.0131971 , 0.00445526,-0.01026275, 0.02639859,
  0.81805263,-0.00156128, 0.63647945, 0.06583348, 0.09320748,-0.07016229,
  0.13099971, 0.50589501, 0.49368254, 0.4933553 , 0.50690072]

qacc:
[ -0.21951127, -0.85701335,  4.19061422, -9.29079228, 10.04431171,
   0.82240433, -3.90276618,  9.68722185,  7.59951602, -0.39686969,
   2.05036503, -3.50276835, -1.55306523,  2.78865285, 15.92338814,
 -58.40724391,  0.46871115,  1.02918145,  0.1937278 ,  6.57078157,
   1.01224549,-14.82046643]

qfrc_actuator:
[ 3.21945039e-05, 2.67574249e-05, 3.91713646e-06, 5.35061952e-05,
  5.25938144e-06,-2.47566297e-04,-2.13112099e-04,-1.08658790e-04,
  5.33915512e-05, 5.28168549e-05,-9.50044863e-05,-3.17575758e-05,
  4.84458070e-02,-7.98802397e-04, 3.00534090e-02,-4.15627307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032018966388205894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35444993e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35444993e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597734, -0.08819128,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30380215e-06,-5.81851590e-06, 2.06439763e-06,-1.49820547e-05,
  5.90047533e-05, 4.25131333e-05, 1.62714583e-05, 2.04433092e-05,
  4.44410525e-05, 3.34385887e-05, 1.90334457e-05,-8.36413936e-07,
 -3.33458524e-04,-6.33295339e-05,-1.80102687e-04,-3.35595822e-04,
 -3.93643351e-06, 5.75033123e-07,-1.21645137e+00,-4.48077848e-04,
  1.88239005e-05,-5.53283567e-04]


--- Step 427 ---
qpos:
[ 0.01204217,-0.00117996, 0.00242899, 0.04199621, 0.00456913,-0.00234551,
 -0.01821091, 0.02848679, 0.01319757, 0.00445574,-0.01026192, 0.02639781,
  0.81909688,-0.00155901, 0.63743105, 0.06582832, 0.09324681,-0.07016161,
  0.13100003, 0.50575774, 0.49382647, 0.49350177, 0.5067549 ]

qacc:
[  2.86022698, -0.81482395,  1.93985571,  0.54231855,  6.19247344,
   1.22314314,-10.87536616, 33.89829046, -4.57374175, -3.34427986,
  11.1226308 ,-12.39919256, -0.95819527,  0.94835924, -3.2919004 ,
   6.16423018,  0.46334753,  1.01743975,  0.0825302 ,  6.56621392,
   0.96088749,-14.65593286]

qfrc_actuator:
[ 4.89001571e-05, 2.64774074e-05, 2.52126942e-05, 6.32078111e-05,
  3.97979705e-05,-3.11301643e-04,-2.10812227e-04,-4.40701191e-05,
  2.51292001e-05, 6.55784469e-06,-5.26570729e-05,-3.29599874e-05,
  4.83453299e-02,-8.14913434e-04, 2.99565097e-02,-4.14798346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003171014427654495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75058022e-13,  1.80528585e-13,  1.00000000e+00, -3.16029769e-26,
        1.00000000e+00, -1.80528585e-13, -1.00000000e+00,  0.00000000e+00,
        1.75058022e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859766 , -0.08819215,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66688668e-05,-3.73141353e-06, 1.98424069e-05, 9.23486949e-06,
  3.62349518e-05,-3.57305462e-05, 1.37805999e-05, 6.73704149e-05,
 -2.69862667e-05,-2.36742549e-05, 5.15625382e-05, 8.71342866e-07,
 -3.34211580e-04,-8.33138337e-05,-2.22986665e-04,-3.50476538e-05,
 -3.81422759e-06, 1.50739878e-07,-1.21645214e+00,-4.49063400e-04,
  1.64735394e-05,-5.53316719e-04]


--- Step 428 ---
qpos:
[ 0.01204376,-0.00118023, 0.0024287 , 0.04199565, 0.00457031,-0.00234544,
 -0.01821003, 0.02848674, 0.01319701, 0.00445631,-0.01026073, 0.02639701,
  0.82013938,-0.00155756, 0.63838023, 0.06582517, 0.09328799,-0.07015689,
  0.1310003 , 0.50562775, 0.49396173, 0.49367012, 0.50658878]

qacc:
[ 4.72072689e+00,-1.59929896e+00, 8.48195237e+00,-1.92280828e+01,
  3.58205324e+00, 6.22992232e-01,-4.30962363e+00, 1.17051607e+01,
 -9.07306391e+00,-9.24461521e-01, 3.63796543e+00,-4.84152777e+00,
 -2.03186004e-01,-1.49771766e+00,-9.61889076e+00, 2.84455616e+01,
  4.59526150e-01, 1.00784755e+00,-1.03024435e-02, 6.56755126e+00,
  9.14985766e-01,-1.45218710e+01]

qfrc_actuator:
[ 7.60607000e-05, 4.42995334e-05, 3.79710103e-05, 3.34061565e-05,
  5.97882752e-05,-3.13871391e-04,-2.09984746e-04,-2.36852653e-05,
 -2.72071225e-05, 3.21238752e-05,-2.81806169e-05,-3.33713175e-05,
  4.82528787e-02,-8.60852842e-04, 2.98749007e-02,-4.03435034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000312407066747844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77688526e-13,  1.83241293e-13,  1.00000000e+00,  3.25598752e-26,
        1.00000000e+00, -1.83241293e-13, -1.00000000e+00,  0.00000000e+00,
       -1.77688526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597579, -0.08819343,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76340552e-05, 2.02527254e-05, 1.47595438e-05,-2.90942100e-05,
  2.10080275e-05,-1.68213817e-05,-2.53742932e-06, 2.06386737e-05,
 -5.31112194e-05, 2.29824501e-05, 2.59555135e-05, 3.75241098e-07,
 -3.30209964e-04,-1.15769477e-04,-1.90105692e-04, 8.24352216e-05,
 -3.68290727e-06,-2.05158089e-07,-1.21645325e+00,-4.50042090e-04,
  1.38942924e-05,-5.53258845e-04]


--- Step 429 ---
qpos:
[ 0.01204497,-0.00118025, 0.00242823, 0.04199475, 0.00457173,-0.00234505,
 -0.01820962, 0.02848656, 0.01319686, 0.00445729,-0.0102597 , 0.02639654,
  0.82118002,-0.00155635, 0.6393276 , 0.06582163, 0.09333099,-0.07014818,
  0.13100023, 0.50550496, 0.49408849, 0.49386021, 0.5064024 ]

qacc:
[ -3.31947274,  0.12415721,  1.47503643, -7.27171436,  1.99951779,
   1.43366965, -3.98236112,  2.28420987,  3.61053339,  1.66422473,
  -6.58770109, 12.4293489 , -0.95298949,  0.93974036, -1.48383605,
   1.36007526,  0.45698884,  1.00009687, -0.08759159,  6.57467715,
   0.87334014,-14.41400105]

qfrc_actuator:
[ 5.58938428e-05, 5.50142677e-05, 2.78732342e-05, 1.61082541e-05,
  7.10639074e-05,-2.79844083e-04,-2.27598455e-04,-2.94382506e-05,
 -4.50699460e-06, 6.49308638e-05,-3.19384431e-05,-1.55240173e-05,
  4.81652984e-02,-8.70756529e-04, 2.97918951e-02,-4.05487475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030648440534486454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.96204966e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.96204966e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597493, -0.08819505,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93717582e-05, 2.38614125e-05,-5.09813999e-06,-1.64848561e-05,
  1.18682305e-05, 2.49756630e-05,-2.06985579e-05,-6.16289295e-06,
  2.12009845e-05, 5.09833828e-05, 4.18228685e-06, 1.97375697e-05,
 -3.28255512e-04,-8.30854652e-05,-1.64298404e-04,-4.11823848e-05,
 -3.54162024e-06,-4.96331844e-07,-1.21645470e+00,-4.51019513e-04,
  1.10849335e-05,-5.53111130e-04]


--- Step 430 ---
qpos:
[ 0.01204559,-0.00118042, 0.00242779, 0.04199403, 0.00457327,-0.00234453,
 -0.01820939, 0.02848631, 0.01319733, 0.00445832,-0.01025913, 0.0263967 ,
  0.82221873,-0.00155495, 0.64027299, 0.06581653, 0.09337582,-0.07013549,
  0.13099954, 0.5053893 , 0.49420685, 0.49407192, 0.5061958 ]

qacc:
[ -5.22938065,  0.09465431, -1.38537764,  4.58727161,  1.08244697,
   0.57377095, -1.50911275,  0.59109027,  5.42419436,  2.65943303,
 -12.08291018, 23.76504717, -1.46840257,  2.6623191 ,  1.84203964,
 -10.54091983,  0.45552377,  0.9939237 , -0.15175455,  6.58737704,
   0.83498884,-14.32869115]

qfrc_actuator:
[ 2.57818573e-05, 2.57990065e-05, 2.21082174e-05, 2.40465875e-05,
  7.71253234e-05,-2.77520722e-04,-2.38055931e-04,-3.27408169e-05,
  2.66787927e-05, 3.07140375e-05,-7.00225931e-05, 1.29197588e-05,
  4.80753880e-02,-8.59282391e-04, 2.96867816e-02,-4.13655118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029964623202970164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85255629e-13,  9.84170530e-14,  1.00000000e+00, -1.82323131e-26,
        1.00000000e+00, -9.84170530e-14, -1.00000000e+00,  0.00000000e+00,
        1.85255629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597403, -0.0881969 ,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06531551e-05,-1.76334718e-05,-2.02715746e-06, 8.46700611e-06,
  6.40974996e-06, 1.17359072e-05,-8.07107242e-06,-3.07024502e-06,
  3.18090300e-05,-4.03672664e-06,-2.63784038e-05, 3.11530909e-05,
 -3.23194732e-04,-5.75422932e-05,-1.90384469e-04,-1.06388972e-04,
 -3.38972741e-06,-7.25898239e-07,-1.21645647e+00,-4.52000449e-04,
  8.04368459e-06,-5.52874640e-04]


--- Step 431 ---
qpos:
[ 0.01204619,-0.00118083, 0.00242733, 0.04199378, 0.00457487,-0.0023439 ,
 -0.01820925, 0.02848534, 0.01319782, 0.00445922,-0.0102589 , 0.02639688,
  0.82325554,-0.00155313, 0.64121607, 0.06581015, 0.09342246,-0.07011884,
  0.13099804, 0.50528069, 0.49431692, 0.49430517, 0.50596898]

qacc:
[ -0.1794082 ,  0.70875847, -4.91096761, 13.08066676,  0.52815496,
  -1.12940521,  7.31081639,-19.89836076,  0.21654605,  0.78962782,
  -3.11235623,  3.91888885, -1.69580489,  3.50784433,  0.54444105,
  -6.68544748,  0.45495688,  0.98910199, -0.20486192,  6.60537566,
   0.79916008,-14.26285659]

qfrc_actuator:
[ 2.55775934e-05, 8.43254135e-06, 1.88054882e-05, 4.67400041e-05,
  8.00720009e-05,-2.76419955e-04,-2.44308904e-04,-7.00904765e-05,
  2.70795553e-05, 9.74342461e-06,-9.28203859e-05, 1.17877772e-05,
  4.79894776e-02,-8.35312820e-04, 2.95738088e-02,-4.20033686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029215017546650734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70026882e-13,  5.34400202e-14,  1.00000000e+00, -3.04622481e-26,
        1.00000000e+00, -5.34400202e-14, -1.00000000e+00,  0.00000000e+00,
        5.70026882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597309, -0.08819893,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08160222e-06,-2.72827660e-05,-6.89244294e-06, 2.20367651e-05,
  3.13405651e-06, 5.84583817e-06,-4.93786359e-06,-3.71871363e-05,
  1.30674323e-06,-2.73735263e-05,-2.58226794e-05,-1.61657542e-06,
 -3.11308474e-04,-4.10186883e-05,-2.16512866e-04,-9.52536324e-05,
 -3.22674888e-06,-8.96552291e-07,-1.21645857e+00,-4.52989097e-04,
  4.76827664e-06,-5.52550339e-04]


--- Step 432 ---
qpos:
[ 0.01204643,-0.00118144, 0.00242684, 0.04199379, 0.00457614,-0.00234354,
 -0.01820902, 0.02848396, 0.01319763, 0.00446017,-0.01025874, 0.02639665,
  0.82429052,-0.00155101, 0.64215628, 0.06580863, 0.09347093,-0.07009825,
  0.13099554, 0.50517909, 0.4944188 , 0.49455987, 0.50572193]

qacc:
[ -3.09333351,  0.38503823, -2.90653867,  7.80305873, -2.81272461,
  -1.39920811,  6.18964607,-13.10872654, -6.06478624, -0.53173287,
   3.71994866,-10.62672529, -1.3245356 ,  2.46809936,-18.83486633,
  59.90482572,  0.45514494,  0.98543839, -0.24868615,  6.62836487,
   0.76523367,-14.21387673]

qfrc_actuator:
[ 7.47621614e-06,-1.68619677e-06, 1.70223904e-05, 6.01830551e-05,
  6.34110546e-05,-3.11578159e-04,-2.48066906e-04,-9.16710763e-05,
 -8.39800675e-06, 3.23869483e-05,-8.86355638e-05,-6.71968309e-06,
  4.79007089e-02,-8.21918135e-04, 2.94881764e-02,-3.93348882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028420724027507227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90638544e-13,  6.10372725e-15,  1.00000000e+00, -2.38435112e-27,
        1.00000000e+00, -6.10372725e-15, -1.00000000e+00,  0.00000000e+00,
        3.90638544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08597215, -0.08820108,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81405021e-05,-2.58366035e-05,-7.49491140e-06, 1.24671214e-05,
 -1.65677634e-05,-3.45240386e-05,-4.45248569e-06,-2.22243233e-05,
 -3.54457628e-05, 1.89921367e-06,-4.71924129e-06,-2.06083533e-05,
 -3.03295772e-04,-4.73936806e-05,-1.98500436e-04, 2.32980566e-04,
 -3.05232507e-06,-1.01067275e-06,-1.21646100e+00,-4.53989251e-04,
  1.25600629e-06,-5.52139120e-04]


--- Step 433 ---
qpos:
[ 0.0120468 ,-0.00118242, 0.00242672, 0.04199327, 0.00457756,-0.00234354,
 -0.01820884, 0.02848339, 0.01319666, 0.00446116,-0.01025884, 0.02639622,
  0.82532377,-0.00154903, 0.64309486, 0.06580586, 0.09351983,-0.07007365,
  0.13099289, 0.50509023, 0.49450737, 0.49483081, 0.50545899]

qacc:
[  1.12695036, -2.63968099, 10.97748373,-20.6062397 ,  1.1924789 ,
   1.30325112, -8.76203539, 23.10757319, -6.77116084,  0.33782481,
  -0.2609234 , -2.92681286, -1.00764767,  1.28091599,  1.38979471,
  -8.29525403,  0.10878204,  1.0024357 , -0.03938716,  1.51832894,
   0.38578453,-14.5383705 ]

qfrc_actuator:
[ 1.44816502e-05,-2.51401185e-05, 3.39229989e-05, 3.25750063e-05,
  7.08489731e-05,-3.32657401e-04,-2.50458833e-04,-5.05676823e-05,
 -4.69457868e-05, 2.78069489e-05,-1.03893244e-04,-1.74914836e-05,
  4.78102876e-02,-8.32657471e-04, 2.93977780e-02,-4.00647384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002779872433627262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99689563e-13,  1.99689563e-13,  1.00000000e+00,  3.98759217e-26,
        1.00000000e+00, -1.99689563e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99689563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146111, -0.08814423,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48256566e-06,-3.88950588e-05, 1.10854708e-05,-2.87284322e-05,
  6.95440207e-06,-4.22755285e-05,-1.08435244e-05, 3.90397475e-05,
 -3.95500017e-05,-5.42470494e-06,-1.61709257e-05,-1.12552972e-05,
 -3.00184119e-04,-7.10910139e-05,-1.57657569e-04,-8.60636880e-05,
 -2.86618902e-06,-1.07040679e-06,-1.21646374e+00,-4.55004425e-04,
 -2.49621435e-06,-5.51641814e-04]


--- Step 434 ---
qpos:
[ 0.01204726,-0.00118355, 0.00242671, 0.04199275, 0.00457905,-0.0023437 ,
 -0.01820879, 0.02848364, 0.01319593, 0.0044617 ,-0.01025867, 0.02639603,
  0.82635534,-0.00154746, 0.64403171, 0.06579989, 0.09356917,-0.07004506,
  0.13098983, 0.50501402, 0.49458276, 0.4951179 , 0.50518016]

qacc:
[  0.71643729, -0.48651946,  1.39472693, -1.27712217,  0.68152509,
   1.83896589,-10.33634499, 24.88848531,  2.08840237, -0.84057274,
   1.13504729,  2.95633019, -0.74180305,  0.34348109,  7.10265162,
 -28.52522432,  0.11076193,  0.99756199, -0.10128587,  1.56066506,
   0.35075186,-14.46626805]

qfrc_actuator:
[ 1.84609377e-05,-2.08501855e-05, 4.38862224e-05, 3.42949950e-05,
  7.46651279e-05,-3.27335302e-04,-2.51940649e-04,-8.41040602e-06,
 -3.37225760e-05,-1.08562115e-05,-9.51035719e-05,-5.90586076e-06,
  4.77189308e-02,-8.57566650e-04, 2.92991870e-02,-4.17267503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027272234707236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146089, -0.08814564,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15420635e-06,-1.63623007e-05, 2.31372826e-06,-1.18737006e-07,
  3.99857687e-06,-1.88833713e-05,-1.01999778e-05, 4.07307118e-05,
  1.21016877e-05,-4.55696085e-05, 5.27913789e-06, 1.05750305e-05,
 -3.03573682e-04,-8.75473837e-05,-1.86246752e-04,-1.92668596e-04,
 -2.39078916e-06,-1.03626615e-06,-1.21646563e+00,-4.56081189e-04,
 -6.02556373e-06,-5.51140742e-04]


--- Step 435 ---
qpos:
[ 0.01204741,-0.00118466, 0.002427  , 0.04199223, 0.00458023,-0.00234383,
 -0.01820909, 0.02848369, 0.01319571, 0.00446211,-0.01025854, 0.026397  ,
  0.82738506,-0.00154582, 0.64496677, 0.06579253, 0.09361896,-0.0700125 ,
  0.13098615, 0.50495039, 0.49464509, 0.4954211 , 0.50488541]

qacc:
[ -2.63422012, -0.85822999,  3.16527338, -3.90664898, -2.73633966,
   0.63129824, -1.34127256, -1.5447895 ,  4.47669485,  2.3416261 ,
 -13.53264224, 33.82667095, -1.30866521,  2.16502769,  1.63003826,
  -9.41927726,  0.11298578,  0.99392363, -0.15273011,  1.6029332 ,
   0.31720689,-14.41312515]

qfrc_actuator:
[ 2.86680058e-06, 2.13220248e-08, 6.75563729e-05, 3.55264468e-05,
  5.85590087e-05,-3.23982602e-04,-2.70525498e-04,-1.92150972e-05,
 -7.88599757e-06, 1.49129645e-06,-9.00636976e-05, 5.42337306e-05,
  4.76217451e-02,-8.55140593e-04, 2.92383540e-02,-4.23258786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026675381962454336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50308767e-14, -2.08098806e-13,  1.00000000e+00,  1.35328478e-26,
        1.00000000e+00,  2.08098806e-13, -1.00000000e+00,  0.00000000e+00,
        6.50308767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09146068, -0.08814725,  0.06199237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54780575e-05, 1.22367321e-05, 2.05850832e-05, 6.11634844e-07,
 -1.59999405e-05,-7.56211228e-06,-2.23318425e-05,-1.11746749e-05,
  2.61657228e-05,-1.16111735e-05,-3.36623837e-06, 5.85733700e-05,
 -3.15018892e-04,-6.27624928e-05,-1.72492815e-04,-9.57588948e-05,
 -1.91335940e-06,-9.23814461e-07,-1.21646780e+00,-4.57172104e-04,
 -9.62184134e-06,-5.50556363e-04]


--- Step 436 ---
qpos:
[ 0.01204737,-0.00118576, 0.00242763, 0.04199103, 0.00458086,-0.00234385,
 -0.01820938, 0.02848324, 0.01319581, 0.00446271,-0.01025883, 0.02639935,
  0.82841288,-0.00154383, 0.64590034, 0.065785  , 0.09366412,-0.06998837,
  0.13098572, 0.50487287, 0.49471775, 0.49567732, 0.5046402 ]

qacc:
[ -1.6418062 , -2.29428474, 11.02999581,-23.18455933, -4.79803427,
  -0.93781454,  5.71413858,-14.65162527,  2.72391658,  4.22426668,
 -20.57293413, 45.08697717, -1.60238449,  3.17116007, -1.62755196,
   2.67994822, -1.16126584, -2.10968415,  0.80861476,-18.08850797,
   1.21984234, 30.18895975]

qfrc_actuator:
[-6.36943493e-06,-4.77815005e-06, 8.14529941e-05, 9.78316663e-07,
  3.08570796e-05,-3.04189753e-04,-2.63591670e-04,-4.33539109e-05,
  7.39868916e-06, 2.65717982e-05,-1.04810640e-04, 1.24737778e-04,
  4.75317898e-02,-8.36630698e-04, 2.92002434e-02,-4.22924629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002944661832655904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82771780e-13, -1.41385890e-13,  1.00000000e+00,  3.99799398e-26,
        1.00000000e+00,  1.41385890e-13, -1.00000000e+00,  0.00000000e+00,
        2.82771780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009394, -0.03407578,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.66984669e-06, 6.35361695e-06, 1.89918127e-05,-3.32961556e-05,
 -2.81595775e-05, 1.04748827e-05, 2.23983542e-06,-2.54515778e-05,
  1.60233477e-05, 2.03922441e-05,-1.55429909e-05, 7.10254290e-05,
 -3.10527122e-04,-4.60152508e-05,-1.33032552e-04,-2.54105971e-05,
 -1.43264864e-06,-7.35064408e-07,-1.21647024e+00,-4.58280502e-04,
 -1.32904936e-05,-5.49889060e-04]


--- Step 437 ---
qpos:
[ 0.01204688,-0.00118689, 0.00242842, 0.04199013, 0.00458081,-0.00234349,
 -0.01820946, 0.02848245, 0.01319608, 0.00446338,-0.01025921, 0.02640184,
  0.82943901,-0.00154196, 0.64683216, 0.06577756, 0.09370478,-0.06997241,
  0.13098715, 0.50478187, 0.49480042, 0.49588825, 0.50444291]

qacc:
[ -3.99636244,  0.16159072, -1.88493386,  6.86928416, -5.9803712 ,
  -0.75379808,  4.84858417,-11.27899392,  1.60385361,  0.65841216,
  -2.7355002 ,  5.05703952, -0.96308929,  1.19348897, -2.79951895,
   6.10677745, -1.12163738, -2.0407957 ,  0.46808355,-17.44402181,
   1.23768848, 29.18482596]

qfrc_actuator:
[-2.95361032e-05,-7.22027646e-06, 8.93416627e-05, 1.66368709e-05,
 -3.44162318e-06,-2.56864121e-04,-2.41571830e-04,-5.73492228e-05,
  1.63461186e-05, 2.35205267e-05,-1.13302032e-04, 1.29760401e-04,
  4.74515689e-02,-8.44285959e-04, 2.91172195e-02,-4.22413325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003183534592799825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71847778e-14,  1.30777167e-13,  1.00000000e+00,  1.14017782e-26,
        1.00000000e+00, -1.30777167e-13, -1.00000000e+00,  0.00000000e+00,
       -8.71847778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008796, -0.03408782,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34358429e-05, 3.63934789e-06, 1.03967624e-05, 1.59438793e-05,
 -3.50972899e-05, 5.25503413e-05, 2.35844723e-05,-1.39613559e-05,
  9.40951019e-06, 8.16778774e-06,-3.74545949e-06, 6.73438726e-06,
 -2.94280082e-04,-6.95422191e-05,-1.53720228e-04,-1.50478130e-05,
 -1.94571097e-06,-6.35716887e-07,-1.21646229e+00,-4.59001554e-04,
 -6.05011627e-06,-5.48807820e-04]


--- Step 438 ---
qpos:
[ 0.01204645,-0.00118781, 0.00242944, 0.04199009, 0.0045807 ,-0.0023428 ,
 -0.0182096 , 0.02848221, 0.01319646, 0.00446444,-0.01025978, 0.02640329,
  0.83046344,-0.00154044, 0.64776145, 0.06577033, 0.09374109,-0.06996438,
  0.13098931, 0.50467772, 0.49489283, 0.4960553 , 0.5042922 ]

qacc:
[  0.62742026,  1.35535973, -8.02304672, 22.18883732, -0.5849432 ,
   1.71015804, -7.80748545, 17.21804554,  0.91134053, -1.10663395,
   9.03203219,-26.84086902, -0.69346225,  0.27268703, -4.37648094,
   9.91322617, -1.08813199, -1.98306923,  0.18085608,-16.90347009,
   1.25366036, 28.34436274]

qfrc_actuator:
[-2.52131524e-05, 2.72853234e-05, 1.11419856e-04, 6.17141646e-05,
 -5.83917519e-06,-2.46591723e-04,-2.46203618e-04,-2.97237915e-05,
  2.14951645e-05, 5.68762452e-05,-1.18179588e-04, 7.84455646e-05,
  4.73559359e-02,-8.67306891e-04, 2.89753709e-02,-4.21813507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033497813558011624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65715745e-13,  1.24286809e-13,  1.00000000e+00, -2.05962811e-26,
        1.00000000e+00, -1.24286809e-13, -1.00000000e+00,  0.00000000e+00,
        1.65715745e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100838 , -0.03409616,  0.06199043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65935458e-06, 3.93984021e-05, 2.46695143e-05, 4.59071154e-05,
 -3.38068404e-06, 4.39089836e-05, 8.64468400e-06, 3.04244415e-05,
  5.42133144e-06, 3.74168242e-05,-3.42771877e-06,-5.09698713e-05,
 -3.03360262e-04,-8.47066720e-05,-2.19590818e-04,-1.59449750e-05,
 -2.25432439e-06,-3.73882968e-07,-1.21645611e+00,-4.59871967e-04,
 -1.07765488e-07,-5.48024870e-04]


--- Step 439 ---
qpos:
[ 0.01204643,-0.00118832, 0.0024304 , 0.04198988, 0.0045809 ,-0.00234222,
 -0.01820961, 0.02848304, 0.01319655, 0.00446522,-0.01026013, 0.02640418,
  0.83148597,-0.00153881, 0.64868819, 0.06576351, 0.09377316,-0.06996408,
  0.13099122, 0.50456068, 0.49499475, 0.49617965, 0.50418693]

qacc:
[ 3.50340612e+00, 4.08232604e-01,-1.35192773e-02,-2.87531355e+00,
  2.78553018e+00, 1.71965392e+00,-1.08417898e+01, 2.92025526e+01,
 -2.50146732e+00,-2.12665933e+00, 9.44173412e+00,-1.93890025e+01,
 -1.32668406e+00, 2.21978268e+00,-4.91923532e+00, 1.19039161e+01,
 -1.05983712e+00,-1.93480369e+00,-6.13003508e-02,-1.64502973e+01,
  1.26833536e+00, 2.76422016e+01]

qfrc_actuator:
[-4.74055005e-06, 4.82336202e-05, 1.06362148e-04, 5.27641330e-05,
  1.05605526e-05,-2.76402392e-04,-2.48899221e-04, 2.21199483e-05,
  6.61718220e-06, 5.22168095e-06,-1.20771878e-04, 4.76919980e-05,
  4.72511163e-02,-8.63758144e-04, 2.88622702e-02,-4.19402161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003456597146342111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20446097e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20446097e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008112, -0.03410148,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05894340e-05, 5.00667285e-05, 7.70630961e-06,-5.51518406e-06,
  1.63170063e-05,-2.19140473e-06, 8.48572029e-06, 5.46161336e-05,
 -1.47055628e-05,-3.36551856e-05, 2.94196033e-06,-3.02651599e-05,
 -3.21821484e-04,-6.15660148e-05,-2.17763434e-04,-5.54243362e-06,
 -2.37782764e-06, 3.24385907e-08,-1.21645151e+00,-4.60883377e-04,
  4.67968679e-06,-5.47527492e-04]


--- Step 440 ---
qpos:
[ 0.01204666,-0.00118856, 0.00243109, 0.04198926, 0.0045813 ,-0.00234176,
 -0.01820953, 0.02848345, 0.01319647, 0.00446521,-0.01025998, 0.02640509,
  0.83250658,-0.00153682, 0.64961299, 0.06575719, 0.09380109,-0.06997137,
  0.13099208, 0.50443098, 0.49510599, 0.49626228, 0.50412617]

qacc:
[  2.14632153,  0.22372341,  1.48249224, -8.49904344,  1.71366176,
  -1.27250255,  6.06202667,-13.31958898, -1.541391  , -2.43186373,
   7.08804175, -7.04442055, -1.58988807,  3.11358236, -4.33610304,
  11.14659768, -1.0359837 , -1.89456849, -0.2652928 ,-16.07089005,
   1.28209511, 27.05735243]

qfrc_actuator:
[ 7.31201857e-06, 4.30044090e-05, 8.52336159e-05, 2.98163761e-05,
  2.01293416e-05,-2.94461136e-04,-2.50583703e-04,-1.00375370e-06,
 -2.17581838e-06,-6.14183747e-05,-1.04559584e-04, 4.69770004e-05,
  4.71621681e-02,-8.44602353e-04, 2.87984642e-02,-4.15931823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73171059, -3.20941157,  3.47688978, -3.20941157, 17.39321103,
       11.68744729,  3.47688978, 11.68744729, 15.52003894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003515076522282723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57923024e-13, -1.18442268e-13,  1.00000000e+00,  1.87047610e-26,
        1.00000000e+00,  1.18442268e-13, -1.00000000e+00,  0.00000000e+00,
        1.57923024e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007964, -0.03410436,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26563816e-05, 2.41388374e-05,-1.00340211e-05,-2.06449213e-05,
  1.00308269e-05,-1.52080339e-05, 7.88734483e-07,-2.18648950e-05,
 -9.21913133e-06,-8.61804019e-05, 8.56928400e-06,-2.64678400e-06,
 -3.13827103e-04,-4.67241727e-05,-1.66688207e-04, 5.81815236e-06,
 -2.33106036e-06, 5.70087915e-07,-1.21644835e+00,-4.62029756e-04,
  8.42424123e-06,-5.47305485e-04]


--- Step 441 ---
qpos:
[ 0.01204702,-0.00118873, 0.00243191, 0.04198803, 0.0045818 ,-0.00234128,
 -0.01820951, 0.02848358, 0.01319628, 0.00446544,-0.01026002, 0.0264052 ,
  0.83352534,-0.00153459, 0.65053566, 0.06575361, 0.09382495,-0.0699861 ,
  0.13099118, 0.50428877, 0.49522639, 0.496304  , 0.50410911]

qacc:
[  1.2597066 , -1.55809705,  8.25467407,-19.13380769,  0.97632473,
  -0.39170252,  2.62028609, -7.46192365, -0.94017208, -0.77798011,
   6.59208901,-20.18309858, -1.35047388,  2.4275959 ,-11.31701687,
  35.1803192 , -1.01591922, -1.86115253, -0.43695692,-15.75397132,
   1.29517267, 26.57231224]

qfrc_actuator:
[ 1.43066698e-05, 3.97979427e-05, 9.01885283e-05,-1.20524825e-06,
  2.55948440e-05,-2.87658210e-04,-2.51681261e-04,-1.47934850e-05,
 -7.31061799e-06, 5.59446834e-06,-9.51983699e-05, 1.06711924e-05,
  4.70721606e-02,-8.34118362e-04, 2.87216679e-02,-4.01200416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.7398396 , -3.36958974,  3.33345832, -3.36958974, 16.10770736,
       11.4910843 ,  3.33345832, 11.4910843 , 16.35547597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035345328722137526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.85268566e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.85268566e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007911, -0.03410527,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.36456002e-06, 7.34051780e-06, 7.98623503e-06,-3.07367008e-05,
  5.74718881e-06,-2.49070550e-06,-4.90593060e-06,-1.48422725e-05,
 -5.42675269e-06, 2.04701556e-05,-7.47991879e-06,-3.97559819e-05,
 -3.06394193e-04,-5.23122994e-05,-1.57558066e-04, 1.25017678e-04,
 -2.12529576e-06, 1.22969879e-06,-1.21644652e+00,-4.63307001e-04,
  1.12135157e-05,-5.47350724e-04]


--- Step 442 ---
qpos:
[ 0.01204713,-0.00118883, 0.00243249, 0.0419868 , 0.00458237,-0.00234073,
 -0.01820932, 0.0284842 , 0.01319603, 0.00446616,-0.01026041, 0.02640486,
  0.8345425 ,-0.00153317, 0.6514562 , 0.06575116, 0.09384482,-0.07000817,
  0.13098796, 0.50413421, 0.4953558 , 0.49630548, 0.5041351 ]

qacc:
[ -2.32763767,  0.8284938 , -2.82405728,  3.28433657,  0.54401547,
   0.63331152, -4.21840439, 12.51182393, -0.5508077 ,  0.71109303,
   0.32172361, -7.99810295, -0.16451049, -1.44716683, -6.5665217 ,
  18.38158235, -0.99908744, -1.8335255 , -0.58124986,-15.49014236,
   1.30768984, 26.17239262]

qfrc_actuator:
[ 5.18347888e-07, 3.79102334e-05, 7.50004065e-05,-1.20250580e-06,
  2.86036980e-05,-2.66020469e-04,-2.34553488e-04, 1.25581895e-05,
 -1.02519862e-05, 4.55620876e-05,-1.07207322e-04,-1.06822073e-05,
  4.69815805e-02,-8.82114975e-04, 2.86105341e-02,-3.95932593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73491548, -3.47425392,  3.21698373, -3.47425392, 15.16335203,
       11.26242457,  3.21698373, 11.26242457, 16.89802417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003522767372627772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.87891242e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.87891242e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11007935, -0.0341046 ,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35753285e-05, 2.55091696e-06,-1.37572118e-05,-3.82070252e-09,
  3.17273120e-06, 1.85798252e-05, 1.54891687e-05, 2.67847073e-05,
 -3.08572686e-06, 4.81551103e-05,-1.00800184e-05,-2.15091966e-05,
 -3.02807209e-04,-1.10233759e-04,-1.74242182e-04, 3.82378158e-05,
 -1.76895356e-06, 2.00492619e-06,-1.21644594e+00,-4.64712580e-04,
  1.31158854e-05,-5.47656798e-04]


--- Step 443 ---
qpos:
[ 0.01204706,-0.00118878, 0.00243225, 0.04198595, 0.00458263,-0.00234018,
 -0.01820889, 0.02848516, 0.01319643, 0.00446741,-0.01026109, 0.02640528,
  0.83555805,-0.00153261, 0.65237481, 0.06575027, 0.09386075,-0.07003747,
  0.13098193, 0.50396738, 0.49549412, 0.49626726, 0.50420359]

qacc:
[-1.48619328e+00, 3.24934781e+00,-1.29105974e+01, 2.07318324e+01,
 -2.73729051e+00, 5.24685407e-03,-1.39023546e+00, 6.66044650e+00,
  5.75991989e+00, 3.05509107e+00,-1.31431673e+01, 2.65454507e+01,
 -9.10749135e-02,-1.70760039e+00,-7.59407773e+00, 2.23831172e+01,
 -9.85012709e-01,-1.81080795e+00,-7.02398928e-01,-1.52715311e+01,
  1.31968644e+00, 2.58452055e+01]

qfrc_actuator:
[-7.63749647e-06, 3.67691609e-05, 3.03042380e-05, 1.70388622e-05,
  1.23913810e-05,-2.71057343e-04,-2.24458765e-04, 2.84194960e-05,
  2.36249113e-05, 8.67178602e-05,-1.14037854e-04, 3.01746344e-05,
  4.68960271e-02,-9.28757719e-04, 2.85374580e-02,-3.87415979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000348629679802287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77680081e-13,  1.59226694e-13,  1.00000000e+00, -7.60594199e-26,
        1.00000000e+00, -1.59226694e-13, -1.00000000e+00,  0.00000000e+00,
        4.77680081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008018, -0.03410268,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.54064040e-06,-2.56191626e-06,-4.58661033e-05, 1.78768208e-05,
 -1.61170757e-05, 9.67752500e-06, 1.67569683e-05, 1.77115699e-05,
  3.38091352e-05, 6.50580248e-05, 1.12759914e-06, 4.21532445e-05,
 -3.06454705e-04,-1.15259276e-04,-1.52850686e-04, 6.38878130e-05,
 -1.26815068e-06, 2.89187141e-06,-1.21644655e+00,-4.66245223e-04,
  1.41844436e-05,-5.48218716e-04]


--- Step 444 ---
qpos:
[ 0.0120469 ,-0.0011887 , 0.0024315 , 0.04198533, 0.00458304,-0.00233966,
 -0.01820889, 0.02848704, 0.0131969 , 0.00446954,-0.01026228, 0.02640582,
  0.83657154,-0.00153103, 0.65329196, 0.06574997, 0.09387279,-0.07007395,
  0.13097268, 0.50378836, 0.49564124, 0.49618979, 0.50431413]

qacc:
[ -0.8718702 ,  1.94509092, -7.81569992, 12.45679538,  1.29195055,
   3.0381775 ,-14.81279259, 31.5298519 ,  0.47580493,  2.85387449,
  -8.9637278 , 11.095626  , -2.38023527,  5.65875313, -3.80889587,
  10.4727895 , -0.97328751, -1.79224755, -0.80401855,-15.09151916,
   1.33114322, 25.58026352]

qfrc_actuator:
[-1.24061835e-05, 3.59720840e-05, 4.06355993e-06, 2.80906190e-05,
  2.05017415e-05,-2.92053912e-04,-2.54224941e-04, 7.28635888e-05,
  2.56421256e-05, 1.46097413e-04,-1.35452322e-04, 3.63032815e-05,
  4.68082225e-02,-8.67682605e-04, 2.84819498e-02,-3.84139846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034305472653774205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.09071366e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.09071366e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008149, -0.0340998 ,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01121477e-06,-1.09380693e-05,-3.17958707e-05, 9.70570416e-06,
  7.65260781e-06,-1.13976141e-05,-2.51033040e-05, 4.57796612e-05,
  3.00203762e-06, 9.77745058e-05,-6.38708573e-06, 9.77248856e-06,
 -3.11859622e-04,-9.00294596e-06,-1.23587290e-04, 1.54295840e-05,
 -6.27130322e-07, 3.88865220e-06,-1.21644829e+00,-4.67904654e-04,
  1.44600829e-05,-5.49032653e-04]


--- Step 445 ---
qpos:
[ 0.01204669,-0.00118874, 0.00243073, 0.04198518, 0.00458354,-0.00233908,
 -0.01820923, 0.02848873, 0.01319704, 0.00447172,-0.0102631 , 0.02640613,
  0.83758307,-0.00152843, 0.65420785, 0.06574704, 0.09388097,-0.07011754,
  0.13095988, 0.50359719, 0.49579708, 0.4960734 , 0.50446636]

qacc:
[ -0.48974269,  0.85892583, -5.25796264, 13.44759253,  0.81018357,
   0.66200052, -1.4546192 , -1.30223908, -2.83475936, -1.47249422,
   6.34238855,-11.02287577, -2.42589716,  5.83156031,  6.22138882,
 -24.15855069, -0.96356244, -1.77719996, -0.88920379,-14.94452632,
   1.34199959, 25.36866499]

qfrc_actuator:
[-1.51448365e-05, 3.54457423e-05, 6.68425557e-06, 5.25902372e-05,
  2.51163807e-05,-2.87084348e-04,-2.71832619e-04, 6.27183642e-05,
  8.87980638e-06, 1.09334998e-04,-1.29756072e-04, 2.19448316e-05,
  4.67191650e-02,-8.14525816e-04, 2.84050551e-02,-3.98174711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033600194657915083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95632407e-13,  2.47816204e-13,  1.00000000e+00, -1.22825742e-25,
        1.00000000e+00, -2.47816204e-13, -1.00000000e+00,  0.00000000e+00,
        4.95632407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008315, -0.03409617,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88351883e-06,-1.27888889e-05,-3.20926543e-06, 2.31229545e-05,
  4.82804743e-06,-4.64763103e-06,-2.14807979e-05,-1.06170307e-05,
 -1.66374231e-05, 1.69512865e-05, 2.54325155e-05,-1.02025167e-05,
 -2.96563967e-04,-5.03618649e-06,-1.39109913e-04,-1.57118970e-04,
  1.51401642e-07, 4.99508059e-06,-1.21645112e+00,-4.69691355e-04,
  1.39739111e-05,-5.50095746e-04]


--- Step 446 ---
qpos:
[ 0.01204644,-0.00118891, 0.00243029, 0.04198495, 0.00458374,-0.00233863,
 -0.01820917, 0.02849025, 0.01319767, 0.0044736 ,-0.01026365, 0.02640701,
  0.83859291,-0.0015258 , 0.6551223 , 0.06574042, 0.09388608,-0.07015592,
  0.130953  , 0.50343404, 0.49592762, 0.49596545, 0.50460701]

qacc:
[ -0.26147841, -1.2677391 ,  4.58227226, -6.30831712, -2.55703785,
  -1.60857603,  6.19877287, -9.58670781,  4.31169981,  0.04245738,
  -3.1499911 , 12.8533065 , -1.2279001 ,  1.99466107,  9.02032818,
 -34.56722985, -0.76620054,  1.30195355,  1.47942989, -8.32359388,
  -1.3071257 ,-18.34879749]

qfrc_actuator:
[-1.66679338e-05, 3.52171089e-05, 2.63297471e-05, 4.93196984e-05,
  9.87641273e-06,-2.84366209e-04,-2.46544675e-04, 5.60691213e-05,
  3.44656568e-05, 6.86200384e-05,-1.26242658e-04, 4.88516008e-05,
  4.66294214e-02,-8.19794210e-04, 2.83260133e-02,-4.16971959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003304080396837189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04023612e-13,  2.62512298e-13,  1.00000000e+00, -1.32312397e-25,
        1.00000000e+00, -2.62512298e-13, -1.00000000e+00,  0.00000000e+00,
        5.04023612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214508, -0.09005129,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60948353e-06,-7.04206081e-06, 1.74187572e-05,-3.47706541e-06,
 -1.51025680e-05,-4.79165538e-06, 2.13078675e-05,-7.80280732e-06,
  2.51246141e-05,-2.64950732e-05, 9.77860062e-06, 2.83116178e-05,
 -2.86650540e-04,-5.99926908e-05,-1.67587141e-04,-2.16352604e-04,
  1.06601170e-06, 6.21242157e-06,-1.21645503e+00,-4.71606363e-04,
  1.27491582e-05,-5.51405917e-04]


--- Step 447 ---
qpos:
[ 0.01204652,-0.00118903, 0.00242979, 0.04198399, 0.00458411,-0.0023384 ,
 -0.01820933, 0.02849209, 0.01319894, 0.00447548,-0.01026421, 0.02640784,
  0.83960112,-0.00152351, 0.65603467, 0.06573486, 0.09388831,-0.07018926,
  0.1309507 , 0.5032982 , 0.49603322, 0.49586559, 0.50473685]

qacc:
[  2.8836142 , -1.24137695,  7.56335496,-19.99513907,  1.40750259,
   0.93342141, -5.05754017, 10.90261786,  5.68819717, -0.07748923,
   0.45461217, -1.24602606, -0.67528884,  0.28773729, -6.23633089,
  17.40377552, -0.72272358,  1.2575611 ,  1.14604797, -8.32193274,
  -1.13408031,-17.7984762 ]

qfrc_actuator:
[ 2.88593409e-07, 3.52265844e-05, 2.03362168e-05, 1.19886223e-05,
  1.85786236e-05,-3.18346617e-04,-2.67138817e-04, 6.93201561e-05,
  6.70253044e-05, 7.91218049e-05,-1.24070507e-04, 4.65490981e-05,
  4.65393117e-02,-8.41773865e-04, 2.82617240e-02,-4.10011930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.71932498, -0.17638807, -4.71602752, -0.17638807, 35.70521691,
       -1.15892914, -4.71602752, -1.15892914,  4.76267106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003485104505330239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24438412e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24438412e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214622, -0.09004646,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69087526e-05,-4.67443126e-07,-5.41522568e-06,-3.70958033e-05,
  8.26922568e-06,-3.26187830e-05,-1.92378670e-05, 1.36271869e-05,
  3.32682288e-05,-1.13421025e-06,-1.13459417e-06,-2.55444758e-06,
 -2.91019069e-04,-8.15408560e-05,-1.71063892e-04, 3.45959973e-05,
  1.09495297e-06, 4.61770279e-06,-1.21645151e+00,-4.70247132e-04,
  1.13052665e-05,-5.52529303e-04]


--- Step 448 ---
qpos:
[ 0.01204646,-0.00118905, 0.00242946, 0.04198258, 0.00458492,-0.00233825,
 -0.01821025, 0.02849271, 0.01320025, 0.00447745,-0.01026474, 0.02640758,
  0.84060752,-0.00152111, 0.65694519, 0.06573041, 0.09388778,-0.07021773,
  0.13095185, 0.50318906, 0.49611426, 0.49577351, 0.50485646]

qacc:
[ -1.24828142, -1.29818504,  6.77427697,-15.12920346,  3.88745888,
  -0.46716427,  6.62787997,-26.35508522,  0.31232369, -2.2305321 ,
  12.69145252,-31.58808476, -1.24524084,  2.03881528, -6.01494102,
  17.2201357 , -0.6875149 ,  1.22036652,  0.86493395, -8.30704217,
  -0.99552603,-17.33481138]

qfrc_actuator:
[-7.51961871e-06, 5.30030084e-05, 3.47340679e-05,-9.59472506e-06,
  4.13092161e-05,-3.38695139e-04,-3.14810868e-04, 5.34147911e-06,
  6.79105605e-05, 8.46726479e-05,-1.22532874e-04,-8.39321678e-06,
  4.64437130e-02,-8.37928612e-04, 2.81904175e-02,-4.03901634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.76906511, -0.12636121, -4.76739078, -0.12636121, 43.40624655,
       -1.0240908 , -4.76739078, -1.0240908 ,  4.79620896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003603125700504667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.70319382e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.70319382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214743, -0.09004339,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32449310e-06, 1.48251939e-05, 1.23595125e-05,-2.25100179e-05,
  2.29552847e-05,-4.19862732e-05,-5.63131165e-05,-6.57816288e-05,
  1.83575541e-06, 4.52506826e-06, 1.05794401e-06,-5.50858158e-05,
 -3.03103962e-04,-5.94073543e-05,-1.50230740e-04, 3.99931878e-05,
  1.08444296e-06, 3.27743610e-06,-1.21644859e+00,-4.69059230e-04,
  1.01894225e-05,-5.53495781e-04]


--- Step 449 ---
qpos:
[ 0.01204596,-0.00118895, 0.00242926, 0.04198126, 0.00458566,-0.0023384 ,
 -0.01821143, 0.02849254, 0.01320122, 0.00447944,-0.01026582, 0.02640707,
  0.84161199,-0.00151801, 0.65785377, 0.06572639, 0.09388462,-0.07024144,
  0.13095553, 0.50310611, 0.49617103, 0.49568896, 0.50496634]

qacc:
[-3.84620422e+00, 7.82725564e-03,-1.85943738e-01, 1.54889093e+00,
 -6.92684146e-01,-1.28008741e+00, 7.30342971e+00,-2.01834608e+01,
 -3.04475702e+00, 1.02637583e+00,-2.48667900e+00,-1.22323589e+00,
 -1.95961098e+00, 4.31895446e+00,-4.05844667e+00, 1.02548257e+01,
 -6.59050956e-01, 1.18927587e+00, 6.28241711e-01,-8.28465350e+00,
 -8.84131370e-01,-1.69448583e+01]

qfrc_actuator:
[-2.98471264e-05, 6.36179441e-05, 4.34026346e-05,-3.94809228e-06,
  3.66019051e-05,-3.50915131e-04,-3.24830452e-04,-3.25643349e-05,
  5.01434656e-05, 6.94155698e-05,-1.56927247e-04,-2.28529934e-05,
  4.63502208e-02,-8.01139613e-04, 2.80936508e-02,-4.01899356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79835186,  0.11188832,  4.79704717,  0.11188832, 11.96111819,
       -0.16706734,  4.79704717, -0.16706734,  4.8022486 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003669832135256429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.51263462e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.51263462e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214872, -0.09004176,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25295870e-05, 2.04993187e-05, 1.24818893e-05, 6.27550112e-06,
 -4.06218777e-06,-5.01372929e-05,-2.78980677e-05,-4.29344724e-05,
 -1.77054727e-05,-1.49283304e-05,-3.52503259e-05,-1.53037680e-05,
 -3.04645167e-04,-2.61667424e-05,-1.66724907e-04, 1.61356137e-06,
  1.02643759e-06, 2.17044580e-06,-1.21644621e+00,-4.68001462e-04,
  9.38864435e-06,-5.54313847e-04]


--- Step 450 ---
qpos:
[ 0.01204554,-0.00118883, 0.0024289 , 0.04198074, 0.00458599,-0.00233907,
 -0.01821242, 0.02849262, 0.01320231, 0.00448107,-0.01026689, 0.02640674,
  0.84261462,-0.00151449, 0.65876013, 0.06572656, 0.09387891,-0.0702605 ,
  0.13096091, 0.50304891, 0.49620381, 0.49561176, 0.50506688]

qacc:
[  0.70987107,  2.10621574,-10.86370051, 24.97930198, -3.54948041,
  -0.74196314,  0.64161482,  3.5317426 ,  1.10509912, -0.082828  ,
  -1.17768031,  4.68856709, -1.49328409,  2.97446198,-15.89251604,
  51.00144636, -0.63610078,  1.163369  ,  0.42934117, -8.25897063,
  -0.79410109,-16.61780997]

qfrc_actuator:
[-2.50285080e-05, 5.21188061e-05, 3.08537967e-05, 3.54146949e-05,
  1.57782087e-05,-3.75769481e-04,-3.12467277e-04,-1.92704967e-05,
  5.70555667e-05, 4.16961106e-05,-1.59054219e-04,-1.34112328e-05,
  4.62633955e-02,-7.80718944e-04, 2.80242901e-02,-3.79259385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.80965715e+00,  8.81299526e-04,  4.80965707e+00,  8.81299526e-04,
        1.58995557e+01, -2.03206219e-03,  4.80965707e+00, -2.03206219e-03,
        4.80965752e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00036950646784109087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215008, -0.09004128,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18420220e-06, 2.80661344e-06,-6.55456428e-06, 4.07992337e-05,
 -2.09541479e-05,-6.04755207e-05,-2.89896827e-06, 9.34779100e-06,
  6.41102210e-06,-4.40661936e-05,-1.00898509e-05, 7.28452146e-06,
 -2.92845839e-04,-3.87054540e-05,-1.50629707e-04, 2.03860213e-04,
  9.15423140e-07, 1.27976286e-06,-1.21644435e+00,-4.67042873e-04,
  8.89138614e-06,-5.54990306e-04]


--- Step 451 ---
qpos:
[ 0.01204518,-0.00118859, 0.00242837, 0.04198069, 0.00458606,-0.00234015,
 -0.01821275, 0.02849315, 0.01320348, 0.0044823 ,-0.0102682 , 0.0264062 ,
  0.84361548,-0.00151069, 0.65966434, 0.06572913, 0.09387074,-0.07027499,
  0.13096735, 0.5030171 , 0.49621282, 0.49554173, 0.50515842]

qacc:
[  0.52623112,  1.60413265, -7.45622514, 15.69062758, -2.18394059,
  -1.4168916 ,  2.33220377,  4.83912887,  0.65368586, -0.29385869,
   1.12737636, -3.99424544, -1.35882737,  2.49319184,-10.31001597,
  31.62812591, -0.61766713,  1.1418681 ,  0.26259531, -8.23301152,
  -0.72084983,-16.34457725]

qfrc_actuator:
[-2.20188986e-05, 6.29140149e-05, 2.35598242e-05, 5.87577833e-05,
  3.39683368e-06,-3.72344097e-04,-2.69265761e-04, 6.28553968e-06,
  6.06912790e-05, 6.86866701e-06,-1.77653638e-04,-2.54791917e-05,
  4.61699780e-02,-7.70136719e-04, 2.79128847e-02,-3.67709910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.8060707 , -0.15028386,  4.80372047, -0.15028386, 22.8703428 ,
        0.56513873,  4.80372047,  0.56513873,  4.823751  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003687090425018025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52777188e-14,  1.50555438e-13,  1.00000000e+00, -1.13334699e-26,
        1.00000000e+00, -1.50555438e-13, -1.00000000e+00,  0.00000000e+00,
        7.52777188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215151, -0.09004172,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12827849e-06, 1.27624625e-05,-6.10571094e-06, 2.40323021e-05,
 -1.30004376e-05,-3.05621412e-05, 3.06965436e-05, 2.30503660e-05,
  3.80661028e-06,-6.12818216e-05,-2.86975962e-05,-1.41643113e-05,
 -2.93556160e-04,-4.80800617e-05,-1.62468562e-04, 1.06356613e-04,
  7.47632320e-07, 5.91809306e-07,-1.21644297e+00,-4.66160096e-04,
  8.68768425e-06,-5.55530606e-04]


--- Step 452 ---
qpos:
[ 0.01204521,-0.00118837, 0.00242785, 0.04198023, 0.00458564,-0.0023414 ,
 -0.01821264, 0.02849362, 0.01320433, 0.00448333,-0.01026958, 0.02640583,
  0.84461466,-0.00150735, 0.66056668, 0.06573008, 0.09386015,-0.07028498,
  0.13097429, 0.50301037, 0.49619826, 0.49547873, 0.50524121]

qacc:
[  3.37420298, -0.89248776,  4.85180367,-11.86788143, -4.3156921 ,
  -1.58977942,  5.64891917, -7.3689985 , -2.73110434,  0.25104629,
  -1.9690991 ,  5.06946989, -0.65137295,  0.08402685,  2.1446742 ,
 -11.50521461, -0.60294022,  1.12411341,  0.12319019, -8.20888381,
  -0.66074629,-16.11747187]

qfrc_actuator:
[-2.35398687e-06, 5.14735454e-05, 1.95023355e-05, 3.70005476e-05,
 -2.16634662e-05,-3.69605020e-04,-2.43599599e-04, 3.37893861e-06,
  4.46090942e-05, 2.12320592e-05,-1.70390938e-04,-1.46297651e-05,
  4.60726676e-02,-8.00973769e-04, 2.77976281e-02,-3.77003766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79080729, -0.35501157,  4.77763553, -0.35501157, 38.14403829,
        2.47837716,  4.77763553,  2.47837716,  4.97496796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036528352714874923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.59836498e-14, -1.51967300e-13,  1.00000000e+00,  1.15470301e-26,
        1.00000000e+00,  1.51967300e-13, -1.00000000e+00,  0.00000000e+00,
        7.59836498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215299, -0.09004289,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97574143e-05,-4.53523698e-06,-1.33794373e-06,-2.09532075e-05,
 -2.54439824e-05,-6.98521951e-06, 2.39482986e-05,-2.70308245e-06,
 -1.59912296e-05,-2.64634784e-05,-9.41745048e-06, 6.95606599e-06,
 -2.99867524e-04,-9.07793839e-05,-1.82459870e-04,-1.09004672e-04,
  5.20488556e-07, 9.57476928e-08,-1.21644204e+00,-4.65335397e-04,
  8.76918219e-06,-5.55939106e-04]


--- Step 453 ---
qpos:
[ 0.01204513,-0.00118852, 0.002428  , 0.04197951, 0.00458527,-0.00234259,
 -0.01821254, 0.02849372, 0.01320464, 0.00448398,-0.01027025, 0.02640556,
  0.84561228,-0.00150498, 0.66146749, 0.06572714, 0.0938472 ,-0.07029053,
  0.13098125, 0.50302846, 0.49616029, 0.49542264, 0.50531548]

qacc:
[-9.32518807e-01,-2.91263224e+00, 1.07671663e+01,-1.60404451e+01,
  4.15366219e-01,-6.51295311e-01, 4.01153191e+00,-1.05497151e+01,
 -4.76060903e+00,-2.23408329e+00, 6.83815836e+00,-5.94732196e+00,
 -1.34075690e-01,-1.66318190e+00, 9.45554562e+00,-3.63946574e+01,
 -5.91261085e-01, 1.10954400e+00, 7.00270087e-03,-8.18800522e+00,
 -6.10912325e-01,-1.59299637e+01]

qfrc_actuator:
[-8.54865027e-06, 2.67785817e-05, 5.27763569e-05, 2.43732094e-05,
 -1.84829597e-05,-3.67369255e-04,-2.46268795e-04,-1.62674425e-05,
  1.70513432e-05, 1.18065511e-05,-1.29941853e-04,-8.07137007e-06,
  4.59837260e-02,-8.56045076e-04, 2.77227204e-02,-3.96722396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035980825612756673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71399076e-14,  1.54279815e-13,  1.00000000e+00, -1.19011307e-26,
        1.00000000e+00, -1.54279815e-13, -1.00000000e+00,  0.00000000e+00,
        7.71399076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215451, -0.09004462,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63331282e-06,-2.83991594e-05, 3.14512157e-05,-1.32749174e-05,
  2.45146335e-06, 3.19433409e-06,-1.24232328e-06,-1.91671644e-05,
 -2.80194514e-05,-2.58944114e-05, 3.40698339e-05, 5.23627737e-06,
 -3.04159975e-04,-1.21434813e-04,-1.75191120e-04,-2.27810071e-04,
  2.32214264e-07,-2.17042300e-07,-1.21644156e+00,-4.64555237e-04,
  9.12907815e-06,-5.56219291e-04]


--- Step 454 ---
qpos:
[ 0.01204428,-0.00118888, 0.00242879, 0.04197898, 0.00458494,-0.00234374,
 -0.01821248, 0.02849358, 0.01320428, 0.00448405,-0.01027   , 0.02640504,
  0.8466082 ,-0.00150325, 0.66236619, 0.06572445, 0.09383191,-0.0702917 ,
  0.13098785, 0.50307117, 0.49609904, 0.49537337, 0.50538141]

qacc:
[ -6.68538178, -1.65518681,  4.74843748, -2.46997232,  0.3555097 ,
  -0.33583524,  2.26021342, -6.28190318, -5.92367548, -3.87219409,
  13.77651722,-19.23562866, -0.43007484, -0.67215428, -3.89720173,
   9.09476115, -0.58209256,  1.0976824 , -0.08950446, -8.17127781,
  -0.56906493,-15.77649077]

qfrc_actuator:
[-4.76720902e-05, 2.99950832e-05, 9.00244680e-05, 3.49905594e-05,
 -1.64547719e-05,-3.65579994e-04,-2.47894454e-04,-2.78654707e-05,
 -1.70338255e-05,-2.93917493e-05,-8.80707580e-05,-2.18421473e-05,
  4.58945317e-02,-8.89450569e-04, 2.76507542e-02,-3.94000866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035276432468991925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.57360445e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.57360445e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215605, -0.09004679,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92938776e-05,-6.73315183e-06, 3.47980676e-05, 1.02322900e-05,
  2.10007534e-06, 2.54046522e-06,-1.76947988e-06,-1.18749863e-05,
 -3.48905407e-05,-4.84406419e-05, 4.09021731e-05,-1.35978384e-05,
 -3.13146586e-04,-1.04450246e-04,-1.83018209e-04,-9.29694359e-06,
 -1.18443160e-07,-3.53387729e-07,-1.21644149e+00,-4.63809193e-04,
  9.76202619e-06,-5.56373946e-04]


--- Step 455 ---
qpos:
[ 0.01204263,-0.00118915, 0.0024299 , 0.04197891, 0.00458464,-0.00234456,
 -0.01821259, 0.02849327, 0.01320385, 0.00448381,-0.01026931, 0.0264047 ,
  0.84760244,-0.00150225, 0.66326235, 0.06572573, 0.09381433,-0.07028851,
  0.13099377, 0.5031383 , 0.4960146 , 0.49533084, 0.50543913]

qacc:
[ -7.08748348,  0.17633427, -2.378722  ,  9.72441258,  0.22239139,
   0.57935919, -0.70298193, -2.17891415, -0.51833005, -1.24953466,
   3.07668763, -0.3548368 , -0.20219282, -1.29430386,-15.71713565,
  49.51456754, -0.57499607,  1.08812202, -0.16936811, -8.15922449,
  -0.53339175,-15.65230763]

qfrc_actuator:
[-8.81022769e-05, 4.99487448e-05, 1.11680286e-04, 5.92177439e-05,
 -1.51301949e-05,-3.28563418e-04,-2.48873716e-04,-3.46273137e-05,
 -1.91791091e-05,-3.60356983e-05,-6.36053953e-05,-1.19909153e-05,
  4.58105799e-02,-9.27554823e-04, 2.75593582e-02,-3.72748129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034455018942501636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05559726e-14, -1.61111945e-13,  1.00000000e+00,  1.29785294e-26,
        1.00000000e+00,  1.61111945e-13, -1.00000000e+00,  0.00000000e+00,
        8.05559726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215761, -0.09004927,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15517956e-05, 2.38087348e-05, 2.49034717e-05, 2.53439197e-05,
  1.38593121e-06, 3.76051028e-05,-1.07029760e-06,-6.94262161e-06,
 -3.15418754e-06,-2.58837456e-05, 1.90252415e-05, 8.92778411e-06,
 -3.10343014e-04,-1.08916371e-04,-1.80309074e-04, 1.87525369e-04,
 -5.32401193e-07,-3.18667486e-07,-1.21644183e+00,-4.63089163e-04,
  1.06640132e-05,-5.56405304e-04]


--- Step 456 ---
qpos:
[ 0.01204119,-0.00118902, 0.00243085, 0.04197911, 0.0045847 ,-0.00234501,
 -0.01821221, 0.02849283, 0.01320374, 0.00448369,-0.01026907, 0.02640449,
  0.84859485,-0.00150137, 0.66415679, 0.06572549, 0.09379447,-0.07028099,
  0.13099876, 0.50322974, 0.49590705, 0.49529499, 0.50548877]

qacc:
[  1.90083858,  1.54658216, -5.93214511, 10.76864108,  3.19145503,
  -1.1782796 ,  5.42430212, -8.68958921,  2.81742565,  1.6554526 ,
  -6.19000967,  8.9626237 , -1.10984536,  1.42892477,  2.10419649,
 -10.95425448, -0.56961305,  1.08051673, -0.23519507, -8.15209476,
  -0.50245292,-15.55336245]

qfrc_actuator:
[-7.57091592e-05, 7.97321485e-05, 1.06285869e-04, 7.35082447e-05,
  3.52265329e-06,-2.88481055e-04,-2.13810546e-04,-3.84601031e-05,
 -2.50594856e-06,-2.19830962e-05,-8.49670529e-05,-6.05529472e-06,
  4.57191806e-02,-9.32633127e-04, 2.74564190e-02,-3.81588581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033549420391673634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215917, -0.09005199,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12170165e-05, 4.93151500e-05, 3.46134206e-06, 1.66658396e-05,
  1.87058360e-05, 6.06244279e-05, 4.24700166e-05,-2.39066087e-06,
  1.65732338e-05, 3.88987972e-06,-2.40607330e-05, 5.65824434e-06,
 -3.16456178e-04,-7.61049430e-05,-1.67806131e-04,-1.01886095e-04,
 -1.01037213e-06,-1.17094325e-07,-1.21644257e+00,-4.62388763e-04,
  1.18322265e-05,-5.56315146e-04]


--- Step 457 ---
qpos:
[ 0.0120406 ,-0.0011885 , 0.00243121, 0.04197883, 0.00458532,-0.00234533,
 -0.01821127, 0.02849203, 0.01320384, 0.0044837 ,-0.01026909, 0.02640399,
  0.84958518,-0.00149959, 0.66504971, 0.06572277, 0.09377235,-0.07026918,
  0.13100258, 0.50334536, 0.49577643, 0.49526575, 0.50553042]

qacc:
[  7.4376323 ,  1.1456676 , -1.3012933 , -6.46515759,  4.99539558,
  -2.1297241 ,  9.35638038,-16.59159627,  1.75419067,  0.3322372 ,
   0.24706078, -4.81384296, -2.358454  ,  5.36851562,  5.35227969,
 -21.70238676, -0.56565007,  1.07457202, -0.28922144, -8.1499458 ,
  -0.47510361,-15.47619535]

qfrc_actuator:
[-3.23242008e-05, 7.95533877e-05, 6.72557109e-05, 4.63248905e-05,
  3.22254048e-05,-2.99972920e-04,-1.93224764e-04,-5.82604572e-05,
  7.34698829e-06,-1.35825736e-05,-9.76171110e-05,-2.02355075e-05,
  4.56233877e-02,-8.82696460e-04, 2.73891774e-02,-3.93892634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032586537995148157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51749751e-14,  1.70349950e-13,  1.00000000e+00, -1.45095528e-26,
        1.00000000e+00, -1.70349950e-13, -1.00000000e+00,  0.00000000e+00,
        8.51749751e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216072, -0.09005486,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37190242e-05, 2.88196365e-05,-2.78527940e-05,-2.46294988e-05,
  2.92558525e-05, 3.10984025e-05, 3.82577517e-05,-1.57789444e-05,
  1.03257425e-05, 5.85542736e-06,-1.46161994e-05,-1.47364435e-05,
 -3.18939187e-04,-1.80879419e-05,-1.60850894e-04,-1.51571368e-04,
 -1.55295065e-06, 2.48054070e-07,-1.21644371e+00,-4.61702882e-04,
  1.32649222e-05,-5.56104903e-04]


--- Step 458 ---
qpos:
[ 0.01204054,-0.00118801, 0.00243157, 0.0419779 , 0.00458629,-0.00234542,
 -0.01821062, 0.0284907 , 0.01320371, 0.00448333,-0.01026906, 0.02640337,
  0.8505736 ,-0.00149724, 0.66594052, 0.06572154, 0.09374798,-0.0702531 ,
  0.13100508, 0.50348509, 0.49562277, 0.49524309, 0.50556416]

qacc:
[ 4.61249155e+00,-1.38535914e+00, 7.61518148e+00,-1.88742629e+01,
  2.96105030e+00, 1.66892641e-02, 2.62065837e+00,-1.15052235e+01,
 -1.98979855e+00,-9.20292392e-01, 3.06493123e+00,-5.00201854e+00,
 -1.78443352e+00, 3.74811460e+00,-7.52572718e+00, 2.20223675e+01,
 -5.62866751e-01, 1.07003766e+00,-3.33363143e-01,-8.15270390e+00,
 -4.50432686e-01,-1.54178534e+01]

qfrc_actuator:
[-6.56808417e-06, 6.12510529e-05, 6.17997015e-05, 1.26675530e-05,
  4.88550712e-05,-3.06816934e-04,-2.17086456e-04,-8.73557387e-05,
 -4.65222012e-06,-6.18785196e-05,-1.05035056e-04,-2.83741245e-05,
  4.55356980e-02,-8.53981398e-04, 2.73167692e-02,-3.85040199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158826183821406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39333696e-14,  8.78667391e-14,  1.00000000e+00, -3.86028192e-27,
        1.00000000e+00, -8.78667391e-14, -1.00000000e+00,  0.00000000e+00,
        4.39333696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216225, -0.09005783,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70101248e-05,-9.00005598e-06,-3.79641541e-06,-3.38687961e-05,
  1.74741162e-05, 1.77848551e-05,-1.32781693e-05,-2.67466815e-05,
 -1.17026852e-05,-4.86672677e-05,-8.51765610e-06,-8.67948169e-06,
 -3.01417533e-04,-3.25464115e-05,-1.69187809e-04, 5.79360610e-05,
 -2.16067163e-06, 7.74245461e-07,-1.21644524e+00,-4.61027334e-04,
  1.49612998e-05,-5.55775719e-04]


--- Step 459 ---
qpos:
[ 0.01204044,-0.00118785, 0.00243193, 0.04197764, 0.00458711,-0.00234557,
 -0.01821012, 0.02848906, 0.01320309, 0.00448258,-0.01026883, 0.02640299,
  0.8515605 ,-0.00149578, 0.66682964, 0.06571963, 0.09372136,-0.07023274,
  0.13100609, 0.50364884, 0.49544607, 0.49522695, 0.50559005]

qacc:
[ -0.30301711,  0.95702478, -6.87394894, 18.79512176, -1.34148292,
  -0.28715323,  2.18951153, -7.20816698, -4.27899113, -0.51812057,
   0.12938215,  4.00883577, -0.0967897 , -1.62835721, -0.46911652,
  -2.04490971, -0.56106608,  1.06670127, -0.36925924, -8.16021042,
  -0.42771436,-15.37581848]

qfrc_actuator:
[-9.15721368e-06, 3.23433625e-05, 5.83872290e-05, 4.64971512e-05,
  4.04898349e-05,-3.28781654e-04,-2.31491546e-04,-1.03962307e-04,
 -2.94152879e-05,-7.27207460e-05,-9.17809669e-05,-1.51828706e-05,
  4.54476038e-02,-9.09051763e-04, 2.72360428e-02,-3.88645515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003057226175781774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53933959e-14,  9.07867918e-14,  1.00000000e+00, -4.12112078e-27,
        1.00000000e+00, -9.07867918e-14, -1.00000000e+00,  0.00000000e+00,
        4.53933959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216375, -0.09006084,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82401676e-06,-3.61858386e-05,-6.91972029e-06, 3.26524941e-05,
 -7.85895401e-06,-1.59037508e-05,-1.32970175e-05,-1.68233805e-05,
 -2.51131222e-05,-4.01784535e-05, 1.85752946e-06, 1.06446291e-05,
 -2.92713055e-04,-1.14947749e-04,-1.56356832e-04,-5.56538300e-05,
 -2.83404719e-06, 1.45953732e-06,-1.21644715e+00,-4.60358605e-04,
  1.69213882e-05,-5.55328513e-04]


--- Step 460 ---
qpos:
[ 0.01204032,-0.00118768, 0.00243157, 0.0419778 , 0.00458816,-0.00234582,
 -0.01821007, 0.02848726, 0.01320217, 0.00448211,-0.01026904, 0.02640307,
  0.85254574,-0.00149494, 0.66771717, 0.06571558, 0.0936925 ,-0.07020812,
  0.13100552, 0.50383658, 0.49524631, 0.49521732, 0.50560814]

qacc:
[ -0.28767903,  2.86442977,-11.98119175, 20.35298908,  2.07817841,
   0.80316896, -2.33867931,  0.29060051, -2.59267073,  2.54178279,
 -10.48443835, 19.01542948, -0.50037515, -0.44562262,  4.08806201,
 -17.72653583, -0.56008649,  1.0643829 , -0.39830955, -8.17225562,
  -0.40636977,-15.3479462 ]

qfrc_actuator:
[-1.06507713e-05, 3.28752142e-05, 2.06865072e-05, 6.64925872e-05,
  5.29891442e-05,-3.41854692e-04,-2.57992140e-04,-1.13086893e-04,
 -4.37325848e-05,-2.54464476e-05,-1.01785486e-04, 1.04908577e-05,
  4.53593016e-02,-9.42143471e-04, 2.71556901e-02,-3.99567858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002955266382940469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87838063e-13,  4.69595157e-14,  1.00000000e+00, -8.82078446e-27,
        1.00000000e+00, -4.69595157e-14, -1.00000000e+00,  0.00000000e+00,
        1.87838063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216522, -0.09006386,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56001093e-06,-1.97439832e-05,-4.49032234e-05, 1.88408241e-05,
  1.22708301e-05,-2.54330288e-05,-3.20056014e-05,-1.05904090e-05,
 -1.50475557e-05, 2.56607407e-05,-1.76994366e-05, 2.42262811e-05,
 -3.02908222e-04,-1.01754853e-04,-1.63616925e-04,-1.33723550e-04,
 -3.57358949e-06, 2.30244888e-06,-1.21644946e+00,-4.59693660e-04,
  1.91459429e-05,-5.54764021e-04]


--- Step 461 ---
qpos:
[ 0.01204052,-0.00118747, 0.00243099, 0.04197781, 0.00458901,-0.00234582,
 -0.0182108 , 0.02848534, 0.01320144, 0.00448206,-0.01026977, 0.02640346,
  0.85352915,-0.00149414, 0.66860268, 0.06571417, 0.0936641 ,-0.0701795 ,
  0.13100475, 0.50403676, 0.49503376, 0.49522402, 0.50561022]

qacc:
[  2.87362552,  0.36902552, -0.606451  , -1.63430345, -1.81308271,
   2.25302898, -7.08249521,  6.15938239,  1.5613117 ,  2.6045365 ,
  -9.7265648 , 15.33570096, -1.07191099,  1.41252949,-10.85256021,
  33.7600921 ,  0.11432828,  1.00376108, -0.04650397,  1.78693978,
   0.30533856,-14.39007455]

qfrc_actuator:
[ 6.27474044e-06, 5.08844469e-05, 1.63929886e-05, 6.04231023e-05,
  4.21717921e-05,-3.14046931e-04,-2.91394685e-04,-1.17742817e-04,
 -3.40298345e-05, 2.93868736e-06,-1.25197289e-04, 2.55812281e-05,
  4.52656147e-02,-9.44208069e-04, 2.71022430e-02,-3.84528218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002868589568676416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87027491e-13,  1.93513746e-13,  1.00000000e+00, -7.48951396e-26,
        1.00000000e+00, -1.93513746e-13, -1.00000000e+00,  0.00000000e+00,
        3.87027491e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149924, -0.08815838,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68750844e-05,-1.50199822e-06,-1.32481911e-05,-8.10205722e-06,
 -1.04744867e-05, 6.53749907e-06,-4.29589481e-05,-7.05544202e-06,
  9.28220155e-06, 4.01280216e-05,-1.94456511e-05, 1.60508805e-05,
 -3.12637779e-04,-7.10229265e-05,-1.48855412e-04, 1.20592356e-04,
 -4.37982389e-06, 3.30185603e-06,-1.21645216e+00,-4.59029788e-04,
  2.16363564e-05,-5.54082839e-04]


--- Step 462 ---
qpos:
[ 0.01204058,-0.0011875 , 0.002431  , 0.04197807, 0.00458972,-0.00234563,
 -0.018212  , 0.02848372, 0.01320083, 0.00448204,-0.01027008, 0.026404  ,
  0.85451064,-0.00149304, 0.66948644, 0.06571711, 0.09363615,-0.07014688,
  0.13100356, 0.50424934, 0.49480838, 0.49524696, 0.5055964 ]

qacc:
[ -1.23906939, -1.41366763,  3.5229245 ,  0.0955097 , -1.21082206,
   2.14346978, -8.51615095, 14.14730966,  1.08628774, -0.79145779,
   2.19674507, -0.07330609, -1.43102068,  2.58929841,-15.67508245,
  51.2549492 ,  0.11237448,  0.99785671, -0.10700667,  1.74290667,
   0.32703338,-14.3353339 ]

qfrc_actuator:
[-1.59958021e-06, 4.38237171e-05, 4.96855711e-05, 7.46188290e-05,
  3.54638111e-05,-2.97506981e-04,-3.10679608e-04,-1.01948902e-04,
 -2.80233192e-05, 1.98462546e-06,-1.03137583e-04, 3.43069455e-05,
  4.51740994e-02,-9.27987013e-04, 2.70543823e-02,-3.61403330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028098875727347594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97556485e-13,  9.87782425e-14,  1.00000000e+00, -1.95142824e-26,
        1.00000000e+00, -9.87782425e-14, -1.00000000e+00,  0.00000000e+00,
        1.97556485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149918, -0.08816012,  0.06199197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39397462e-06,-1.09799922e-05, 3.10737169e-05, 1.35153460e-05,
 -7.00244240e-06, 1.10292204e-05,-2.34572064e-05, 1.44566986e-05,
  6.28353028e-06, 1.81671960e-05, 2.85159890e-05, 1.00852694e-05,
 -3.10522677e-04,-5.09775033e-05,-1.07826798e-04, 2.17603616e-04,
 -4.64316872e-06, 4.17556747e-06,-1.21645374e+00,-4.58255286e-04,
  2.31295660e-05,-5.53375633e-04]


--- Step 463 ---
qpos:
[ 0.01204054,-0.00118779, 0.00243147, 0.04197817, 0.00459104,-0.0023457 ,
 -0.01821298, 0.0284823 , 0.01319995, 0.00448191,-0.01027003, 0.02640501,
  0.85549019,-0.00149142, 0.67036937, 0.06571743, 0.09360864,-0.07011028,
  0.13100174, 0.5044743 , 0.49457016, 0.49528607, 0.50556676]

qacc:
[ -0.81208485, -2.01432695,  7.37303541,-10.80763923,  5.30566409,
  -0.49587799,  0.39045975,  3.10495417, -2.34476361, -0.17922747,
  -1.57482877,  9.23125905, -1.91710581,  3.96453701,  6.79300693,
 -25.33773414,  0.11045243,  0.99348472, -0.15713243,  1.70320842,
   0.34771537,-14.29657469]

qfrc_actuator:
[-6.26087310e-06, 2.19866976e-05, 6.93113122e-05, 6.51264231e-05,
  6.67406942e-05,-3.23270043e-04,-3.03739685e-04,-9.19965448e-05,
 -4.20011291e-05,-1.63544533e-05,-9.00290135e-05, 5.69803270e-05,
  4.50786341e-02,-9.01124443e-04, 2.69832933e-02,-3.76312164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027447054263189663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52810150e-13,  1.01124060e-13,  1.00000000e+00, -2.55651888e-26,
        1.00000000e+00, -1.01124060e-13, -1.00000000e+00,  0.00000000e+00,
        2.52810150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149909, -0.08816201,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87726884e-06,-2.09819467e-05, 2.16523073e-05,-8.62485281e-06,
  3.10813416e-05,-2.38125451e-05, 6.84458076e-06, 9.90092440e-06,
 -1.37947767e-05,-1.85411857e-06, 2.07242727e-05, 2.46340125e-05,
 -3.08782056e-04,-3.76361677e-05,-1.03123372e-04,-1.52459580e-04,
 -4.89874897e-06, 5.12636218e-06,-1.21645560e+00,-4.57487132e-04,
  2.45377297e-05,-5.52582406e-04]


--- Step 464 ---
qpos:
[ 0.01204044,-0.00118826, 0.00243222, 0.04197747, 0.00459238,-0.00234593,
 -0.01821361, 0.028481  , 0.01319891, 0.00448167,-0.01026977, 0.02640595,
  0.85646781,-0.00148915, 0.67125065, 0.06571504, 0.09358156,-0.07006972,
  0.13099913, 0.50471161, 0.49431906, 0.49534129, 0.50552138]

qacc:
[ -0.47785772, -2.66756743, 12.54381206,-26.72610518,  0.18532738,
  -0.98454297,  2.74132328, -1.30329798, -1.40502012, -0.88691572,
   3.29307385, -4.86447154, -2.00127872,  4.29157589,  5.82144839,
 -23.67069688,  0.1085679 ,  0.99041145, -0.19853843,  1.66707047,
   0.36762892,-14.27188567]

qfrc_actuator:
[-8.98587148e-06, 9.16151692e-06, 8.06131527e-05, 2.39864209e-05,
  6.68648416e-05,-3.20801029e-04,-2.81556584e-04,-8.55848174e-05,
 -4.98756928e-05,-2.72287310e-05,-8.23943333e-05, 5.21442039e-05,
  4.49861963e-02,-8.68221101e-04, 2.68822705e-02,-3.90438231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002675028510851357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11274166e-13,  1.03758055e-13,  1.00000000e+00, -3.22972021e-26,
        1.00000000e+00, -1.03758055e-13, -1.00000000e+00,  0.00000000e+00,
        3.11274166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149898, -0.08816398,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87116956e-06,-2.04521857e-05, 9.33398246e-06,-4.14580625e-05,
  1.00170212e-06,-8.98089186e-06, 1.84644832e-05, 5.82498042e-06,
 -8.26920036e-06,-6.57994170e-06, 1.06551856e-05,-3.72073204e-06,
 -3.02501142e-04,-2.94314828e-05,-1.74253723e-04,-1.65156875e-04,
 -5.14730722e-06, 6.15420424e-06,-1.21645773e+00,-4.56722984e-04,
  2.58645092e-05,-5.51702926e-04]


--- Step 465 ---
qpos:
[ 0.01204032,-0.0011889 , 0.00243309, 0.04197663, 0.00459301,-0.00234628,
 -0.01821368, 0.02847976, 0.01319779, 0.0044816 ,-0.01026922, 0.02640644,
  0.85744356,-0.00148619, 0.67212992, 0.06571095, 0.09355491,-0.07002521,
  0.13099559, 0.50496128, 0.49405502, 0.49541259, 0.5054603 ]

qacc:
[ -0.27444754, -0.81071746,  3.13434   , -5.49399541, -6.10294924,
  -1.55228832,  5.01760364, -4.62821727, -0.75689902, -1.49778291,
   7.56880968,-15.94108547, -1.97094857,  4.30522226,  2.26762383,
 -12.03830706,  0.10672374,  0.98844128, -0.2326406 ,  1.63386842,
   0.38696241,-14.2596108 ]

qfrc_actuator:
[-1.05501873e-05, 1.76656109e-06, 8.69272008e-05, 1.78180259e-05,
  3.08876163e-05,-3.19133095e-04,-2.50457502e-04,-8.12807023e-05,
 -5.40884789e-05, 1.90612821e-06,-6.02955412e-05, 3.11592819e-05,
  4.49009691e-02,-8.32018671e-04, 2.67900194e-02,-3.98656312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002602476046528329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19981979e-13, -2.13301296e-13,  1.00000000e+00,  2.55923115e-26,
        1.00000000e+00,  2.13301296e-13, -1.00000000e+00,  0.00000000e+00,
        1.19981979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149884, -0.08816602,  0.06199256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65091162e-06,-1.86707685e-05, 1.80315329e-06,-7.52755948e-06,
 -3.59527752e-05, 7.28205458e-07, 3.17329814e-05, 4.67628855e-06,
 -4.45060172e-06, 2.74940951e-05, 2.19201887e-05,-2.09726409e-05,
 -2.90046527e-04,-2.37030383e-05,-1.95913813e-04,-1.15067096e-04,
 -5.38951172e-06, 7.25914417e-06,-1.21646012e+00,-4.55960634e-04,
  2.71130595e-05,-5.50736934e-04]


--- Step 466 ---
qpos:
[ 0.01204052,-0.00118967, 0.00243401, 0.04197572, 0.00459322,-0.00234681,
 -0.01821333, 0.0284786 , 0.01319662, 0.00448176,-0.01026847, 0.02640701,
  0.8584179 ,-0.00148406, 0.67300783, 0.06570535, 0.09353131,-0.0699897 ,
  0.13099503, 0.50516909, 0.49383669, 0.49546062, 0.50541893]

qacc:
[  2.87866994, -0.45832264,  1.68172588, -2.86043386, -3.80561821,
  -1.27955348,  3.91064348, -3.16773778, -0.36572679, -0.0873725 ,
   0.38620011,  0.62543729, -0.11673909, -1.44048265,  2.54814595,
 -11.84960958,  0.76267811, -2.24997685,  0.74718949, 11.11997332,
  -2.19589942, 32.62547812]

qfrc_actuator:
[ 6.33308726e-06,-2.31466579e-06, 9.03007312e-05, 1.45316604e-05,
  9.46507896e-06,-3.35666284e-04,-2.32097548e-04,-7.82447544e-05,
 -5.61139041e-05, 1.93121040e-05,-4.74262791e-05, 3.63955473e-05,
  4.48254576e-02,-8.82908400e-04, 2.67617080e-02,-4.05096262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002696333075220547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02938231e-13, -1.02938231e-13,  1.00000000e+00,  1.05962793e-26,
        1.00000000e+00,  1.02938231e-13, -1.00000000e+00,  0.00000000e+00,
        1.02938231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250155, -0.03126426,  0.06199229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68313402e-05,-1.44572943e-05,-5.22052055e-07,-4.16893833e-06,
 -2.24492646e-05,-9.36703323e-06, 2.25903757e-05, 4.26139718e-06,
 -2.14185009e-06, 3.63997867e-05, 2.05151310e-05, 6.76260876e-06,
 -2.71057421e-04,-1.07677062e-04,-1.34901021e-04,-9.69367818e-05,
 -5.62597263e-06, 8.44129213e-06,-1.21646279e+00,-4.55197967e-04,
  2.82861174e-05,-5.49684143e-04]


--- Step 467 ---
qpos:
[ 0.01204058,-0.00119027, 0.00243511, 0.04197474, 0.0045935 ,-0.00234725,
 -0.01821311, 0.02847749, 0.01319544, 0.00448208,-0.0102678 , 0.02640768,
  0.85939072,-0.00148252, 0.67388401, 0.06570161, 0.09351065,-0.06996291,
  0.13099615, 0.50533638, 0.49366262, 0.49548624, 0.50539663]

qacc:
[-1.26617109,-0.45856217, 2.26584135,-4.0165541 , 0.74882344, 0.6191735 ,
 -2.24883124, 3.28750149,-0.13785503, 0.59904086,-2.22232286, 3.7666611 ,
 -0.33804935,-0.71395549,-8.19758597,24.94744043, 0.73306251,-2.17906197,
  0.41773714,10.79493614,-2.09067359,31.55026744]

qfrc_actuator:
[-1.56666677e-06, 3.11200986e-05, 1.09677491e-04, 1.29637823e-05,
  1.45449650e-05,-3.27512541e-04,-2.39235462e-04,-7.60041981e-05,
 -5.68370656e-05, 1.17996560e-05,-5.78808754e-05, 3.92546533e-05,
  4.47451511e-02,-9.13789476e-04, 2.67078631e-02,-3.94443500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002939696691747484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250447, -0.03127777,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.42411760e-06, 2.50878455e-05, 1.61812175e-05,-2.28553808e-06,
  4.43519156e-06, 7.77444559e-06,-6.13693131e-06, 2.70765385e-06,
 -7.71025797e-07, 1.73495599e-05,-1.87957698e-07, 5.25698445e-06,
 -2.78952370e-04,-9.50163578e-05,-1.33041829e-04, 8.22133905e-05,
 -4.00203185e-06, 5.57452355e-06,-1.21645534e+00,-4.55418124e-04,
  2.31233098e-05,-5.48777166e-04]


--- Step 468 ---
qpos:
[ 0.01204089,-0.00119067, 0.00243634, 0.04197478, 0.00459385,-0.00234753,
 -0.01821276, 0.02847638, 0.01319426, 0.00448265,-0.01026723, 0.02640732,
  0.86036169,-0.00148039, 0.67475866, 0.06569618, 0.09349281,-0.0699446 ,
  0.13099782, 0.50546426, 0.49353155, 0.49549019, 0.50539287]

qacc:
[ 2.19761623e+00, 2.02262385e+00,-1.11262918e+01, 2.84445904e+01,
  5.12829862e-01,-1.70265767e-01, 9.03143134e-01,-1.15652769e+00,
 -4.44779510e-03,-1.45529158e+00, 9.98170204e+00,-2.76236133e+01,
 -1.86974378e+00, 3.95447427e+00, 2.96181481e+00,-1.34288452e+01,
  7.08378126e-01,-2.11950556e+00, 1.39909567e-01, 1.05192857e+01,
 -2.00633066e+00, 3.06504216e+01]

qfrc_actuator:
[ 1.15097361e-05, 5.13297548e-05, 1.20753938e-04, 6.57210168e-05,
  1.74259018e-05,-3.04745820e-04,-2.25766096e-04,-7.42459952e-05,
 -5.67888809e-05, 2.48304065e-05,-6.43757210e-05,-1.26064505e-05,
  4.46567024e-02,-8.79327520e-04, 2.66121531e-02,-4.03991722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003112246467378982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78363609e-13, -2.67545414e-13,  1.00000000e+00,  4.77203656e-26,
        1.00000000e+00,  2.67545414e-13, -1.00000000e+00,  0.00000000e+00,
        1.78363609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250646, -0.03128732,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28743784e-05, 3.74919082e-05, 1.81690699e-05, 5.43488034e-05,
  3.01029306e-06, 2.59801968e-05, 1.44179198e-05, 1.93454369e-06,
  3.39261012e-08, 2.28945036e-05,-2.76650758e-06,-5.10256738e-05,
 -2.89570061e-04,-2.97516234e-05,-1.53392942e-04,-1.09402059e-04,
 -2.69732961e-06, 3.37022105e-06,-1.21644961e+00,-4.55461439e-04,
  1.89436090e-05,-5.48095593e-04]


--- Step 469 ---
qpos:
[ 0.01204169,-0.00119072, 0.00243741, 0.04197476, 0.00459423,-0.00234744,
 -0.01821234, 0.02847528, 0.01319308, 0.00448316,-0.01026637, 0.02640671,
  0.86133095,-0.00147814, 0.67563161, 0.06569057, 0.09347773,-0.06993456,
  0.13099912, 0.50555369, 0.49344246, 0.49547305, 0.50540723]

qacc:
[  4.37542494,  0.77293598, -1.86694777,  0.89453827,  0.27357074,
   0.33755357, -0.53934952,  0.33502   ,  0.09828327, -1.44159082,
   6.12621993,-11.06345961, -1.23783257,  2.03726804, -1.91984741,
   3.21759166,  0.6878173 , -2.06958588, -0.09431745, 10.28590474,
  -1.93879108, 29.89844288]

qfrc_actuator:
[ 3.68352193e-05, 6.34893404e-05, 1.09080444e-04, 6.12425162e-05,
  1.89808185e-05,-2.73324189e-04,-2.17914133e-04,-7.27524878e-05,
 -5.62874026e-05, 1.45143514e-05,-5.06814631e-05,-2.52177804e-05,
  4.45687779e-02,-8.77612049e-04, 2.65499513e-02,-4.04075455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003226744913130686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7203452e-13,  8.6017260e-14,  1.0000000e+00, -1.4797938e-26,
        1.0000000e+00, -8.6017260e-14, -1.0000000e+00,  0.0000000e+00,
        1.7203452e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250769, -0.03129364,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57018311e-05, 3.92101794e-05, 1.78367855e-07,-1.18825870e-06,
  1.64918596e-06, 4.90199514e-05, 1.50625880e-05, 3.14558470e-06,
  5.14978456e-07,-3.01619385e-07, 1.63034332e-05,-1.27209425e-05,
 -2.83881068e-04,-5.60540096e-05,-1.50778371e-04,-2.80914175e-05,
 -1.67768857e-06, 1.76167876e-06,-1.21644543e+00,-4.55357424e-04,
  1.56554073e-05,-5.47629698e-04]


--- Step 470 ---
qpos:
[ 0.01204314,-0.00119065, 0.00243847, 0.04197401, 0.00459497,-0.00234692,
 -0.01821216, 0.02847457, 0.01319158, 0.00448355,-0.01026592, 0.02640704,
  0.86229852,-0.00147584, 0.67650271, 0.0656866 , 0.09346533,-0.06993263,
  0.13099925, 0.50560543, 0.49339448, 0.4954353 , 0.50543932]

qacc:
[  5.64308377, -1.3140538 ,  7.9717723 ,-20.58640581,  3.14658749,
   2.00847771, -7.99429394, 14.74862414, -2.91071085,  2.9264385 ,
 -14.65154699, 31.75681354, -1.10716705,  1.66113536, -7.64013334,
  22.84357982,  0.67071273, -2.02785315, -0.29166802, 10.08883857,
  -1.88476593, 29.27163015]

qfrc_actuator:
[ 6.91609889e-05, 5.28457610e-05, 1.01743317e-04, 2.30922547e-05,
  3.74960317e-05,-2.54728793e-04,-2.31158203e-04,-5.36709985e-05,
 -7.32763188e-05,-9.59647483e-06,-7.84922667e-05, 2.08754919e-05,
  4.44812219e-02,-8.77551232e-04, 2.64812950e-02,-3.95014685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64410945, -4.15044467,  2.08364144, -4.15044467, 10.92451508,
       12.51005837,  2.08364144, 12.51005837, 29.56313058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032939228172206014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.42629811e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.42629811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250831, -0.03129734,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30697609e-05, 1.12647446e-05, 7.29280964e-07,-3.64908314e-05,
  1.85786230e-05, 4.92480036e-05,-1.15816849e-06, 2.17658962e-05,
 -1.69721452e-05,-2.14876604e-05,-2.63210238e-05, 4.63949513e-05,
 -2.84648708e-04,-6.01112868e-05,-1.46565408e-04, 6.83164859e-05,
 -9.16641167e-07, 6.97293560e-07,-1.21644266e+00,-4.55127594e-04,
  1.31863866e-05,-5.47371793e-04]


--- Step 471 ---
qpos:
[ 0.01204531,-0.00119087, 0.00243963, 0.04197286, 0.00459592,-0.00234634,
 -0.01821173, 0.02847445, 0.01319023, 0.00448384,-0.0102655 , 0.02640755,
  0.86326442,-0.00147354, 0.67737159, 0.06568542, 0.09345556,-0.06993868,
  0.13099755, 0.50562013, 0.49338687, 0.49537736, 0.50548882]

qacc:
[  6.35005746, -1.52399269,  6.55488776,-13.47392774,  1.90381811,
   0.60165735, -4.50214723, 14.26485234,  1.34671361,  0.35159323,
  -2.18435983,  5.37560241, -0.9876366 ,  1.34872562,-11.641281  ,
  36.08868655,  0.65651019, -1.99307875, -0.45781447,  9.92306203,
  -1.84159292, 28.75110524]

qfrc_actuator:
[ 1.05343942e-04, 1.08477836e-05, 9.69216712e-05, 9.35739278e-07,
  4.80931731e-05,-2.61781603e-04,-2.21280146e-04,-2.44166225e-05,
 -6.49185696e-05,-6.39402827e-06,-7.73657093e-05, 3.00782459e-05,
  4.43992736e-02,-8.78464290e-04, 2.63822137e-02,-3.80641162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65505674, -4.35066893,  1.65566696, -4.35066893,  8.22384686,
        9.37786683,  1.65566696,  9.37786683, 29.29769004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033227896285013825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.35309445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.35309445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250842, -0.03129893,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71279953e-05,-3.71178933e-05,-3.68196906e-06,-2.23615136e-05,
  1.11434011e-05, 2.11674278e-05, 2.06535705e-05, 3.17477055e-05,
  7.86893643e-06,-1.22931639e-05,-4.96018605e-06, 8.27188940e-06,
 -2.80122192e-04,-6.18913550e-05,-1.64040487e-04, 1.27423133e-04,
 -3.93729758e-07, 1.37385182e-07,-1.21644122e+00,-4.54787566e-04,
  1.14795244e-05,-5.47315780e-04]


--- Step 472 ---
qpos:
[ 0.01204687,-0.00119135, 0.00244049, 0.04197113, 0.00459665,-0.00234576,
 -0.0182108 , 0.02847434, 0.01318934, 0.0044841 ,-0.01026456, 0.02640812,
  0.86422877,-0.00147157, 0.67823838, 0.06568333, 0.09344837,-0.06995258,
  0.13099346, 0.50559834, 0.49341905, 0.49529952, 0.50555549]

qacc:
[ -5.4340724 , -0.66239216,  4.30056753,-13.59456413, -1.95732264,
  -1.39941903,  4.95917598, -5.7247794 ,  4.02408745, -1.41117553,
   4.7044879 , -4.4984243 , -0.6831276 ,  0.35410324, -0.34588893,
  -3.23532342,  0.6447473 , -1.96421663, -0.59756688,  9.7843056 ,
  -1.80710863, 28.32107355]

qfrc_actuator:
[ 7.24944892e-05,-1.40880549e-05, 7.57473246e-05,-2.94084623e-05,
  3.61868216e-05,-2.66292606e-04,-1.97924878e-04,-2.49226773e-05,
 -4.17035962e-05, 1.32192061e-05,-4.13251446e-05, 3.52910021e-05,
  4.43207478e-02,-8.97686470e-04, 2.62543240e-02,-3.86339381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033208945759016784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67157222e-13,  4.17893055e-14,  1.00000000e+00, -6.98538423e-27,
        1.00000000e+00, -4.17893055e-14, -1.00000000e+00,  0.00000000e+00,
        1.67157222e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250813, -0.03129882,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18053570e-05,-4.74080368e-05,-3.00808339e-05,-3.24985907e-05,
 -1.15832683e-05, 1.29301331e-05, 3.13579841e-05, 1.73110482e-06,
  2.34355584e-05, 1.20505477e-05, 3.31653876e-05, 4.67199056e-06,
 -2.74066198e-04,-7.95898730e-05,-1.93050701e-04,-7.19612148e-05,
 -9.32212600e-08, 5.17808786e-08,-1.21644102e+00,-4.54348600e-04,
  1.04900112e-05,-5.47456819e-04]


--- Step 473 ---
qpos:
[ 0.01204801,-0.00119222, 0.00244138, 0.0419694 , 0.00459689,-0.00234514,
 -0.01820954, 0.02847318, 0.01318839, 0.00448461,-0.01026386, 0.02640876,
  0.86519157,-0.0014701 , 0.67910357, 0.06567748, 0.09344372,-0.06997425,
  0.13098651, 0.50554047, 0.49349049, 0.49520205, 0.50563909]

qacc:
[-3.55453459e+00,-6.21936600e-01, 1.54166500e+00,-1.54195711e+00,
 -4.31413422e+00,-3.00444818e+00, 1.52293552e+01,-3.38268014e+01,
 -5.38433670e-01, 1.17586344e+00,-4.01867733e+00, 5.50676470e+00,
 -6.21554663e-01, 2.91713817e-02, 9.00509182e+00,-3.49222842e+01,
  6.35037037e-01,-1.94037324e+00,-7.15019867e-01, 9.66892368e+00,
 -1.77954862e+00, 2.79682560e+01]

qfrc_actuator:
[ 5.25342217e-05,-2.86968735e-05, 8.06383923e-05,-2.88265870e-05,
  1.11333390e-05,-2.69217170e-04,-1.84579529e-04,-7.84373077e-05,
 -4.54430951e-05, 2.49042108e-05,-5.59004613e-05, 3.81571142e-05,
  4.42336732e-02,-9.27559933e-04, 2.61731277e-02,-4.05598210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032945475174678274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.42470035e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.42470035e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250752, -0.03129737,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08780923e-05,-4.87301617e-05,-9.73158195e-06,-3.11850167e-06,
 -2.53807056e-05, 1.08218287e-05, 1.99219058e-05,-5.18443965e-05,
 -3.06909219e-06, 2.54583424e-05,-7.85660944e-06, 4.61590991e-06,
 -2.82499238e-04,-9.12033554e-05,-1.81264963e-04,-2.22269894e-04,
 -3.12525493e-09, 4.17961966e-07,-1.21644200e+00,-4.53818750e-04,
  1.01828465e-05,-5.47791066e-04]


--- Step 474 ---
qpos:
[ 0.01204857,-0.00119343, 0.00244223, 0.04196871, 0.00459683,-0.00234502,
 -0.01820756, 0.02847143, 0.0131874 , 0.00448509,-0.01026348, 0.02640912,
  0.86615265,-0.00146891, 0.67996683, 0.06567192, 0.09344157,-0.07000359,
  0.13097631, 0.50544689, 0.49360079, 0.49508515, 0.50573945]

qacc:
[ -5.20919793,  1.83308369,-11.61715807, 30.14912553, -2.61473464,
  -3.83976945, 15.19607261,-26.07282456, -0.33393118,  0.26154997,
   0.15268007, -4.36062476, -0.83038279,  0.65131039, -3.66208223,
   8.75531084,  0.62705459, -1.92078373, -0.8136683 ,  9.57379273,
  -1.75746884, 27.68144647]

qfrc_actuator:
[ 2.25895481e-05,-3.68822649e-05, 8.31977584e-05, 2.54833373e-05,
 -3.69762515e-06,-3.24515658e-04,-1.59530839e-04,-1.09458703e-04,
 -4.72696230e-05,-3.94691460e-06,-8.25293600e-05, 2.18234890e-05,
  4.41362000e-02,-9.45769269e-04, 2.61199786e-02,-4.02491603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000324900647718257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.98997602e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.98997602e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250666, -0.03129487,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05529394e-05,-3.75652805e-05,-8.80948429e-06, 5.18293013e-05,
 -1.55497842e-05,-4.73977835e-05, 2.79254882e-05,-3.08778712e-05,
 -1.90225591e-06,-1.60719915e-05,-2.21945740e-05,-1.54288249e-05,
 -3.00784410e-04,-8.27020987e-05,-1.65903285e-04,-5.79011224e-06,
 -1.14437176e-07, 1.21962942e-06,-1.21644411e+00,-4.53203708e-04,
  1.05309446e-05,-5.48315462e-04]


--- Step 475 ---
qpos:
[ 0.01204841,-0.00119487, 0.00244305, 0.04196902, 0.00459624,-0.00234558,
 -0.01820519, 0.02847007, 0.01318674, 0.00448514,-0.01026298, 0.02640966,
  0.86711181,-0.00146702, 0.68082795, 0.06566904, 0.09344191,-0.07004056,
  0.13096252, 0.50531786, 0.49374961, 0.49494897, 0.50585641]

qacc:
[ -6.22146644,  1.82864357,-11.11874716, 28.4107533 , -4.55261718,
  -1.23645841,  1.5246996 ,  4.84608204,  2.92410799, -0.54318349,
   0.41029578,  2.62490743, -1.88146564,  4.01891758,-11.17427893,
  34.71924665,  0.62052683, -1.90479265, -0.89650009,  9.49623075,
  -1.73968366, 27.45116197]

qfrc_actuator:
[-1.29956044e-05,-4.11065736e-05, 8.44129700e-05, 7.54625496e-05,
 -3.01418555e-05,-3.75191956e-04,-1.45715341e-04,-9.15185167e-05,
 -3.01947445e-05,-3.91785494e-05,-8.07206907e-05, 2.97932051e-05,
  4.40538619e-02,-9.03745867e-04, 2.60411379e-02,-3.87995203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003188637342044498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250561, -0.03129155,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64661819e-05,-2.48073532e-05,-5.82968749e-06, 4.90773906e-05,
 -2.69041500e-05,-7.27652999e-05, 6.37677608e-06, 1.62741221e-05,
  1.70187309e-05,-4.94913032e-05,-4.79063071e-06, 6.20988342e-06,
 -2.95575545e-04,-2.51742460e-05,-1.60275536e-04, 1.22195733e-04,
 -4.20550511e-07, 2.44558609e-06,-1.21644733e+00,-4.52507452e-04,
  1.15136327e-05,-5.49027576e-04]


--- Step 476 ---
qpos:
[ 0.01204818,-0.00119629, 0.00244379, 0.04196954, 0.00459499,-0.00234624,
 -0.01820341, 0.02846858, 0.01318629, 0.00448456,-0.01026207, 0.02641064,
  0.86806916,-0.00146435, 0.68168732, 0.06566522, 0.09344471,-0.0700851 ,
  0.13094486, 0.50515359, 0.49393665, 0.49479361, 0.50598984]

qacc:
[-0.71291547, 0.73534334,-3.48531963, 7.39950419,-5.78238913, 1.27707138,
 -4.21834689, 3.08210076, 1.8710657 ,-1.06057815, 0.66540835, 6.87524751,
 -2.00400148, 4.43145054, 0.35972787,-4.76037896, 0.61522382,-1.89183807,
 -0.96607182, 9.43393234,-1.72521663,27.26936229]

qfrc_actuator:
[-1.61074407e-05,-2.51685729e-05, 8.48343149e-05, 8.69831697e-05,
 -6.32129155e-05,-3.69459426e-04,-1.74122039e-04,-9.81869082e-05,
 -1.98848345e-05,-7.78385863e-05,-6.21529333e-05, 5.20133346e-05,
  4.39753585e-02,-8.61959968e-04, 2.59416461e-02,-3.93545363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031170500964100567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78088736e-13, -1.78088736e-13,  1.00000000e+00,  3.17155980e-26,
        1.00000000e+00,  1.78088736e-13, -1.00000000e+00,  0.00000000e+00,
        1.78088736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250442, -0.03128762,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15605158e-06, 2.99380512e-06,-3.71457066e-06, 1.12136889e-05,
 -3.38647940e-05,-3.29569072e-05,-4.21051493e-05,-9.24928662e-06,
  1.07768834e-05,-6.70644429e-05, 7.96044032e-06, 2.00510371e-05,
 -2.76935143e-04,-1.70627739e-05,-1.63924037e-04,-7.03710600e-05,
 -9.16797426e-07, 4.08886121e-06,-1.21645163e+00,-4.51732727e-04,
  1.31154516e-05,-5.49925473e-04]


--- Step 477 ---
qpos:
[ 0.01204825,-0.00119753, 0.00244417, 0.0419702 , 0.00459405,-0.00234638,
 -0.01820289, 0.02846698, 0.01318597, 0.00448355,-0.0102618 , 0.02641123,
  0.86902481,-0.00146146, 0.68254463, 0.06565913, 0.09344991,-0.07012487,
  0.13093394, 0.50499806, 0.4941128 , 0.49466383, 0.50609999]

qacc:
[  2.70273308,  1.48267923, -5.54549401,  8.33547449,  2.60209268,
   4.00769952,-12.82906698, 12.63804404,  1.1059014 ,  0.42137735,
  -0.6626039 , -4.73902173, -1.39522242,  2.51374475,  3.87736635,
 -17.84586478,  0.60189629,  1.19046791,  1.68353343,  7.31674873,
   1.30162795,-17.10136352]

qfrc_actuator:
[-7.95359359e-08,-1.50598251e-05, 6.70917367e-05, 9.35539770e-05,
 -4.66577143e-05,-3.12429486e-04,-2.27025520e-04,-1.01517538e-04,
 -1.36451804e-05,-1.18167460e-04,-1.04873343e-04, 2.91811372e-05,
  4.38832384e-02,-8.56170228e-04, 2.58244789e-02,-4.05542673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032246809186649295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72144633e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72144633e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860018 , -0.08821515,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59140201e-05, 1.15367364e-05,-1.71865127e-05, 6.78938740e-06,
  1.55798376e-05, 2.95021302e-05,-6.52257909e-05,-6.37764154e-06,
  6.52053095e-06,-7.53172145e-05,-5.49059317e-05,-2.50439645e-05,
 -2.76994301e-04,-4.82946950e-05,-2.05409556e-04,-1.46211531e-04,
 -1.60008797e-06, 6.14602211e-06,-1.21645698e+00,-4.50881416e-04,
  1.53251946e-05,-5.51007612e-04]


--- Step 478 ---
qpos:
[ 0.01204955,-0.00119871, 0.00244465, 0.04197057, 0.00459297,-0.00234608,
 -0.01820313, 0.02846603, 0.01318572, 0.00448246,-0.01026251, 0.02641152,
  0.86997871,-0.00145815, 0.68339939, 0.06565589, 0.09345658,-0.07016002,
  0.13092852, 0.50485419, 0.49427573, 0.4945556 , 0.50619019]

qacc:
[ 10.77958306, -0.82482163,  4.25545693, -9.45706042, -1.25352592,
   4.01302459,-16.17975477, 28.15578419,  0.64896714,  1.99693515,
  -6.03261022,  2.52090337, -1.4738867 ,  2.84985007,-12.32190738,
  37.79893066,  0.3667419 ,  1.15453417,  1.37451052,  4.17212938,
   0.97512154,-16.58087193]

qfrc_actuator:
[ 6.25798778e-05,-8.59611238e-06, 7.42586468e-05, 7.93990454e-05,
 -5.42817700e-05,-2.78478965e-04,-2.58218046e-04,-6.73094579e-05,
 -9.84890262e-06,-1.06208830e-04,-1.47985343e-04, 1.54785016e-05,
  4.37936537e-02,-8.36236183e-04, 2.57447299e-02,-3.89282541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003429995826708637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61833634e-07, -7.58626350e-14,  1.00000000e+00, -1.98633894e-20,
        1.00000000e+00,  7.58626350e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61833634e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08878718, -0.08817737,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31200192e-05, 9.70046238e-06, 7.67607073e-06,-1.41233725e-05,
 -7.16646803e-06, 3.67099206e-05,-3.33556375e-05, 3.30934544e-05,
  3.95571862e-06,-4.25408287e-05,-6.62924927e-05,-1.93175161e-05,
 -2.80907714e-04,-3.81221177e-05,-1.93578732e-04, 1.27251080e-04,
 -1.63508855e-06, 5.09743952e-06,-1.21645374e+00,-4.51718998e-04,
  1.63651645e-05,-5.51953830e-04]


--- Step 479 ---
qpos:
[ 0.01205091,-0.00119963, 0.00244517, 0.04197005, 0.00459112,-0.00234566,
 -0.01820338, 0.02846548, 0.01318518, 0.00448104,-0.01026291, 0.02641228,
  0.87093095,-0.00145488, 0.68425304, 0.06565172, 0.09346465,-0.0701907 ,
  0.13092739, 0.50472159, 0.49442602, 0.49446838, 0.50626085]

qacc:
[  0.44404346, -1.54822871,  9.7470237 ,-25.2615317 , -6.77319725,
   1.03658566, -5.16213075, 12.09086591, -2.60312176, -0.30532594,
  -1.51368898,  9.35727557, -1.08308172,  1.5168641 ,  1.2481581 ,
  -6.62262009,  0.34871471,  1.12026473,  1.07298192,  4.17194218,
   0.88785308,-16.10943364]

qfrc_actuator:
[ 6.34141069e-05, 1.34678109e-05, 7.83020099e-05, 3.54276780e-05,
 -9.38450480e-05,-2.76240902e-04,-2.58628635e-04,-4.67871401e-05,
 -2.52720769e-05,-9.85477700e-05,-1.19728969e-04, 4.28222122e-05,
  4.37056579e-02,-8.43608988e-04, 2.57141797e-02,-3.93770594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035707579641508546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42462103e-07,  4.85813795e-15,  1.00000000e+00, -2.14954193e-21,
        1.00000000e+00, -4.85813795e-15, -1.00000000e+00,  0.00000000e+00,
        4.42462103e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08878666, -0.0881738 ,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63676579e-06, 2.85231476e-05, 6.50726545e-06,-4.35672638e-05,
 -3.97549125e-05, 1.72862621e-05, 4.20997559e-06, 2.15877456e-05,
 -1.53262643e-05,-3.06018454e-05, 1.06551225e-05, 2.28540458e-05,
 -2.79400245e-04,-6.51260182e-05,-1.07786566e-04,-6.32999167e-05,
 -1.56425187e-06, 4.10965678e-06,-1.21645094e+00,-4.52402659e-04,
  1.66721924e-05,-5.52774438e-04]


--- Step 480 ---
qpos:
[ 0.01205122,-0.00120026, 0.00244537, 0.04196973, 0.00458949,-0.00234498,
 -0.01820367, 0.02846447, 0.01318446, 0.0044795 ,-0.01026306, 0.026413  ,
  0.87188142,-0.00145135, 0.68510571, 0.06564564, 0.09347329,-0.07021699,
  0.13092967, 0.50460297, 0.49456143, 0.49439869, 0.5063149 ]

qacc:
[ -9.10742341,  1.64803186, -6.08146195,  9.57068313,  2.00924201,
  -0.51852569,  4.29051027,-12.37586153, -1.58110101, -0.9913625 ,
   3.5065413 , -4.68549109, -1.51217334,  2.76535832,  4.38719574,
 -17.28837712,  0.14266778,  1.09482955,  0.85358339,  1.33202715,
   0.62817784,-15.7347965 ]

qfrc_actuator:
[ 1.00854362e-05, 2.69166236e-05, 6.27547995e-05, 4.52859771e-05,
 -8.08725116e-05,-2.57381959e-04,-2.58765836e-04,-7.00027724e-05,
 -3.41304590e-05,-9.31827502e-05,-1.02790970e-04, 4.08909126e-05,
  4.36133433e-02,-8.31560155e-04, 2.56705032e-02,-4.03341380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.79441914, -1.29859283, -4.61520439, -1.29859283, 12.17924791,
       -2.07788971, -4.61520439, -2.07788971,  5.37908072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036609882196303456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.58144357e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.58144357e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148467, -0.08814032,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32396666e-05, 2.89018329e-05,-1.03569809e-05, 1.04590698e-05,
  1.18435452e-05, 3.02953173e-05, 4.69981663e-06,-2.19064996e-05,
 -9.31065740e-06,-8.51990369e-06, 1.27397118e-05,-2.42635510e-06,
 -2.87590691e-04,-4.91831707e-05,-1.08034375e-04,-1.14967388e-04,
 -1.49296992e-06, 3.24560276e-06,-1.21644859e+00,-4.53036949e-04,
  1.68077768e-05,-5.53492818e-04]


--- Step 481 ---
qpos:
[ 0.01205055,-0.00120071, 0.00244538, 0.04197022, 0.00458838,-0.00234422,
 -0.01820387, 0.02846321, 0.01318398, 0.00447816,-0.01026343, 0.02641367,
  0.87283018,-0.00144768, 0.68595658, 0.06564048, 0.09348247,-0.070239  ,
  0.1309345 , 0.50449798, 0.4946824 , 0.49434619, 0.5063526 ]

qacc:
[ -8.67731397,  2.48719214,-11.94042659, 26.22956529,  4.49562453,
  -0.63729999,  3.46497108, -7.9899464 ,  2.13636294,  0.80026638,
  -2.30442311,  1.84721414, -1.22870459,  2.00765284, -5.39855626,
  15.15405488,  0.13481103,  1.06993205,  0.63673247,  1.38177737,
   0.57450977,-15.40193602]

qfrc_actuator:
[-3.91704053e-05, 3.50645094e-05, 5.35300435e-05, 8.67246135e-05,
 -5.48245180e-05,-2.64252049e-04,-2.58718973e-04,-8.32537454e-05,
 -2.12950242e-05,-7.15170951e-05,-1.10478438e-04, 3.94765597e-05,
  4.35291592e-02,-8.25901682e-04, 2.55923509e-02,-3.98074347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.81356461, -0.26913014, -4.80603508, -0.26913014, 12.77814995,
       -0.44600381, -4.80603508, -0.44600381,  4.83854009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037037208010844147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49879416e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49879416e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914839 , -0.08813938,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07585397e-05, 2.26202773e-05,-4.16094277e-06, 4.25259323e-05,
  2.63971094e-05, 1.00878163e-05, 6.12247233e-06,-1.22155103e-05,
  1.25626062e-05, 1.94794376e-05,-7.94430035e-06,-1.38344789e-06,
 -2.81779865e-04,-5.51140608e-05,-1.48733393e-04, 3.04238448e-05,
 -1.33339004e-06, 2.45151872e-06,-1.21644653e+00,-4.53575900e-04,
  1.64862870e-05,-5.54101961e-04]


--- Step 482 ---
qpos:
[ 0.01204964,-0.00120099, 0.00244532, 0.0419705 , 0.00458793,-0.00234345,
 -0.01820404, 0.02846181, 0.013184  , 0.00447711,-0.01026421, 0.02641398,
  0.87377742,-0.00144484, 0.68680531, 0.06563962, 0.09349216,-0.07025682,
  0.13094115, 0.50440637, 0.49478931, 0.49431061, 0.50637414]

qacc:
[-2.11994472e+00,-8.29919832e-03, 1.23319290e+00,-4.82115833e+00,
  5.83782131e+00,-3.92673670e-01, 1.98824185e+00,-4.43555830e+00,
  4.40157277e+00, 7.88908805e-01,-7.21173198e-01,-5.13862583e+00,
  8.18201142e-04,-1.73669834e+00,-1.61353943e+01, 5.18042196e+01,
  1.28653794e-01, 1.04916927e+00, 4.54717560e-01, 1.42104195e+00,
  5.30514091e-01,-1.51232721e+01]

qfrc_actuator:
[-5.01116911e-05, 4.00247103e-05, 4.81096622e-05, 7.53959874e-05,
 -2.13061248e-05,-2.68721036e-04,-2.58652377e-04,-9.05487932e-05,
  4.20421770e-06,-5.81046955e-05,-1.32566196e-04, 2.06285982e-05,
  4.34392599e-02,-8.77315019e-04, 2.55202512e-02,-3.75235566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.81625811, -0.51053572, -4.78912262, -0.51053572, 17.92521377,
       -1.39745642, -4.78912262, -1.39745642,  4.96523142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037096684780636713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49639116e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49639116e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148322, -0.08813938,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23777037e-05, 1.85714967e-05, 2.17769978e-07,-9.67357904e-06,
  3.42751165e-05, 1.90018737e-06, 2.47708695e-06,-6.88812685e-06,
  2.58588493e-05, 2.26593128e-05,-1.90729607e-05,-1.83133014e-05,
 -2.84877633e-04,-1.11838975e-04,-1.42272455e-04, 2.09694268e-04,
 -1.17859704e-06, 1.77411136e-06,-1.21644484e+00,-4.54089267e-04,
  1.61074451e-05,-5.54615961e-04]


--- Step 483 ---
qpos:
[ 0.01204895,-0.00120117, 0.00244521, 0.041971  , 0.00458858,-0.00234264,
 -0.01820451, 0.0284607 , 0.01318433, 0.00447642,-0.01026531, 0.02641405,
  0.87472297,-0.00144227, 0.68765276, 0.06563907, 0.09350235,-0.07027051,
  0.13094901, 0.50432791, 0.49488245, 0.49429173, 0.5063797 ]

qacc:
[  1.93430964,  0.73293299, -3.33173548,  7.08383116,  9.59029512,
   1.48322257, -6.45832288, 11.94925474,  2.67075652,  0.87424874,
  -1.42223159, -2.50347859, -0.84045046,  0.67985987, -2.79913294,
   7.13001106,  0.12386589,  1.03194054,  0.30237635,  1.4524766 ,
   0.49419545,-14.89096028]

qfrc_actuator:
[-3.84154442e-05, 4.30094149e-05, 4.49205934e-05, 8.63611296e-05,
  3.40888924e-05,-2.71717189e-04,-2.76322457e-04,-7.65307084e-05,
  1.91931996e-05,-3.20623024e-05,-1.45257398e-04, 9.41545123e-06,
  4.33513013e-02,-8.91048245e-04, 2.54572047e-02,-3.74182080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036863487279323315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52928647e-14, -7.52928647e-14,  1.00000000e+00,  5.66901548e-27,
        1.00000000e+00,  7.52928647e-14, -1.00000000e+00,  0.00000000e+00,
        7.52928647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148262, -0.08814013,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13518781e-05, 1.30092283e-05, 3.43926622e-07, 1.15808288e-05,
  5.63735173e-05,-1.72799623e-06,-1.72161056e-05, 1.40515320e-05,
  1.57290562e-05, 3.40444791e-05,-1.09738763e-05,-1.12561303e-05,
 -2.95656574e-04,-8.24364051e-05,-1.09522494e-04, 2.83131577e-06,
 -1.02567329e-06, 1.20492705e-06,-1.21644348e+00,-4.54585054e-04,
  1.56674711e-05,-5.55036471e-04]


--- Step 484 ---
qpos:
[ 0.01204807,-0.00120134, 0.00244538, 0.04197162, 0.0045892 ,-0.00234218,
 -0.01820506, 0.0284605 , 0.01318483, 0.00447593,-0.01026628, 0.02641431,
  0.87566676,-0.0014396 , 0.68849923, 0.065633  , 0.09351301,-0.07028013,
  0.13095757, 0.5042624 , 0.49496208, 0.49428936, 0.50636943]

qacc:
[-1.74385495e+00,-5.64631279e-01, 1.52741396e+00, 2.24018365e-02,
 -2.61593320e-01, 1.59373134e+00,-1.01726504e+01, 2.61738438e+01,
  1.56131713e+00, 2.78318769e-01,-1.43496615e+00, 4.47098057e+00,
 -1.46246660e+00, 2.50047028e+00, 1.52635800e+01,-5.53730467e+01,
  1.20183019e-01, 1.01773239e+00, 1.75287087e-01, 1.47812444e+00,
  4.63969354e-01,-1.46983614e+01]

qfrc_actuator:
[-4.90068283e-05, 4.48082768e-05, 6.08389291e-05, 9.26107007e-05,
  3.09035954e-05,-3.09371044e-04,-2.86553232e-04,-3.23441529e-05,
  2.78720148e-05,-1.63731073e-05,-1.34481980e-04, 2.05589348e-05,
  4.32699044e-02,-8.82394389e-04, 2.53676341e-02,-4.03726353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036400506650728637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.625052e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -7.625052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148208, -0.08814146,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02638138e-05, 9.65358795e-06, 1.90510861e-05, 7.04342661e-06,
 -1.57781515e-06,-4.15758285e-05,-1.22259958e-05, 4.37896446e-05,
  9.13518565e-06, 3.20222507e-05, 1.60871755e-05, 1.20069405e-05,
 -2.90474247e-04,-5.83313141e-05,-1.46965743e-04,-3.11149628e-04,
 -8.72412096e-07, 7.37267964e-07,-1.21644244e+00,-4.55069396e-04,
  1.51634968e-05,-5.55364887e-04]


--- Step 485 ---
qpos:
[ 0.01204671,-0.00120161, 0.00244585, 0.04197163, 0.00458944,-0.00234223,
 -0.01820504, 0.02846045, 0.01318544, 0.00447553,-0.01026645, 0.02641398,
  0.87660898,-0.00143744, 0.68934365, 0.0656261 , 0.09352415,-0.07028572,
  0.13096641, 0.5042097 , 0.49502839, 0.49430333, 0.50634344]

qacc:
[ -4.07402315, -2.1895319 , 10.21194123,-21.16171091, -3.36896077,
  -1.87879391,  5.06496377, -2.80039147,  0.90456166, -3.30553137,
  14.4376789 ,-25.95921734, -0.51245696, -0.2578155 , -0.5072237 ,
  -2.5924427 ,  0.11739342,  1.00610531,  0.06965413,  1.49955118,
   0.43857636,-14.53983739]

qfrc_actuator:
[-7.26390100e-05, 2.82045226e-05, 7.01463139e-05, 6.05384416e-05,
  1.10102734e-05,-3.31934637e-04,-2.56924877e-04,-2.40438513e-05,
  3.27706500e-05,-6.88831701e-06,-9.22106522e-05,-8.48378106e-06,
  4.31871843e-02,-9.13846951e-04, 2.52887979e-02,-4.06676818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035760170982133965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88079459e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.88079459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148159, -0.08814324,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39216134e-05,-6.96632547e-06, 1.38914239e-05,-3.08632047e-05,
 -1.99541670e-05,-4.64717550e-05, 2.10514253e-05, 6.94846479e-06,
  5.16573226e-06, 3.12624643e-05, 5.12994048e-05,-2.68777489e-05,
 -2.84395203e-04,-9.39767788e-05,-1.88075958e-04,-6.74425278e-05,
 -7.17128404e-07, 3.65830955e-07,-1.21644169e+00,-4.55547042e-04,
  1.45932831e-05,-5.55602374e-04]


--- Step 486 ---
qpos:
[ 0.01204543,-0.00120214, 0.00244653, 0.04197128, 0.00458943,-0.00234262,
 -0.01820471, 0.0284605 , 0.0131861 , 0.00447552,-0.01026594, 0.02641328,
  0.87754967,-0.00143598, 0.69018601, 0.06562176, 0.09353575,-0.07028733,
  0.13097517, 0.50416967, 0.49508157, 0.49433353, 0.50630183]

qacc:
[ 6.46650598e-01,-1.68493338e+00, 6.99756811e+00,-1.32992322e+01,
 -2.09020917e+00,-1.17723458e+00, 3.12330185e+00,-1.72874411e+00,
  4.88169298e-01,-2.17870266e+00, 1.01061418e+01,-1.80202169e+01,
 -2.14863697e-01,-1.09164154e+00,-1.07814792e+01, 3.32746734e+01,
  1.15327202e-01, 9.96683042e-01,-1.77840543e-02, 1.51795152e+00,
  4.17014461e-01,-1.44105896e+01]

qfrc_actuator:
[-6.82453087e-05, 6.51652066e-07, 7.53669996e-05, 4.16572585e-05,
 -7.86082343e-07,-3.45153724e-04,-2.39486398e-04,-1.91424758e-05,
  3.54073846e-05, 3.44157120e-05,-4.94985641e-05,-2.54254325e-05,
  4.31090430e-02,-9.51016378e-04, 2.52325103e-02,-3.92144098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034986007267741315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57000127e-13,  7.93333615e-14,  1.00000000e+00,  2.83220201e-26,
        1.00000000e+00, -7.93333615e-14, -1.00000000e+00,  0.00000000e+00,
       -3.57000127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09148113, -0.08814535,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71181657e-06,-2.99012032e-05, 4.42473296e-06,-1.92989711e-05,
 -1.23828771e-05,-3.45653601e-05, 1.06744524e-05, 3.77445468e-06,
  2.79195462e-06, 6.82518715e-05, 5.45662696e-05,-1.43480825e-05,
 -2.82686260e-04,-1.03292081e-04,-1.53716515e-04, 1.16522379e-04,
 -5.58520635e-07, 8.64223229e-08,-1.21644124e+00,-4.56021718e-04,
  1.39550204e-05,-5.55749903e-04]


--- Step 487 ---
qpos:
[ 0.0120449 ,-0.00120278, 0.00244722, 0.0419707 , 0.00458928,-0.00234298,
 -0.01820491, 0.02846131, 0.01318644, 0.00447564,-0.0102648 , 0.02641276,
  0.87848854,-0.0014343 , 0.69102666, 0.06561782, 0.09354781,-0.07028498,
  0.13098358, 0.50414221, 0.49512173, 0.49437985, 0.50624467]

qacc:
[  6.61237968, -0.64999125,  3.05691743, -6.93448056, -1.25923519,
   3.12815201,-14.28618151, 28.26325097, -2.78250762, -1.1965016 ,
   3.75982944, -1.69435731, -1.40067684,  2.40801268, -3.63931674,
   9.2050848 ,  0.11384797,  0.98914356, -0.08983044,  1.53423267,
   0.39848581,-14.30652888]

qfrc_actuator:
[-2.96346389e-05, 2.24463580e-06, 7.80974210e-05, 3.06812781e-05,
 -7.71632972e-06,-3.34962988e-04,-2.64860678e-04, 1.92254658e-05,
  1.89406468e-05, 2.34642106e-05,-2.44860819e-05,-1.73298105e-05,
  4.30177245e-02,-9.37986057e-04, 2.51472211e-02,-3.90505719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000341139829181894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06806436e-14,  2.44083862e-13,  1.00000000e+00, -9.92948858e-27,
        1.00000000e+00, -2.44083862e-13, -1.00000000e+00,  0.00000000e+00,
        4.06806436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914807 , -0.08814772,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87075158e-05,-1.50233619e-05,-3.56858563e-06,-1.24790405e-05,
 -7.29610211e-06,-6.76555280e-06,-3.10673139e-05, 3.73299690e-05,
 -1.63648457e-05, 3.78708873e-05, 4.53316697e-05, 1.26297889e-05,
 -2.96014580e-04,-5.42800360e-05,-1.47261936e-04, 2.05664082e-06,
 -3.95569590e-07,-1.04268990e-07,-1.21644107e+00,-4.56496392e-04,
  1.32471866e-05,-5.55808275e-04]


--- Step 488 ---
qpos:
[ 0.01204553,-0.00120309, 0.00244745, 0.04196997, 0.00458904,-0.00234298,
 -0.01820558, 0.02846218, 0.01318624, 0.00447553,-0.01026314, 0.02641274,
  0.87942559,-0.00143244, 0.69186588, 0.06561171, 0.09356031,-0.0702787 ,
  0.13099139, 0.50412724, 0.49514901, 0.4944422 , 0.50617201]

qacc:
[ 1.01429938e+01, 1.40280129e+00,-3.76775770e+00, 1.69398403e+00,
 -7.42383339e-01, 1.91700314e+00,-6.38385632e+00, 7.89846304e+00,
 -4.77121015e+00,-7.18255137e-01, 8.89392266e-04, 8.02932134e+00,
 -1.46024571e+00, 2.51270123e+00, 4.48405887e+00,-1.85837294e+01,
  1.12846097e-01, 9.83211589e-01,-1.48892506e-01, 1.54907991e+00,
  3.82354625e-01,-1.42241688e+01]

qfrc_actuator:
[ 2.87973864e-05, 3.90258183e-05, 6.17015912e-05, 2.44642249e-05,
 -1.17294097e-05,-2.93221662e-04,-2.79678235e-04, 2.37138393e-05,
 -8.63767431e-06,-1.87433560e-05,-1.03121953e-05, 5.37775837e-06,
  4.29239062e-02,-9.30967869e-04, 2.50712028e-02,-4.01814889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003317365810933254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18337579e-14,  2.51002547e-13,  1.00000000e+00,  1.05003798e-26,
        1.00000000e+00, -2.51002547e-13, -1.00000000e+00,  0.00000000e+00,
       -4.18337579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914803 , -0.08815026,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95300701e-05, 2.71398191e-05,-2.03706765e-05,-7.22739822e-06,
 -4.22385267e-06, 3.31518612e-05,-1.87451863e-05, 3.84971885e-06,
 -2.80309469e-05,-1.11461863e-05, 2.80045882e-05, 2.61439035e-05,
 -2.97761201e-04,-5.64143590e-05,-1.48953272e-04,-1.33238620e-04,
 -2.27464292e-07,-2.08852729e-07,-1.21644117e+00,-4.56973472e-04,
  1.24684474e-05,-5.55778143e-04]


--- Step 489 ---
qpos:
[ 0.01204685,-0.00120315, 0.00244774, 0.04196915, 0.00458842,-0.00234275,
 -0.0182064 , 0.02846275, 0.01318605, 0.004475  ,-0.01026115, 0.02641304,
  0.88036097,-0.00143053, 0.69270328, 0.0656082 , 0.09357327,-0.07026851,
  0.13099842, 0.50412468, 0.49516348, 0.49452052, 0.50608388]

qacc:
[  6.1120984 , -0.04875351,  1.02418507, -2.92036029, -3.43748652,
   0.08041966,  1.42602351, -6.60584947,  0.15965405, -0.85044707,
   0.90689807,  4.25003093, -1.06459158,  1.52813165,-10.48292688,
  32.86904217,  0.1122334 ,  0.97865214, -0.19703586,  1.56300773,
   0.36811388,-14.16053775]

qfrc_actuator:
[ 6.29117741e-05, 6.10210945e-05, 6.98044711e-05, 2.11157622e-05,
 -3.17475343e-05,-2.86152263e-04,-2.88019034e-04, 8.27003891e-06,
 -7.02404211e-06,-6.16342334e-05,-2.78265093e-06, 1.87073137e-05,
  4.28499567e-02,-9.27611673e-04, 2.50274113e-02,-3.86923332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032189175105526435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31132136e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.31132136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147992, -0.08815291,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58194468e-05, 3.26835981e-05, 1.09495106e-05,-3.03201968e-06,
 -2.01264380e-05, 2.19051347e-05,-3.66301839e-06,-1.45970387e-05,
  8.12462624e-07,-4.22445419e-05, 9.56400867e-06, 1.43273949e-05,
 -2.79622041e-04,-6.06803027e-05,-1.33155455e-04, 1.20875959e-04,
 -5.35474716e-08,-2.29382942e-07,-1.21644153e+00,-4.57454952e-04,
  1.16175858e-05,-5.55660033e-04]


--- Step 490 ---
qpos:
[ 0.01204857,-0.00120335, 0.00244858, 0.04196796, 0.00458756,-0.00234259,
 -0.01820689, 0.02846279, 0.01318657, 0.00447429,-0.01025942, 0.0264135 ,
  0.88129481,-0.00142893, 0.69353956, 0.06560569, 0.09358667,-0.07025441,
  0.1310045 , 0.50413449, 0.49516521, 0.49461476, 0.50598031]

qacc:
[  3.52911322, -2.48067628, 10.12774136,-17.2297175 , -2.04815744,
  -2.08360631,  9.53521959,-19.17107237,  6.2455408 ,  0.83322338,
  -4.02010959,  7.46484798, -0.68490347,  0.39131996, -4.64887535,
  13.92596656,  0.11193888,  0.97526499, -0.23603013,  1.57639976,
   0.35535893,-14.11310416]

qfrc_actuator:
[ 8.24337036e-05, 3.85918319e-05, 9.22688693e-05, 1.74032768e-06,
 -4.32742251e-05,-2.99887059e-04,-2.74857511e-04,-1.87945199e-05,
  2.95145505e-05,-6.91473153e-05,-1.70132502e-05, 2.64012117e-05,
  4.27773303e-02,-9.44139165e-04, 2.49923919e-02,-3.81554205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003118010671109561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.2254234e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.2254234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147956, -0.08815562,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05521190e-05,-2.01141749e-06, 3.04556354e-05,-1.76557870e-05,
 -1.20923684e-05,-2.87467569e-06, 1.67362508e-05,-2.65357521e-05,
  3.65463449e-05,-2.85517444e-05,-2.13008935e-05, 6.48932091e-06,
 -2.66738282e-04,-7.78214462e-05,-8.82434058e-05, 4.19781878e-05,
  1.26724561e-07,-1.67475317e-07,-1.21644216e+00,-4.57942527e-04,
  1.06934531e-05,-5.55454361e-04]


--- Step 491 ---
qpos:
[ 0.01205052,-0.00120385, 0.0024498 , 0.04196693, 0.00458623,-0.00234242,
 -0.01820694, 0.02846214, 0.01318753, 0.00447357,-0.01025853, 0.02641441,
  0.882227  ,-0.00142719, 0.69437437, 0.06560192, 0.09360052,-0.07023642,
  0.13100951, 0.50415662, 0.49515426, 0.49472489, 0.5058613 ]

qacc:
[  1.96020135, -1.13663225,  2.79268956, -0.42729779, -4.16484627,
  -2.62486732, 12.30278359,-24.94947321,  3.79107327,  3.2635212 ,
 -13.59113047, 22.82264539, -1.25940356,  2.08172154,  1.69917116,
  -8.95772165,  0.11190536,  0.97287983, -0.26738876,  1.58953972,
   0.34376658,-14.07971387]

qfrc_actuator:
[ 9.32182576e-05, 7.53619285e-06, 1.05078383e-04, 8.56254318e-06,
 -6.74584790e-05,-2.90394915e-04,-2.49205101e-04,-5.24835287e-05,
  5.08021693e-05,-7.32713571e-05,-6.15931191e-05, 4.84861804e-05,
  4.26948931e-02,-9.36764929e-04, 2.48934023e-02,-3.88944110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030162182843233853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76063332e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.76063332e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147922, -0.08815835,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13680254e-05,-2.66443715e-05, 1.55266002e-05, 7.44612057e-06,
 -2.45297452e-05, 1.02001507e-05, 2.62064176e-05,-3.37483678e-05,
  2.23162054e-05,-2.41935278e-05,-5.28906960e-05, 2.02459280e-05,
 -2.71229545e-04,-5.38276861e-05,-1.42961833e-04,-8.48520451e-05,
  3.13811507e-07,-2.44019700e-08,-1.21644304e+00,-4.58437668e-04,
  9.69493448e-06,-5.55161446e-04]


--- Step 492 ---
qpos:
[ 0.01205189,-0.00120441, 0.0024508 , 0.04196635, 0.00458496,-0.00234214,
 -0.01820704, 0.0284618 , 0.01318839, 0.00447222,-0.01025768, 0.02641596,
  0.88315756,-0.00142536, 0.69520667, 0.06559939, 0.09361482,-0.07021455,
  0.13101335, 0.50419104, 0.49513066, 0.49485088, 0.50572684]

qacc:
[ -5.0642834 ,  1.43968032, -7.11922691, 15.19709141,  0.56925861,
   0.92378535, -4.39676151,  9.79753677, -0.83941731,  0.55559218,
  -5.85639797, 17.25712349, -1.11272593,  1.72225082, -7.42276572,
  20.67214484,  0.11208673,  0.97135217, -0.29240356,  1.60263552,
   0.33307852,-14.05853619]

qfrc_actuator:
[ 6.32736490e-05, 7.03834870e-06, 9.42979006e-05, 3.07258839e-05,
 -6.33962901e-05,-2.84772992e-04,-2.51809952e-04,-3.65182910e-05,
  4.51789941e-05,-1.28709296e-04,-7.04391213e-05, 7.88512992e-05,
  4.26119608e-02,-9.33110313e-04, 2.47667538e-02,-3.82499955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029147911641477786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52232049e-14, -9.52232049e-14,  1.00000000e+00, -9.06745874e-27,
        1.00000000e+00,  9.52232049e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52232049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147889, -0.08816107,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96309061e-05,-1.18674048e-05,-1.41228108e-05, 2.17038308e-05,
  3.36641999e-06, 1.52799705e-05, 1.56353557e-06, 1.66545630e-05,
 -4.99747435e-06,-7.90003591e-05,-1.96615792e-05, 2.78891048e-05,
 -2.70513845e-04,-5.50144334e-05,-2.07784195e-04, 3.98803326e-05,
  5.08110920e-07, 1.98831836e-07,-1.21644419e+00,-4.58941692e-04,
  8.62092511e-06,-5.54781525e-04]


--- Step 493 ---
qpos:
[ 0.01205323,-0.00120502, 0.00245165, 0.04196602, 0.00458409,-0.00234185,
 -0.0182074 , 0.02846168, 0.01318918, 0.00447067,-0.01025681, 0.0264171 ,
  0.88408657,-0.00142403, 0.69603701, 0.06559326, 0.09362957,-0.07018879,
  0.13101594, 0.50423772, 0.49509444, 0.49499273, 0.50557691]

qacc:
[-2.18870406e-01, 9.07168077e-01,-4.43108359e+00, 9.26147386e+00,
  3.52750564e+00, 1.17633814e+00,-5.12441525e+00, 9.37960330e+00,
 -6.50312821e-01,-1.13994807e+00, 5.40103285e+00,-1.22495044e+01,
 -6.15438590e-01, 9.89965921e-03, 7.98809799e+00,-3.21062326e+01,
  1.12445809e-01, 9.70559657e-01,-3.12174852e-01, 1.61583777e+00,
  3.23088044e-01,-1.40480178e+01]

qfrc_actuator:
[ 6.28577658e-05, 7.00391883e-06, 8.75560663e-05, 4.39905956e-05,
 -4.27375597e-05,-2.99333328e-04,-2.71057476e-04,-2.69914400e-05,
  4.15187972e-05,-1.07788056e-04,-5.83120122e-05, 6.05710102e-05,
  4.25181379e-02,-9.67218463e-04, 2.46502870e-02,-4.01685251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028147109374998536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.97217947e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.97217947e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147858, -0.08816376,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26246253e-06,-8.66283224e-06,-1.01856713e-05, 1.26914114e-05,
  2.07593284e-05,-4.98625305e-06,-1.53240454e-05, 1.05601126e-05,
 -3.83324649e-06,-2.60856674e-05,-5.64465717e-06,-2.18052786e-05,
 -2.81422238e-04,-9.27068735e-05,-2.09463646e-04,-2.16852933e-04,
  7.09974342e-07, 5.01425500e-07,-1.21644559e+00,-4.59455801e-04,
  7.47031386e-06,-5.54314759e-04]


--- Step 494 ---
qpos:
[ 0.01205421,-0.00120575, 0.0024527 , 0.04196619, 0.00458348,-0.00234174,
 -0.01820783, 0.02846066, 0.01318957, 0.00446937,-0.01025627, 0.02641729,
  0.88501398,-0.00142337, 0.69686507, 0.06558646, 0.09364477,-0.07015915,
  0.13101722, 0.50429667, 0.49504561, 0.49515042, 0.50541149]

qacc:
[ -3.1605009 ,  0.30639366, -3.38865119, 11.66165482,  2.23099552,
  -1.90220027, 10.25306971,-25.69334923, -3.49452064, -0.69039412,
   6.94722853,-23.03996768, -0.3823564 , -0.69989196, -1.34017027,
  -0.21255503,  0.11295259,  0.97039895, -0.32763776,  1.62925408,
   0.31362961,-14.04684288]

qfrc_actuator:
[ 4.43329207e-05, 7.25389425e-06, 1.01013461e-04, 6.96727306e-05,
 -3.02377216e-05,-3.25944799e-04,-2.82310887e-04,-7.46200442e-05,
  2.13001522e-05,-7.67520995e-05,-6.91528031e-05, 1.38817774e-05,
  4.24284839e-02,-1.00566106e-03, 2.45665972e-02,-4.03859294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027167351574103327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53247781e-13,  2.04330375e-13,  1.00000000e+00, -3.13131765e-26,
        1.00000000e+00, -2.04330375e-13, -1.00000000e+00,  0.00000000e+00,
        1.53247781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147828, -0.08816639,  0.06199224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85627876e-05,-6.14646495e-06, 1.08491712e-05, 2.52055923e-05,
  1.30904072e-05,-3.21113676e-05,-1.38054240e-05,-4.81674678e-05,
 -2.03392934e-05, 1.43925815e-05,-1.76726319e-05,-4.84275351e-05,
 -2.92130814e-04,-1.04161239e-04,-2.07149581e-04,-6.15225277e-05,
  9.19719238e-07, 8.82732621e-07,-1.21644726e+00,-4.59981124e-04,
  6.24197186e-06,-5.53761246e-04]


--- Step 495 ---
qpos:
[ 0.01205427,-0.00120635, 0.00245383, 0.0419663 , 0.00458337,-0.00234202,
 -0.01820773, 0.02845871, 0.01318971, 0.00446829,-0.01025594, 0.02641726,
  0.88593968,-0.00142284, 0.69769068, 0.06558301, 0.09366042,-0.07012563,
  0.13101715, 0.50436785, 0.49498418, 0.49532396, 0.50523054]

qacc:
[ -8.08245935, -0.15481853,  1.08774233, -2.41562007,  4.40284914,
  -3.8800152 , 16.99718666,-33.54131803, -2.17070845,  0.43440166,
  -0.1622218 , -3.53852286, -0.86337778,  0.8467105 ,-13.65968549,
  42.61967174,  0.11358286,  0.97078297, -0.33958521,  1.64296001,
   0.30457048,-14.05389935]

qfrc_actuator:
[-2.46399285e-06, 2.55205247e-05, 1.08548595e-04, 6.69660275e-05,
 -4.89307510e-06,-3.41843358e-04,-2.53339720e-04,-1.19995952e-04,
  9.24985744e-06,-5.77542472e-05,-7.56715026e-05, 4.11408315e-06,
  4.23467161e-02,-1.01084337e-03, 2.44920222e-02,-3.85323583e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026214356226651747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05879295e-13,  1.05879295e-13,  1.00000000e+00, -1.12104252e-26,
        1.00000000e+00, -1.05879295e-13, -1.00000000e+00,  0.00000000e+00,
        1.05879295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147799, -0.08816896,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.73274414e-05, 1.81545074e-05, 8.46940500e-06,-2.10454268e-06,
  2.57093885e-05,-3.87628894e-05, 1.89768024e-05,-4.81646769e-05,
 -1.26239469e-05, 2.13550081e-05,-7.38841323e-06,-1.07026793e-05,
 -2.93214013e-04,-7.47282532e-05,-1.79017464e-04, 1.54691128e-04,
  1.13763783e-06, 1.34222000e-06,-1.21644918e+00,-4.60518737e-04,
  4.93474467e-06,-5.53121029e-04]


--- Step 496 ---
qpos:
[ 0.01205343,-0.00120654, 0.00245464, 0.04196602, 0.00458356,-0.00234242,
 -0.01820741, 0.02845657, 0.01318971, 0.00446772,-0.01025641, 0.02641712,
  0.88686357,-0.0014218 , 0.69851401, 0.06557948, 0.09367653,-0.07008822,
  0.13101567, 0.50445128, 0.49491015, 0.49551337, 0.50503401]

qacc:
[ -7.98465495,  0.63602467,  0.18859267, -6.7424576 ,  2.67888129,
  -1.20250972,  4.85024764, -8.47048308, -1.31800368,  2.65907706,
  -8.0413331 ,  7.00167941, -1.7026973 ,  3.38848253, -3.07062523,
   6.05624669,  0.11431707,  0.97163851, -0.34868793,  1.65700746,
   0.29580402,-14.06824893]

qfrc_actuator:
[-4.77681464e-05, 5.43976709e-05, 9.48217140e-05, 4.75839743e-05,
  1.00587654e-05,-3.33293432e-04,-2.36310997e-04,-1.28135052e-04,
  2.10881217e-06,-2.83097482e-05,-1.15093345e-04,-1.60012566e-06,
  4.22697492e-02,-9.78572020e-04, 2.43591037e-02,-3.86691173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025292308495689086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09739195e-13,  1.09739195e-13,  1.00000000e+00, -1.20426908e-26,
        1.00000000e+00, -1.09739195e-13, -1.00000000e+00,  0.00000000e+00,
        1.09739195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147772, -0.08817144,  0.06199277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66437572e-05, 4.06802112e-05,-9.01111269e-06,-1.83516591e-05,
  1.56728762e-05,-1.12484522e-05, 9.69857003e-06,-1.00773478e-05,
 -7.49458679e-06, 3.94327099e-05,-3.62816047e-05,-5.26070267e-06,
 -2.82782320e-04,-3.38112913e-05,-2.00854565e-04,-2.87879163e-05,
  1.36400362e-06, 1.87943430e-06,-1.21645136e+00,-4.61069687e-04,
  3.54744678e-06,-5.52394097e-04]


--- Step 497 ---
qpos:
[ 0.01205205,-0.00120637, 0.00245529, 0.04196516, 0.00458427,-0.0023427 ,
 -0.01820757, 0.02845436, 0.01318963, 0.00446736,-0.01025727, 0.02641691,
  0.88778571,-0.00142036, 0.69933513, 0.06557674, 0.09368809,-0.07005886,
  0.13101557, 0.50452035, 0.4948461 , 0.49565869, 0.50488514]

qacc:
[ -4.72931815, -0.24795508,  4.03255821,-14.06955961,  4.56500994,
   1.33986206, -4.28579034,  3.84212279, -0.76898698,  1.27248361,
  -3.89482702,  3.38986701, -1.50414466,  2.84107943, -5.57121717,
  14.91255694, -1.13783824, -2.01086059,  0.34259256,-16.87098991,
   1.71339384, 29.03016087]

qfrc_actuator:
[-7.40692151e-05, 7.15529014e-05, 8.64486448e-05, 1.85476235e-05,
  3.65228199e-05,-3.27923760e-04,-2.61860775e-04,-1.32044679e-04,
 -2.08802312e-06,-2.84677803e-05,-1.38082519e-04,-4.90423394e-06,
  4.21850808e-02,-9.59939751e-04, 2.42711389e-02,-3.82040795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024718752533520183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.36856509e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.36856509e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009665, -0.03406322,  0.06199293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76128836e-05, 3.72406826e-05,-1.71882016e-06,-2.79611781e-05,
  2.69072035e-05, 6.72150812e-07,-2.70220276e-05,-4.24788529e-06,
 -4.39664116e-06, 1.41969763e-05,-1.94819602e-05,-2.96905366e-06,
 -2.76019296e-04,-3.97250445e-05,-1.86233623e-04, 1.83875686e-05,
  1.59907624e-06, 2.49397485e-06,-1.21645381e+00,-4.61635008e-04,
  2.07885776e-06,-5.51580396e-04]


--- Step 498 ---
qpos:
[ 0.0120514 ,-0.00120601, 0.00245616, 0.04196395, 0.0045853 ,-0.00234303,
 -0.01820775, 0.02845281, 0.01318949, 0.00446699,-0.01025807, 0.02641702,
  0.88870607,-0.00141834, 0.70015487, 0.06557503, 0.09369524,-0.07003733,
  0.13101581, 0.50457562, 0.49479178, 0.49576103, 0.50478267]

qacc:
[  6.41872924, -1.10058243,  5.73426746,-12.21135987,  2.73369018,
   1.34195289, -7.63026551, 18.98286718, -0.43455807,  0.45106151,
  -2.88631406,  8.02318136, -1.7451476 ,  3.53768014, -5.01856732,
  14.83903675, -1.10331615, -1.96020612,  0.0834469 ,-16.47982032,
   1.60516936, 28.23277712]

qfrc_actuator:
[-3.57176917e-05, 8.15625664e-05, 9.90171061e-05, 1.81727771e-06,
  5.18015634e-05,-3.24661672e-04,-2.59091956e-04,-9.79630080e-05,
 -4.52034580e-06,-2.85416682e-05,-1.33538529e-04, 1.09801478e-05,
  4.20958506e-02,-9.31820470e-04, 2.42475033e-02,-3.75637703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000265378992119758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04588443e-13,  2.09176886e-13,  1.00000000e+00, -2.18774849e-26,
        1.00000000e+00, -2.09176886e-13, -1.00000000e+00,  0.00000000e+00,
        1.04588443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1100932 , -0.0340728 ,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75791685e-05, 2.92648613e-05, 1.90766801e-05,-1.57371050e-05,
  1.60477354e-05,-2.09916723e-06,-5.58964113e-07, 3.30976140e-05,
 -2.55345197e-06, 3.73560748e-06, 4.98911020e-06, 1.57642638e-05,
 -2.77112652e-04,-2.98326379e-05,-1.10380782e-04, 4.03166537e-05,
  8.75476807e-07, 1.67191018e-06,-1.21644832e+00,-4.60886262e-04,
  5.53939988e-06,-5.50574407e-04]


--- Step 499 ---
qpos:
[ 0.0120519 ,-0.00120523, 0.00245682, 0.04196221, 0.00458581,-0.00234331,
 -0.01820769, 0.02845233, 0.01318898, 0.00446662,-0.01025936, 0.02641735,
  0.88962484,-0.00141632, 0.70097284, 0.06557642, 0.09369809,-0.07002348,
  0.1310155 , 0.50461752, 0.49474694, 0.4958213 , 0.50472553]

qacc:
[ 1.01288008e+01, 1.36535475e-02, 2.96644113e+00,-1.21508353e+01,
 -4.50302829e+00, 1.64522688e+00,-1.03315547e+01, 2.86262132e+01,
 -3.29774988e+00, 1.82722751e+00,-7.47496986e+00, 1.21894576e+01,
 -9.44807036e-01, 1.26499820e+00,-1.19588366e+01, 3.81193123e+01,
 -1.07475637e+00,-1.91763590e+00,-1.35001460e-01,-1.61504602e+01,
  1.51648956e+00, 2.75671057e+01]

qfrc_actuator:
[ 2.26206570e-05, 1.05060853e-04, 8.83218586e-05,-2.52826852e-05,
  2.48656736e-05,-3.04794219e-04,-2.39592167e-04,-4.17769228e-05,
 -2.36482968e-05,-4.61915975e-05,-1.66032633e-04, 2.02883496e-05,
  4.20199284e-02,-9.33854393e-04, 2.41772559e-02,-3.59361864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47181733,  3.62250989,  2.62194056,  3.62250989,  6.25455136,
       -2.46305037,  2.62194056, -2.46305037,  7.87480229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027806542217145847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.9816710e-14,  9.9816710e-14,  1.0000000e+00,  9.9633756e-27,
        1.0000000e+00, -9.9816710e-14, -1.0000000e+00,  0.0000000e+00,
       -9.9816710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009089, -0.03407949,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94157393e-05, 4.31242103e-05,-2.85786024e-06,-2.54939877e-05,
 -2.64802392e-05, 2.00196204e-05, 2.01513352e-05, 5.67248691e-05,
 -1.92020140e-05,-1.38337289e-05,-3.05490766e-05, 9.95017701e-06,
 -2.61942463e-04,-5.91955666e-05,-1.23591413e-04, 1.49108851e-04,
  3.63595647e-07, 1.01786938e-06,-1.21644434e+00,-4.60384314e-04,
  7.97220725e-06,-5.49877256e-04]


--- Step 500 ---
qpos:
[ 0.01205276,-0.0012046 , 0.00245759, 0.04196021, 0.004586  ,-0.00234329,
 -0.01820751, 0.02845251, 0.01318859, 0.00446592,-0.0102606 , 0.02641745,
  0.89054206,-0.0014143 , 0.7017889 , 0.06557946, 0.09369673,-0.07001716,
  0.13101391, 0.50464642, 0.49471141, 0.49584028, 0.50471281]

qacc:
[  3.09037761, -1.01517655,  4.42871849, -8.97435009, -2.86577081,
   1.37727388, -7.05897725, 17.856238  ,  1.06145611, -1.06754206,
   4.15378345, -8.00682024, -0.94872815,  1.258332  , -7.7279089 ,
  23.06014939, -1.0511875 , -1.88194084, -0.31910767,-15.87426682,
   1.44310627, 27.01255183]

qfrc_actuator:
[ 3.89770213e-05, 6.53438159e-05, 8.17663396e-05,-4.05250243e-05,
  8.80794715e-06,-2.75035167e-04,-2.28052244e-04,-8.52398329e-06,
 -1.69450885e-05,-7.43837104e-05,-1.66969532e-04, 7.85159558e-06,
  4.19413843e-02,-9.35892608e-04, 2.40738023e-02,-3.51613634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.49659161,  -3.87503132,  -2.28111123,  -3.87503132,
        15.22999487, -18.23333878,  -2.28111123, -18.23333878,
        35.47042489,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00028624682233269194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69637860e-14,  9.69637860e-14,  1.00000000e+00,  9.40197579e-27,
        1.00000000e+00, -9.69637860e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69637860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008952, -0.03408381,  0.06199182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80601193e-05,-1.72970483e-05, 1.10236100e-06,-1.39918301e-05,
 -1.68092273e-05, 4.75487101e-05, 2.01248924e-05, 3.59147865e-05,
  6.15121313e-06,-4.17924873e-05,-7.19401939e-06,-1.38893037e-05,
 -2.60350920e-04,-6.02452837e-05,-1.49304561e-04, 6.85243970e-05,
  4.21092916e-08, 5.15551206e-07,-1.21644173e+00,-4.60090785e-04,
  9.45837588e-06,-5.49471404e-04]


--- Step 501 ---
qpos:
[ 0.0120538 ,-0.00120457, 0.00245902, 0.04195875, 0.00458633,-0.0023429 ,
 -0.01820716, 0.02845238, 0.01318898, 0.00446508,-0.01026189, 0.02641704,
  0.89145771,-0.0014123 , 0.70260366, 0.06558066, 0.09369125,-0.07001824,
  0.13101043, 0.50466263, 0.49468503, 0.49581859, 0.50474377]

qacc:
[  1.70311073, -1.55405229,  2.11200478,  6.63267161,  1.31953129,
  -0.58483288,  4.0667992 , -9.83925489,  6.80162698, -1.09564976,
   5.75441731,-14.35622917, -1.09250359,  1.59165964,  3.64061878,
 -15.44681013, -1.03180435, -1.85209456, -0.47422025,-15.64394299,
   1.38162566, 26.55205466]

qfrc_actuator:
[ 4.82383005e-05, 2.35960768e-05, 1.12973085e-04,-1.32081361e-05,
  1.70478868e-05,-2.57372289e-04,-2.21281021e-04,-2.45370409e-05,
  2.26658146e-05,-7.30715002e-05,-1.67072140e-04,-1.72636883e-05,
  4.18613222e-02,-9.37911325e-04, 2.40037574e-02,-3.61387039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5106844 ,  -4.08660361,  -1.90943569,  -4.08660361,
        10.89935335, -13.67312748,  -1.90943569, -13.67312748,
        33.77412196,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029076274804154534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54578116e-14,  1.43186717e-13,  1.00000000e+00, -1.36682907e-26,
        1.00000000e+00, -1.43186717e-13, -1.00000000e+00,  0.00000000e+00,
        9.54578116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008892, -0.03408622,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.76718610e-06,-5.18157460e-05, 2.72721054e-05, 2.63420760e-05,
  7.77476582e-06, 4.99387234e-05, 2.03121257e-05,-1.25801952e-05,
  3.97684991e-05,-2.40992639e-05,-1.00803706e-05,-2.74217480e-05,
 -2.61313268e-04,-5.99657224e-05,-1.35728770e-04,-1.14272098e-04,
 -1.05051035e-07, 1.52698953e-07,-1.21644043e+00,-4.59976751e-04,
  1.00610829e-05,-5.49343160e-04]


--- Step 502 ---
qpos:
[ 0.01205426,-0.00120432, 0.00246022, 0.04195793, 0.00458642,-0.00234234,
 -0.01820662, 0.02845173, 0.01318983, 0.00446421,-0.01026299, 0.02641664,
  0.8923719 ,-0.00141062, 0.70341706, 0.06558126, 0.0936817 ,-0.07002663,
  0.13100453, 0.50466639, 0.49466766, 0.49575674, 0.50481778]

qacc:
[ -5.17298115,  2.27341333,-10.39912798, 21.73381476, -2.17727644,
  -1.394661  ,  7.46473059,-16.79361095,  4.15585676, -0.52835106,
   1.75600159, -1.76023981, -0.66505476,  0.35022489, -0.15706385,
  -2.31135275, -1.01593673, -1.82722212, -0.60486207,-15.45328927,
   1.32933012, 26.17140355]

qfrc_actuator:
[ 1.77576950e-05, 6.98980752e-05, 1.12965479e-04, 2.11933462e-05,
  4.01431638e-06,-2.64903594e-04,-2.17450658e-04,-5.16637322e-05,
  4.58150433e-05,-5.41052233e-05,-1.48829667e-04,-1.41096749e-05,
  4.17857315e-02,-9.57672869e-04, 2.39590993e-02,-3.63638693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029231687810558904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49503012e-14, -1.42425452e-13,  1.00000000e+00, -1.35233395e-26,
        1.00000000e+00,  1.42425452e-13, -1.00000000e+00,  0.00000000e+00,
       -9.49503012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008892, -0.0340871 ,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02243288e-05, 2.40734091e-05,-6.45586283e-06, 3.36372927e-05,
 -1.27946734e-05, 2.40354945e-05, 1.62035272e-05,-2.45302394e-05,
  2.42681717e-05, 2.29415747e-06, 1.10987017e-05, 1.24289470e-06,
 -2.57551825e-04,-7.78486752e-05,-1.26087496e-04,-4.78773235e-05,
 -8.98857597e-08,-7.96672955e-08,-1.21644034e+00,-4.60020253e-04,
  9.82924765e-06,-5.49481785e-04]


--- Step 503 ---
qpos:
[ 0.01205366,-0.00120352, 0.00246094, 0.04195751, 0.00458635,-0.0023417 ,
 -0.01820542, 0.02845075, 0.01319027, 0.00446336,-0.01026361, 0.02641591,
  0.89328438,-0.00140853, 0.70422916, 0.06558183, 0.09366814,-0.07004225,
  0.13099577, 0.5046579 , 0.49465918, 0.49565515, 0.50493433]

qacc:
[ -9.33064726,  2.90262615,-10.90458207, 17.99167771, -1.35558215,
  -2.41800994, 10.22929972,-17.24530578, -3.67169255, -2.01685867,
   8.64946655,-15.21880268, -1.55440332,  2.98369279, -1.74356021,
   3.51026737, -1.00302492, -1.80657539, -0.71487178,-15.2970142 ,
   1.28403851, 25.85870774]

qfrc_actuator:
[-3.58664915e-05, 1.15206468e-04, 9.48696948e-05, 4.17747597e-05,
 -3.69152820e-06,-2.51991971e-04,-1.79986203e-04,-6.73752263e-05,
  2.35741819e-05,-4.23608290e-05,-1.19799384e-04,-2.98201529e-05,
  4.17022200e-02,-9.34498445e-04, 2.39137468e-02,-3.63202169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002914977443188027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90434239e-13, -2.85651359e-13,  1.00000000e+00,  5.43977993e-26,
        1.00000000e+00,  2.85651359e-13, -1.00000000e+00,  0.00000000e+00,
        1.90434239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11008943, -0.03408673,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.44786351e-05, 5.88447430e-05,-1.27688296e-05, 2.20439166e-05,
 -8.06203922e-06, 2.86182023e-05, 4.35652955e-05,-1.45986801e-05,
 -2.15550337e-05, 1.54297041e-05, 3.09381398e-05,-1.51994929e-05,
 -2.66351280e-04,-3.67301954e-05,-1.15026445e-04,-1.60710301e-05,
  7.87834881e-08,-1.87829999e-07,-1.21644143e+00,-4.60204456e-04,
  8.80037916e-06,-5.49878814e-04]


--- Step 504 ---
qpos:
[ 0.01205311,-0.00120258, 0.0024619 , 0.04195664, 0.00458688,-0.00234074,
 -0.01820384, 0.02844923, 0.01319044, 0.00446222,-0.01026344, 0.02641502,
  0.89419512,-0.00140581, 0.70503974, 0.06558244, 0.09365061,-0.07006503,
  0.13098378, 0.5046373 , 0.4946595 , 0.49551415, 0.50509296]

qacc:
[  0.46019575, -1.39788994,  7.09376675,-15.15425339,  5.24527771,
  -1.74947615,  9.11312541,-19.25105136, -2.34228661, -2.92407647,
  10.57683972,-14.47740731, -1.78585492,  3.67169348, -2.25977824,
   4.8659569 , -0.99260019, -1.78951345, -0.80751601,-15.17058615,
   1.24399617, 25.60398118]

qfrc_actuator:
[-3.16597820e-05, 1.06233963e-04, 1.01767008e-04, 1.85542813e-05,
  2.73120830e-05,-2.26799844e-04,-1.58381311e-04,-9.39569876e-05,
  1.03064185e-05,-7.04923354e-05,-8.46751307e-05,-3.87551192e-05,
  4.16140295e-02,-9.03930552e-04, 2.38413920e-02,-3.62961343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028879628372095734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.61078005e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.61078005e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009032, -0.0340854 ,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67379123e-06, 2.21871149e-05, 1.82283822e-05,-2.07122042e-05,
  3.07824898e-05, 4.95302555e-05, 3.23583001e-05,-2.41336121e-05,
 -1.38788674e-05,-1.37303373e-05, 4.16163570e-05,-7.49316884e-06,
 -2.68477424e-04,-2.55853875e-05,-1.34039569e-04,-1.49723537e-05,
  3.94642318e-07,-1.75814188e-07,-1.21644365e+00,-4.60516280e-04,
  7.00280895e-06,-5.50527526e-04]


--- Step 505 ---
qpos:
[ 0.0120533 ,-0.00120151, 0.00246269, 0.04195554, 0.00458743,-0.00233968,
 -0.01820217, 0.02844745, 0.01319044, 0.00446111,-0.010263  , 0.0264154 ,
  0.89510439,-0.00140336, 0.70584876, 0.06558172, 0.09362914,-0.0700949 ,
  0.13096825, 0.50460473, 0.49466853, 0.49533399, 0.50529333]

qacc:
[  6.53127297,  0.13820243,  0.74290265, -4.70199329,  0.20048629,
  -0.67020534,  3.63832141, -8.28235798, -1.40582477,  1.91795749,
 -12.18088051, 33.84229912, -0.7398386 ,  0.58329097,  1.70335166,
  -9.27545531, -0.98426914, -1.77548664, -0.88557955,-15.07011563,
   1.20778812, 25.39881334]

qfrc_actuator:
[ 6.55828121e-06, 1.00391968e-04, 8.76231799e-05, 5.23013436e-06,
  2.75916315e-05,-2.47769829e-04,-1.64030841e-04,-1.08974764e-04,
  2.44071305e-06,-5.12395666e-05,-6.41452503e-05, 2.73501027e-05,
  4.15390752e-02,-9.22552055e-04, 2.37582286e-02,-3.69944348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002846207418473884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75177545e-14, -1.95035509e-13,  1.00000000e+00,  1.90194249e-26,
        1.00000000e+00,  1.95035509e-13, -1.00000000e+00,  0.00000000e+00,
        9.75177545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11009152, -0.0340833 ,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82982137e-05, 9.40243675e-06,-8.05227687e-06,-1.21484045e-05,
  1.17456076e-06, 1.23371974e-05, 7.70429851e-06,-1.22487645e-05,
 -8.26977862e-06, 1.98867639e-05, 2.25743749e-05, 6.68157051e-05,
 -2.54523049e-04,-7.36627244e-05,-1.52516470e-04,-8.93704233e-05,
  8.53373686e-07,-4.57231583e-08,-1.21644696e+00,-4.60945369e-04,
  4.45745482e-06,-5.51422543e-04]


--- Step 506 ---
qpos:
[ 0.0120543 ,-0.00120039, 0.002463  , 0.04195535, 0.00458729,-0.00233877,
 -0.0182002 , 0.02844622, 0.01319035, 0.00446087,-0.01026347, 0.02641586,
  0.89601223,-0.00140143, 0.70665597, 0.06558145, 0.0936079 ,-0.07012006,
  0.13095837, 0.50458609, 0.49466416, 0.49517287, 0.5054741 ]

qacc:
[  7.02809521,  3.30008575,-15.53872708, 32.13208613, -6.03875748,
   0.1180801 , -2.94662244, 11.90579322, -0.88003445,  3.84685154,
 -12.35140429, 14.40296809, -0.4111093 , -0.38287788, -3.99589198,
  10.12368543,  0.05687133,  1.18011238,  1.41321078,  2.83943563,
  -0.10856328,-16.49507569]

qfrc_actuator:
[ 4.67175120e-05, 9.63847942e-05, 6.11716903e-05, 5.10796910e-05,
 -7.97997062e-06,-2.60825172e-04,-1.50392639e-04,-8.16156330e-05,
 -2.18473701e-06, 1.39996771e-05,-1.05422341e-04, 3.05876190e-05,
  4.14614478e-02,-9.52295812e-04, 2.36899426e-02,-3.66924866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029404789181201874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00581605e-13, -1.88782687e-13,  1.00000000e+00,  3.78663345e-26,
        1.00000000e+00,  1.88782687e-13, -1.00000000e+00,  0.00000000e+00,
        2.00581605e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149193, -0.08816466,  0.06199159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12489242e-05,-9.65615052e-07,-2.59423339e-05, 4.57339968e-05,
 -3.55335947e-05,-5.14347999e-06, 1.66836458e-05, 2.79138694e-05,
 -4.86015358e-06, 8.39177630e-05,-3.20694891e-05, 6.17217239e-06,
 -2.57834726e-04,-8.85297071e-05,-1.53531039e-04, 4.33021856e-06,
  1.45226895e-06, 2.02004863e-07,-1.21645135e+00,-4.61483315e-04,
  1.17922140e-06,-5.52559518e-04]


--- Step 507 ---
qpos:
[ 0.01205543,-0.0011995 , 0.00246339, 0.04195571, 0.00458707,-0.00233759,
 -0.01819853, 0.02844565, 0.01319056, 0.00446102,-0.01026396, 0.02641531,
  0.89691854,-0.00140008, 0.70746153, 0.06558472, 0.09358693,-0.07014065,
  0.13095295, 0.50458114, 0.49464645, 0.49503023, 0.50563607]

qacc:
[ 1.14137870e+00, 5.69499154e-01,-4.81724733e+00, 1.43765875e+01,
 -7.19545934e-01, 2.55434581e+00,-1.14415540e+01, 2.33486702e+01,
  2.54715177e+00,-1.49055822e+00, 1.03003222e+01,-2.78994725e+01,
 -2.97040766e-01,-7.77099268e-01,-1.31575385e+01, 4.24936821e+01,
  6.73184746e-02, 1.14220655e+00, 1.11404179e+00, 2.57328789e+00,
 -4.06000531e-03,-1.60712654e+01]

qfrc_actuator:
[ 5.21811017e-05, 7.57424741e-05, 6.32204664e-05, 7.81154709e-05,
 -1.11004007e-05,-2.33436066e-04,-1.60925966e-04,-4.72769020e-05,
  1.28851891e-05, 1.72155153e-05,-1.11699251e-04,-2.09528444e-05,
  4.13716148e-02,-9.88365199e-04, 2.36572892e-02,-3.47376263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57790419, -0.84908541, -4.49847316, -0.84908541, 48.31653897,
       -8.25565373, -4.49847316, -8.25565373,  6.13615627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031108034802605766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46115864e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.46115864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149454, -0.08816085,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.63204520e-06,-2.46142666e-05, 2.17590469e-07, 2.69823686e-05,
 -4.13760442e-06, 2.90892490e-05,-8.60436898e-06, 3.52366254e-05,
  1.49610005e-05, 4.37946164e-05, 7.32835627e-06,-4.89329702e-05,
 -2.74980729e-04,-9.76656349e-05,-1.07358456e-04, 1.74847879e-04,
  1.02245727e-06,-1.63694498e-07,-1.21644904e+00,-4.60383200e-04,
  3.32633835e-06,-5.52978673e-04]


--- Step 508 ---
qpos:
[ 0.01205626,-0.00119883, 0.00246383, 0.04195605, 0.00458751,-0.00233615,
 -0.01819755, 0.02844518, 0.01319094, 0.0044613 ,-0.01026416, 0.02641486,
  0.89782323,-0.00139912, 0.70826616, 0.06558889, 0.09356626,-0.0701568 ,
  0.13095097, 0.50458964, 0.49461547, 0.49490557, 0.50577991]

qacc:
[ -2.5250431 , -0.46490851,  1.3785192 , -1.76525471,  5.70489126,
   2.48611358, -8.78002245, 11.39982828,  1.58354938, -0.43985026,
   1.41906199, -0.37408066, -0.67457546,  0.2161128 , -4.0144278 ,
  12.09247378,  0.07510882,  1.11061846,  0.8617101 ,  2.35797918,
   0.07980163,-15.71366976]

qfrc_actuator:
[ 3.71791646e-05, 6.31482709e-05, 6.42403919e-05, 7.61096776e-05,
  2.26688797e-05,-2.35382776e-04,-2.03242711e-04,-4.46035631e-05,
  2.16723022e-05, 1.88451499e-05,-9.75055257e-05,-1.55519458e-05,
  4.12851699e-02,-1.01019227e-03, 2.36194377e-02,-3.43092555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61837811,  0.85334023,  4.53885743,  0.85334023, 11.0616072 ,
       -1.2113768 ,  4.53885743, -1.2113768 ,  4.8461263 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003224551501678635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15189427e-13,  8.60757709e-14,  1.00000000e+00, -1.85225958e-26,
        1.00000000e+00, -8.60757709e-14, -1.00000000e+00,  0.00000000e+00,
        2.15189427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149653, -0.08815841,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48262610e-05,-2.51963671e-05,-3.12119996e-06,-2.53172223e-06,
  3.36602931e-05, 1.39901877e-05,-3.61809335e-05, 4.30306446e-06,
  9.22908226e-06, 2.55438645e-05, 2.24543559e-05, 6.58032788e-06,
 -2.83939071e-04,-8.84327658e-05,-7.39794985e-05, 3.72586716e-05,
  6.30313471e-07,-4.31236559e-07,-1.21644714e+00,-4.59368089e-04,
  5.28068130e-06,-5.53319174e-04]


--- Step 509 ---
qpos:
[ 0.01205657,-0.00119839, 0.00246406, 0.04195604, 0.00458869,-0.00233499,
 -0.01819658, 0.02844478, 0.01319107, 0.00446183,-0.01026479, 0.0264145 ,
  0.8987261 ,-0.00139753, 0.70907039, 0.06558457, 0.09354592,-0.07016861,
  0.1309516 , 0.5046114 , 0.49457126, 0.49479851, 0.50590616]

qacc:
[-4.67094441e+00,-4.04054300e-01, 2.45861054e+00,-7.95898645e+00,
  6.54896331e+00,-2.50671633e-01, 6.04765335e-02, 1.23775723e+00,
 -2.15085640e+00, 1.70491898e+00,-6.02034444e+00, 8.24392631e+00,
 -2.17093339e+00, 4.50392845e+00, 2.50929410e+01,-8.83872994e+01,
  8.08434982e-02, 1.08436423e+00, 6.49179334e-01, 2.18318677e+00,
  1.47523896e-01,-1.54127809e+01]

qfrc_actuator:
[ 1.02632664e-05, 3.76926306e-05, 4.68913815e-05, 5.70349057e-05,
  6.01171306e-05,-2.72795393e-04,-2.10853653e-04,-4.28710677e-05,
  8.93213980e-06, 1.96349287e-05,-1.24582134e-04,-1.21844392e-05,
  4.12061476e-02,-9.70176671e-04, 2.35305301e-02,-3.88673735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64343709,  0.75284986,  4.58200012,  0.75284986, 14.83643228,
       -1.6747697 ,  4.58200012, -1.6747697 ,  4.91861171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000329213756711369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68617350e-13,  8.43086750e-14,  1.00000000e+00, -1.42159054e-26,
        1.00000000e+00, -8.43086750e-14, -1.00000000e+00,  0.00000000e+00,
        1.68617350e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149805, -0.08815708,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73489206e-05,-4.03370461e-05,-2.30397032e-05,-2.03143010e-05,
  3.84145219e-05,-3.69294089e-05,-9.05789928e-06, 1.15810888e-06,
 -1.24696279e-05, 1.99920023e-05,-1.88065858e-05, 5.36771972e-06,
 -2.80440767e-04,-2.71973675e-05,-1.27554216e-04,-4.65361200e-04,
  2.68156863e-07,-6.04217819e-07,-1.21644563e+00,-4.58417733e-04,
  7.06949031e-06,-5.53578248e-04]


--- Step 510 ---
qpos:
[ 0.01205655,-0.00119837, 0.00246471, 0.04195543, 0.00458996,-0.00233402,
 -0.01819574, 0.02844439, 0.01319071, 0.00446232,-0.01026561, 0.02641421,
  0.89962719,-0.00139518, 0.70987293, 0.0655739 , 0.09352591,-0.07017617,
  0.1309541 , 0.50464628, 0.49451389, 0.49470869, 0.50601528]

qacc:
[ -2.83644266, -2.98338195, 12.37893493,-23.11810549,  0.83174473,
   0.14409867, -0.95245765,  1.6225877 , -4.39147213,  0.65934989,
  -2.67862156,  4.14246011, -2.14631629,  4.59403808, 16.79667908,
 -62.14646485,  0.0849917 ,  1.06262138,  0.47050101,  2.04072514,
   0.20263724,-15.16060014]

qfrc_actuator:
[-5.68995601e-06, 2.23914109e-05, 7.20329288e-05, 2.80510943e-05,
  6.39132008e-05,-2.77778918e-04,-2.15803825e-04,-4.17052655e-05,
 -1.63744210e-05, 1.99476725e-06,-1.40329342e-04,-1.00831296e-05,
  4.11263298e-02,-9.29433728e-04, 2.34322769e-02,-4.20667320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65488127,  0.61310521,  4.61432787,  0.61310521, 21.83897144,
       -2.28324806,  4.61432787, -2.28324806,  4.95825618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003322329886719655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17712517e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.17712517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149918, -0.08815666,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67451757e-05,-4.35161028e-05, 1.32622207e-05,-3.19048596e-05,
  4.87921177e-06,-2.74947284e-05,-1.36793381e-05,-7.13142134e-07,
 -2.56523563e-05,-1.01302502e-05,-1.37457899e-05, 2.41333701e-06,
 -2.67918084e-04,-1.68690172e-05,-2.17429541e-04,-3.64358400e-04,
 -6.98239385e-08,-6.85723392e-07,-1.21644448e+00,-4.57516859e-04,
  8.71385759e-06,-5.53754021e-04]


--- Step 511 ---
qpos:
[ 0.01205703,-0.00119843, 0.00246576, 0.04195512, 0.00459127,-0.0023332 ,
 -0.01819499, 0.02844401, 0.0131904 , 0.00446247,-0.01026619, 0.02641396,
  0.90052683,-0.00139324, 0.7106727 , 0.06556766, 0.09350625,-0.07017955,
  0.13095788, 0.50469413, 0.49444341, 0.49463585, 0.50610763]

qacc:
[  4.39300927, -0.57785837,  0.59060559,  4.18436124,  0.31412733,
   0.09837498, -0.67107873,  1.10093475,  0.40584604, -1.05542054,
   2.93815073, -2.4171578 , -0.36222051, -0.41882789,-17.45755937,
  55.15866134,  0.08791884,  1.04469937,  0.32061937,  1.92409528,
   0.24790871,-14.95035277]

qfrc_actuator:
[ 2.04460758e-05, 4.89533783e-05, 1.04347744e-04, 4.67685990e-05,
  6.56235899e-05,-2.81045960e-04,-2.19035962e-04,-4.08621320e-05,
 -1.33626225e-05,-2.65192920e-05,-1.31575055e-04,-8.74635844e-06,
  4.10460954e-02,-9.59642814e-04, 2.33818056e-02,-3.94673448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6549445 ,  0.42349924,  4.63563984,  0.42349924, 37.27725994,
       -2.98028455,  4.63563984, -2.98028455,  4.92721506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033224955615511476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67076675e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67076675e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150002, -0.08815696,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56446291e-05, 3.58718219e-06, 2.38497467e-05, 1.66915620e-05,
  1.84054656e-06,-2.15406952e-05,-1.06416026e-05,-8.25759235e-07,
  2.28056501e-06,-3.69326411e-05, 5.05731450e-06, 4.76371101e-07,
 -2.58616398e-04,-8.36852252e-05,-1.94430072e-04, 2.10838062e-04,
 -3.88050317e-07,-6.78344648e-07,-1.21644365e+00,-4.56653862e-04,
  1.02302134e-05,-5.53845228e-04]


--- Step 512 ---
qpos:
[ 0.01205782,-0.00119847, 0.00246686, 0.04195506, 0.00459294,-0.00233273,
 -0.01819394, 0.02844399, 0.01319012, 0.00446254,-0.01026704, 0.02641373,
  0.90142508,-0.00139224, 0.71147059, 0.06556508, 0.09348696,-0.07017881,
  0.13096245, 0.50475483, 0.49435985, 0.49457974, 0.50618354]

qacc:
[  2.71975288,  0.34254394, -2.18778259,  6.16965415,  3.13085775,
  -0.58294759, -0.12831889,  6.11542071,  0.32903243,  0.65934886,
  -2.59710079,  3.41526951,  0.15037176, -2.03724563,-13.82203523,
  44.25095813,  0.08990892,  1.03001665,  0.19522072,  1.82813131,
   0.28550571,-14.77627201]

qfrc_actuator:
[ 3.56370343e-05, 4.72101668e-05, 1.05330007e-04, 5.79353036e-05,
  8.38562887e-05,-3.01001680e-04,-2.03463075e-04,-2.24581718e-05,
 -1.14560633e-05,-2.57261604e-05,-1.43986609e-04,-7.86650852e-06,
  4.09656466e-02,-1.01379808e-03, 2.33228804e-02,-3.75543198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003298808911212925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2620726e-13,  2.5241452e-13,  1.0000000e+00, -3.1856545e-26,
        1.0000000e+00, -2.5241452e-13, -1.0000000e+00,  0.0000000e+00,
        1.2620726e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150063, -0.08815784,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59192909e-05, 5.90225617e-06, 5.22569382e-06, 1.24677775e-05,
  1.82781434e-05,-3.42719295e-05, 9.76648903e-06, 1.70937944e-05,
  1.95806157e-06,-1.87929237e-05,-1.93958401e-05,-5.17242401e-07,
 -2.64997923e-04,-1.15514595e-04,-1.26227782e-04, 1.77686880e-04,
 -6.89907523e-07,-5.84215980e-07,-1.21644314e+00,-4.55819835e-04,
  1.16314320e-05,-5.53851018e-04]


--- Step 513 ---
qpos:
[ 0.01205844,-0.00119861, 0.00246809, 0.04195445, 0.00459447,-0.00233262,
 -0.01819296, 0.02844422, 0.01318987, 0.00446276,-0.01026844, 0.0264135 ,
  0.90232182,-0.00139186, 0.71226688, 0.06556215, 0.09346803,-0.07017399,
  0.13096738, 0.50482829, 0.49426326, 0.49454019, 0.50624325]

qacc:
[ -1.47722376, -1.59236919,  7.7687087 ,-17.29018184, -1.21663603,
   0.22617037, -2.52512884,  7.15155216,  0.19823672,  1.77514471,
  -6.02464869,  6.81668167, -0.38927732, -0.5862748 , -1.34744997,
   1.2808344 ,  0.09118221,  1.01808233,  0.0906149 ,  1.74872282,
   0.3171247 ,-14.63343151]

qfrc_actuator:
[ 2.64980013e-05, 2.84153659e-05, 1.05441866e-04, 2.90150892e-05,
  7.61632539e-05,-3.30700488e-04,-2.12471703e-04,-1.16224203e-05,
 -1.02240649e-05,-7.47174357e-06,-1.68690967e-04,-7.25769970e-06,
  4.08851150e-02,-1.04613291e-03, 2.32216224e-02,-3.78382712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032564291207760887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70466327e-13,  2.55699491e-13,  1.00000000e+00,  4.35881531e-26,
        1.00000000e+00, -2.55699491e-13, -1.00000000e+00,  0.00000000e+00,
       -1.70466327e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150106, -0.08815917,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68581171e-06,-1.38889765e-05, 2.39222918e-06,-2.82469070e-05,
 -7.18474941e-06,-4.61366012e-05,-1.43115653e-05, 1.00335141e-05,
  1.28116352e-06, 3.72460614e-06,-3.09839026e-05,-8.75604915e-07,
 -2.75073141e-04,-9.96603206e-05,-1.44552690e-04,-3.59519137e-05,
 -9.78006668e-07,-4.05061533e-07,-1.21644293e+00,-4.55007865e-04,
  1.29276599e-05,-5.53770811e-04]


--- Step 514 ---
qpos:
[ 0.0120586 ,-0.00119873, 0.00246927, 0.04195314, 0.00459555,-0.00233259,
 -0.01819245, 0.02844387, 0.01318963, 0.00446274,-0.0102697 , 0.02641294,
  0.90321693,-0.00139183, 0.71306129, 0.06556023, 0.09345018,-0.07016511,
  0.1309724 , 0.50491168, 0.49415613, 0.49451987, 0.50628452]

qacc:
[ -4.03805765, -1.27229795,  7.53512596,-19.51111716, -3.94918857,
   0.0318237 ,  2.15521474,-11.23402747,  0.15790866, -1.41649629,
   5.98806165,-11.80378251, -0.68857975,  0.28327559, -5.75602251,
  16.16232604,  0.26982274,  1.01642928,  0.02373401,  4.31447844,
   0.51407593,-14.52502912]

qfrc_actuator:
[ 3.11525300e-06, 3.50147284e-05, 1.04947798e-04,-5.51943625e-06,
  5.32672947e-05,-3.30598076e-04,-2.35981293e-04,-4.08643522e-05,
 -9.39874814e-06,-3.22111014e-05,-1.64864895e-04,-2.45535938e-05,
  4.07992691e-02,-1.06531224e-03, 2.31429392e-02,-3.72848312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031994159855833004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.95569875e-08,  4.87980036e-14,  1.00000000e+00, -2.90626209e-21,
        1.00000000e+00, -4.87980036e-14, -1.00000000e+00,  0.00000000e+00,
        5.95569875e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08880087, -0.08819239,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36342897e-05,-1.89608165e-06,-4.05719352e-06,-3.55974231e-05,
 -2.31168339e-05,-2.82417441e-05,-3.44680371e-05,-3.15217098e-05,
  8.63533063e-07,-2.90857495e-05, 7.62778809e-07,-1.82223504e-05,
 -2.84208372e-04,-8.61779977e-05,-1.54428616e-04, 3.34684025e-05,
 -1.25437921e-06,-1.42245876e-07,-1.21644301e+00,-4.54212515e-04,
  1.41269400e-05,-5.53604210e-04]


--- Step 515 ---
qpos:
[ 0.01205813,-0.00119867, 0.00247034, 0.04195177, 0.00459634,-0.00233258,
 -0.01819204, 0.02844349, 0.01318906, 0.0044627 ,-0.01027127, 0.02641218,
  0.90411026,-0.00139143, 0.71385388, 0.06555959, 0.09343413,-0.07015218,
  0.13097723, 0.5050021 , 0.49404102, 0.49452152, 0.50630507]

qacc:
[ -5.51385513,  0.4432076 , -0.92261859, -0.26485554, -2.48313968,
   0.1878568 , -0.5592147 ,  0.12551051, -2.94315625,  0.44121402,
  -0.76533679, -2.17641032, -1.50865332,  2.75548394, -6.513736  ,
  19.0456651 ,  0.45103953,  1.01486289, -0.0477178 ,  6.93230509,
   0.70565716,-14.41050098]

qfrc_actuator:
[-2.84556858e-05, 5.67550395e-05, 1.04200200e-04,-7.54982902e-06,
  3.93676524e-05,-3.12749221e-04,-2.32260611e-04,-4.01771494e-05,
 -2.65721346e-05,-2.91479247e-05,-1.79906855e-04,-3.45060780e-05,
  4.07209515e-02,-1.04111390e-03, 2.30672317e-02,-3.65959934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031443600856947973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53083933e-13,  2.70329886e-13,  1.00000000e+00, -9.54491392e-26,
        1.00000000e+00, -2.70329886e-13, -1.00000000e+00,  0.00000000e+00,
        3.53083933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601476, -0.08822674,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22429196e-05, 1.83013817e-05,-2.87939105e-06,-2.94343641e-06,
 -1.45661616e-05,-6.42871330e-06,-7.45397731e-06,-2.32869542e-06,
 -1.71597339e-05,-1.38088628e-05,-2.15706503e-05,-1.15231558e-05,
 -2.79867505e-04,-4.28252158e-05,-1.47501383e-04, 4.97892369e-05,
 -1.44325607e-06, 1.99665349e-07,-1.21644316e+00,-4.53432364e-04,
  1.51393749e-05,-5.53331712e-04]


--- Step 516 ---
qpos:
[ 0.01205764,-0.00119822, 0.00247094, 0.04195107, 0.00459697,-0.00233261,
 -0.01819135, 0.02844345, 0.01318829, 0.00446309,-0.0102738 , 0.02641129,
  0.9050018 ,-0.00139015, 0.71464439, 0.06556177, 0.09341988,-0.07013521,
  0.13098159, 0.50509953, 0.4939179 , 0.49454498, 0.50630508]

qacc:
[ -0.28579598,  3.17655387,-13.41988166, 25.49860737, -1.50726308,
  -0.12963773, -1.00779951,  6.33147489, -1.81292168,  3.01328893,
  -9.3823822 ,  8.42109574, -1.95203067,  4.21525016,-11.42069217,
  35.78601036,  0.44857072,  1.00641424, -0.11811021,  6.84700244,
   0.72847948,-14.3335411 ]

qfrc_actuator:
[-2.90831847e-05, 8.74223614e-05, 8.56487218e-05, 2.73301216e-05,
  3.08793733e-05,-3.02028995e-04,-2.12378797e-04,-2.18395296e-05,
 -3.64485555e-05, 8.22565824e-06,-2.23621312e-04,-4.00530582e-05,
  4.06472225e-02,-9.91477843e-04, 2.29827215e-02,-3.51227218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003078856775899502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60595866e-13,  5.63431040e-15,  1.00000000e+00, -2.03170904e-27,
        1.00000000e+00, -5.63431040e-15, -1.00000000e+00,  0.00000000e+00,
        3.60595866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601435, -0.08822877,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53916051e-06, 4.01593979e-05,-1.52358767e-05, 3.55090992e-05,
 -8.90559862e-06, 5.47649343e-06, 1.75516769e-05, 1.77593932e-05,
 -1.03693128e-05, 2.47158727e-05,-4.96018018e-05,-7.10347124e-06,
 -2.63705555e-04,-1.05654994e-05,-1.51726683e-04, 1.29936674e-04,
 -1.53575234e-06, 6.00710104e-07,-1.21644341e+00,-4.52663884e-04,
  1.58334481e-05,-5.52950554e-04]


--- Step 517 ---
qpos:
[ 0.01205714,-0.00119751, 0.00247162, 0.04195077, 0.00459714,-0.00233262,
 -0.01819049, 0.02844431, 0.0131881 , 0.00446325,-0.01027638, 0.0264107 ,
  0.90589181,-0.00138888, 0.71543323, 0.06556529, 0.09340741,-0.07011425,
  0.13098525, 0.50520397, 0.49378673, 0.49459016, 0.50628469]

qacc:
[ -0.03690587,  0.96760108, -4.63950121, 11.27765502, -3.95304024,
   1.40024398, -8.78370874, 24.20436971,  5.08711956,  0.42253449,
  -3.24564076,  8.77492125, -0.96404895,  1.29205331, -6.50442556,
  19.25790724,  0.44642441,  0.99986913, -0.1762263 ,  6.77711098,
   0.74810154,-14.27424733]

qfrc_actuator:
[-2.92430682e-05, 1.05412281e-04, 9.23033915e-05, 4.81356617e-05,
  7.88853521e-06,-2.95560831e-04,-2.00887343e-04, 2.44885376e-05,
 -6.43984548e-06,-2.30202216e-05,-2.30502285e-04,-2.51974705e-05,
  4.05656609e-02,-9.98232026e-04, 2.29089941e-02,-3.44418467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003005549489170922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84695516e-13,  9.81194926e-14,  1.00000000e+00, -1.81222303e-26,
        1.00000000e+00, -9.81194926e-14, -1.00000000e+00,  0.00000000e+00,
        1.84695516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601381, -0.08823096,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92412389e-07, 3.88008110e-05, 1.42919804e-05, 2.26894795e-05,
 -2.32443911e-05, 1.39071311e-05, 1.53919788e-05, 4.75147133e-05,
  2.97234809e-05,-2.79633559e-05,-8.10416785e-06, 1.40673191e-05,
 -2.54482207e-04,-5.92916168e-05,-1.33359519e-04, 5.47570498e-05,
 -1.61064981e-06, 1.05846358e-06,-1.21644399e+00,-4.51910890e-04,
  1.62680416e-05,-5.52479985e-04]


--- Step 518 ---
qpos:
[ 0.01205629,-0.0011964 , 0.00247231, 0.0419507 , 0.00459703,-0.00233271,
 -0.01818995, 0.02844542, 0.01318792, 0.00446265,-0.01027822, 0.02641066,
  0.90678023,-0.00138764, 0.71622111, 0.06556585, 0.09339672,-0.07008931,
  0.13098801, 0.50531541, 0.49364749, 0.49465694, 0.50624402]

qacc:
[ -3.02187236,  0.97836487, -3.70920716,  7.48339113, -2.4349409 ,
   1.33184425, -5.9565246 , 10.8815559 ,  0.18058728, -1.93111093,
   3.14477654,  5.63702912, -1.14729486,  1.66273759,  7.58606743,
 -28.48319725,  0.44458439,  0.99492667, -0.22401709,  6.72015518,
   0.76517237,-14.2304936 ]

qfrc_actuator:
[-4.68891374e-05, 1.33516751e-04, 9.59798775e-05, 6.04982290e-05,
 -5.70335827e-06,-3.27191258e-04,-2.29951212e-04, 3.36426253e-05,
 -6.45676032e-06,-7.72024587e-05,-1.98074458e-04, 1.51848422e-06,
  4.04794408e-02,-1.00278898e-03, 2.28524275e-02,-3.60082987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002926808382910512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.33431275e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.33431275e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601318, -0.08823325,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76424056e-05, 5.36948703e-05, 1.42214001e-05, 1.49586953e-05,
 -1.42526446e-05,-1.86578087e-05,-2.26622176e-05, 1.12045068e-05,
  8.15316473e-07,-7.08553640e-05, 2.61682808e-05, 2.55163731e-05,
 -2.62819998e-04,-6.21145512e-05,-1.17203173e-04,-1.72068979e-04,
 -1.66858410e-06, 1.57306481e-06,-1.21644490e+00,-4.51170784e-04,
  1.64487349e-05,-5.51919299e-04]


--- Step 519 ---
qpos:
[ 0.01205524,-0.00119487, 0.00247274, 0.04195115, 0.00459745,-0.00233283,
 -0.01819029, 0.02844598, 0.0131874 , 0.00446189,-0.01027987, 0.02641125,
  0.90766716,-0.00138673, 0.71700811, 0.0655644 , 0.0933878 ,-0.0700604 ,
  0.13098971, 0.50543384, 0.49350013, 0.49474527, 0.50618314]

qacc:
[ -1.81689832,  2.36848093, -9.77873465, 18.72549009,  4.59687504,
   1.26535156, -2.21938083, -5.99019022, -3.0179243 ,  0.55043595,
  -4.92646689, 15.60789606, -0.74152172,  0.48712766,  4.76826912,
 -18.51988509,  0.44303136,  0.99133561, -0.26315183,  6.67410349,
   0.78019175,-14.20042627]

qfrc_actuator:
[-5.69335129e-05, 1.49693547e-04, 8.01443980e-05, 8.55512497e-05,
  2.18551760e-05,-3.46084128e-04,-2.82912434e-04, 3.03382741e-06,
 -2.41587619e-05,-5.57638980e-05,-1.78322363e-04, 3.49909251e-05,
  4.04011365e-02,-1.02376211e-03, 2.28327818e-02,-3.69325972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000284456718946946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.9029594e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.9029594e-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([ 0.08601247, -0.08823561,  0.06199187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05329616e-05, 4.97299684e-05,-2.49458854e-06, 2.81336456e-05,
  2.71459399e-05,-3.35374340e-05,-5.92260560e-05,-3.19773579e-05,
 -1.77094557e-05,-1.16424559e-05, 9.25041363e-06, 3.18434688e-05,
 -2.61065729e-04,-8.05688592e-05,-1.00135510e-04,-1.18886632e-04,
 -1.71006780e-06, 2.14460231e-06,-1.21644614e+00,-4.50441397e-04,
  1.63796889e-05,-5.51267889e-04]


--- Step 520 ---
qpos:
[ 0.01205477,-0.00119311, 0.00247279, 0.04195193, 0.0045982 ,-0.00233322,
 -0.01819097, 0.02844685, 0.01318736, 0.00446132,-0.01028142, 0.02641185,
  0.90855255,-0.00138605, 0.71779342, 0.06556486, 0.09338185,-0.07003988,
  0.1309915 , 0.50551471, 0.49339539, 0.49481063, 0.50614059]

qacc:
[ 5.06019746e+00, 2.02840807e+00,-8.21250794e+00, 1.43901343e+01,
  2.86089370e+00, 1.20275907e+00,-6.16049250e+00, 1.23565340e+01,
  4.23633899e+00,-8.44862564e-03, 3.42347369e-01,-4.50814611e-01,
 -7.29249579e-01, 5.41829560e-01,-8.20951538e+00, 2.51577312e+01,
  7.40238032e-01,-2.09716746e+00, 1.87581352e-02, 9.68856907e+00,
 -2.77316177e+00, 3.03523350e+01]

qfrc_actuator:
[-2.69125132e-05, 1.40777571e-04, 5.28807322e-05, 1.00097576e-04,
  3.79050300e-05,-3.57358905e-04,-2.96273119e-04, 2.02860073e-05,
  1.13991880e-06,-2.47428808e-05,-1.65923597e-04, 3.67097667e-05,
  4.03223054e-02,-1.03650289e-03, 2.27714068e-02,-3.58716308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002879838891191727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.63789179e-14,  4.81894590e-14,  1.00000000e+00, -4.64444791e-27,
        1.00000000e+00, -4.81894590e-14, -1.00000000e+00,  0.00000000e+00,
        9.63789179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249849, -0.031286  ,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97322434e-05, 1.95213358e-05,-1.63477262e-05, 1.71334382e-05,
  1.68161605e-05,-4.36160720e-05,-2.86869374e-05, 1.31419509e-05,
  2.47857798e-05, 2.78236444e-05, 1.22621523e-05, 2.16441918e-06,
 -2.63903502e-04,-7.47160397e-05,-1.28630954e-04, 8.46780920e-05,
 -1.73552342e-06, 2.77311809e-06,-1.21644770e+00,-4.49720887e-04,
  1.60639037e-05,-5.50525215e-04]


--- Step 521 ---
qpos:
[ 0.01205535,-0.00119129, 0.00247257, 0.04195323, 0.00459914,-0.00233402,
 -0.01819177, 0.02844792, 0.01318797, 0.00446134,-0.01028299, 0.02641207,
  0.90943601,-0.00138426, 0.71857647, 0.06556472, 0.09337874,-0.07002757,
  0.1309925 , 0.50555858, 0.49333231, 0.49485386, 0.506116  ]

qacc:
[ 9.24722221, 1.87792127,-8.85950412,18.42461789, 1.64098039, 0.23433503,
 -2.45871489, 6.44289227, 5.69032377, 0.05317136, 2.49358942,-9.32789494,
 -2.39358003, 5.35234704,-1.40905035, 0.38993198, 0.71201904,-2.05212008,
 -0.19353903, 9.61756874,-2.55652458,29.66579237]

qfrc_actuator:
[ 2.64471241e-05, 1.34588632e-04, 3.67307505e-05, 1.26068404e-04,
  4.70392091e-05,-3.81552332e-04,-3.03820897e-04, 3.01001288e-05,
  3.37985214e-05, 2.94868241e-05,-1.57922478e-04, 1.97431374e-05,
  4.02325646e-02,-9.73270716e-04, 2.26211895e-02,-3.63134460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53552532,  1.42207808, -4.3068183 ,  1.42207808, 11.08732742,
        2.16335436, -4.3068183 ,  2.16335436,  5.24984819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029849654189965935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29845801e-14, -1.85969160e-13,  1.00000000e+00,  1.72922643e-26,
        1.00000000e+00,  1.85969160e-13, -1.00000000e+00,  0.00000000e+00,
        9.29845801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249782, -0.03129199,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42064737e-05, 2.03053158e-06,-1.35618626e-05, 2.65681318e-05,
  9.59921799e-06,-5.39194512e-05,-1.96258954e-05, 7.20784634e-06,
  3.33686548e-05, 7.24604333e-05, 1.53561265e-05,-1.53055008e-05,
 -2.75360172e-04, 1.42656208e-06,-2.05425637e-04,-5.73373323e-05,
 -9.27068541e-07, 1.36370223e-06,-1.21644384e+00,-4.50892355e-04,
  1.41486358e-05,-5.49897488e-04]


--- Step 522 ---
qpos:
[ 0.01205554,-0.00118955, 0.00247307, 0.04195444, 0.00459983,-0.00233499,
 -0.01819274, 0.02844873, 0.01318897, 0.00446216,-0.01028489, 0.02641243,
  0.91031779,-0.00138201, 0.71935754, 0.06556002, 0.09337839,-0.07002332,
  0.13099202, 0.50556594, 0.49331009, 0.49487564, 0.50610901]

qacc:
[ -3.4895869 , -2.26941166,  8.38942001,-11.17731674, -2.13011937,
  -0.29424777,  1.8156963 , -5.94384255,  3.37937638,  2.21558007,
  -6.95577444,  9.21853834, -1.72025008,  3.33509195, 10.93791916,
 -42.28838868,  0.68911933, -2.01445084, -0.37232127,  9.55137989,
  -2.38278964, 29.09411876]

qfrc_actuator:
[ 4.34005624e-06, 1.47872609e-04, 8.05439365e-05, 1.23058326e-04,
  3.42806899e-05,-3.77757596e-04,-3.07953707e-04, 1.76866117e-05,
  5.27614090e-05, 7.94164238e-05,-1.70233972e-04, 2.74494259e-05,
  4.01470189e-02,-9.54473124e-04, 2.25029917e-02,-3.87047138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55622173,  1.60901705, -4.26265418,  1.60901705, 14.75056165,
        3.84804069, -4.26265418,  3.84804069,  6.00873531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030473357978982873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82162895e-13, -4.55407239e-14,  1.00000000e+00,  8.29583012e-27,
        1.00000000e+00,  4.55407239e-14, -1.00000000e+00,  0.00000000e+00,
        1.82162895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249697, -0.03129556,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05705675e-05, 1.27074210e-05, 4.34571939e-05,-2.88400656e-06,
 -1.25030449e-05,-3.00625603e-05,-1.74222700e-05,-1.52622800e-05,
  1.99347463e-05, 9.29967067e-05, 4.03493175e-06, 1.10466901e-05,
 -2.64107819e-04,-3.42984552e-05,-2.21583284e-04,-2.69376048e-04,
 -3.82483760e-07, 4.69630048e-07,-1.21644136e+00,-4.51790202e-04,
  1.29496747e-05,-5.49494898e-04]


--- Step 523 ---
qpos:
[ 0.01205545,-0.00118796, 0.0024739 , 0.0419553 , 0.00460002,-0.00233575,
 -0.01819341, 0.0284493 , 0.01318949, 0.00446299,-0.01028661, 0.02641329,
  0.91119804,-0.00138008, 0.72013672, 0.06555462, 0.09338072,-0.070027  ,
  0.13098945, 0.50553718, 0.49332807, 0.49487652, 0.50611936]

qacc:
[ -2.3230616 , -1.8821657 ,  7.90544125,-14.45222246, -4.40827259,
  -1.0213326 ,  5.08023444, -9.86644582, -4.1259411 ,  0.58083319,
  -4.12707822, 12.47585496, -0.70600118,  0.39965427, -0.6906779 ,
  -1.61868482,  0.67057313, -1.98305058, -0.52279347,  9.49140894,
  -2.2430126 , 28.61994135]

qfrc_actuator:
[-8.75740569e-06, 1.19677800e-04, 8.84541780e-05, 1.03074464e-04,
  8.74142195e-06,-3.21725124e-04,-2.74437333e-04, 1.00713288e-05,
  2.80036165e-05, 3.75621778e-05,-1.76671004e-04, 4.96015991e-05,
  4.00587127e-02,-9.79873749e-04, 2.24626441e-02,-3.88506439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56561941,  1.81966274, -4.18732708,  1.81966274, 21.64157889,
        7.4206019 , -4.18732708,  7.4206019 ,  7.79034787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003075072401207829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61039637e-13, -1.35389864e-13,  1.00000000e+00,  4.88811074e-26,
        1.00000000e+00,  1.35389864e-13, -1.00000000e+00,  0.00000000e+00,
        3.61039637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249597, -0.03129719,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36861532e-05,-1.23152804e-05, 1.57592652e-05,-1.79988895e-05,
 -2.59050479e-05, 3.50095083e-05, 2.46541776e-05,-9.80041852e-06,
 -2.41588699e-05, 1.14588779e-05, 1.36638974e-05, 2.64930576e-05,
 -2.67133804e-04,-8.11117700e-05,-1.74743337e-04,-5.87334936e-05,
 -7.91507937e-08, 5.94422361e-08,-1.21644016e+00,-4.52469211e-04,
  1.24355966e-05,-5.49306824e-04]


--- Step 524 ---
qpos:
[ 0.01205591,-0.00118699, 0.00247477, 0.04195668, 0.00460059,-0.00233614,
 -0.01819381, 0.0284501 , 0.01318972, 0.00446353,-0.01028816, 0.02641411,
  0.91207666,-0.0013784 , 0.72091385, 0.06554969, 0.09338567,-0.0700385 ,
  0.13098428, 0.50547263, 0.49338568, 0.49485695, 0.5061468 ]

qacc:
[ 4.70233194, 0.15547364,-3.98392217,13.51285385, 3.35089808, 0.18092007,
 -0.90478746, 4.15559498,-2.63228948,-0.94320288, 2.99521744,-3.82044973,
 -0.81523271, 0.67058118,-4.38618023,11.02766028, 0.65559579,-1.95697436,
 -0.64936552, 9.43848703,-2.13008543,28.22873422]

qfrc_actuator:
[ 1.90821539e-05, 4.89623108e-05, 7.49099140e-05, 1.26459041e-04,
  2.91495088e-05,-2.87931218e-04,-2.54233661e-04, 2.31700063e-05,
  1.32202148e-05,-5.65036961e-06,-1.79949920e-04, 4.44962786e-05,
  3.99687970e-02,-9.95686831e-04, 2.23785334e-02,-3.85574026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56558705,  2.05948203, -4.0746925 ,  2.05948203, 40.55040694,
       18.18789759, -4.0746925 , 18.18789759, 13.75834166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030749775193307516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70788083e-13, -4.51313472e-14,  1.00000000e+00,  1.22210310e-26,
        1.00000000e+00,  4.51313472e-14, -1.00000000e+00,  0.00000000e+00,
        2.70788083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249485, -0.03129726,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74399611e-05,-7.51918588e-05,-1.47995488e-05, 2.30451388e-05,
  1.96808223e-05, 5.80687445e-05, 3.01494521e-05, 1.52643668e-05,
 -1.54663869e-05,-3.28657131e-05, 1.69768673e-06,-3.62471218e-06,
 -2.79379940e-04,-7.90977839e-05,-1.74722538e-04, 2.66896834e-06,
 -6.48829037e-11, 1.09213208e-07,-1.21644018e+00,-4.52969662e-04,
  1.25810865e-05,-5.49325025e-04]


--- Step 525 ---
qpos:
[ 0.01205669,-0.00118622, 0.00247534, 0.0419583 , 0.00460106,-0.00233645,
 -0.01819383, 0.02845143, 0.01318977, 0.00446367,-0.01028934, 0.02641451,
  0.91295366,-0.00137691, 0.7216887 , 0.06554482, 0.0933932 ,-0.07005775,
  0.13097608, 0.50537258, 0.49348247, 0.49481728, 0.50619114]

qacc:
[  2.89062143,  1.0882745 , -5.28119385, 10.07373166, -0.90727172,
   0.12563668, -2.54025236, 11.02171931, -1.55740189, -2.40816174,
   9.54036997,-16.93862449, -0.86723354,  0.83651714, -3.51499985,
   7.48724021,  0.64354835, -1.93541494, -0.75578628,  9.39301925,
  -2.03835203, 27.9082991 ]

qfrc_actuator:
[ 3.52854330e-05, 5.97769911e-05, 6.64142190e-05, 1.39620796e-04,
  2.31839586e-05,-3.03230656e-04,-2.42119200e-04, 4.83247629e-05,
  4.44006116e-06,-3.16185067e-05,-1.63645025e-04, 2.33807154e-05,
  3.98886310e-02,-1.00570230e-03, 2.22629202e-02,-3.85420412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5580413 , -2.33278458,  3.91584685, -2.33278458, 33.24547395,
       17.08994327,  3.91584685, 17.08994327, 14.7390207 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003052733936830948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81840777e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81840777e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249363, -0.03129609,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69530911e-05,-3.33428767e-05,-2.50788863e-05, 9.86849812e-06,
 -5.38577555e-06, 2.40778203e-05, 2.83573787e-05, 2.89827277e-05,
 -9.23067405e-06,-4.41594618e-05, 9.61058343e-06,-2.25346824e-05,
 -2.77033096e-04,-7.55859860e-05,-1.99145259e-04,-2.16349634e-05,
 -1.32558833e-07, 6.01175927e-07,-1.21644137e+00,-4.53321252e-04,
  1.33660699e-05,-5.49543089e-04]


--- Step 526 ---
qpos:
[ 0.01205765,-0.0011853 , 0.00247533, 0.0419597 , 0.00460076,-0.00233666,
 -0.01819392, 0.02845273, 0.01318971, 0.00446321,-0.01029051, 0.02641506,
  0.91382903,-0.00137528, 0.72246193, 0.0655382 , 0.09340326,-0.07008467,
  0.13096451, 0.50523723, 0.49361804, 0.49475779, 0.50625221]

qacc:
[  1.63206614,  1.30404943, -3.40255054,  0.25013822, -6.70704405,
   0.28973732, -0.68932466,  0.22245235, -0.9178099 , -0.54781018,
   0.24035495,  2.54271281, -1.27868673,  2.06935263,  2.96764444,
 -13.71556027,  0.63390943, -1.91768158, -0.84525011,  9.35510293,
  -1.96330573, 27.64835764]

qfrc_actuator:
[ 4.44975383e-05, 8.38304160e-05, 4.35250083e-05, 1.28972732e-04,
 -1.60244289e-05,-3.12326658e-04,-2.52821689e-04, 4.48170318e-05,
 -7.39259511e-07,-8.25117548e-05,-1.71360838e-04, 2.85485413e-05,
  3.98196989e-02,-9.94439372e-04, 2.21977355e-02,-3.94013506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003013075152950989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.21171036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.21171036e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249232, -0.03129395,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68004277e-06, 6.15816107e-07,-3.25444816e-05,-1.27595967e-05,
 -3.93559560e-05, 1.14744434e-05,-1.23201297e-06,-9.32618524e-07,
 -5.45715267e-06,-7.45628887e-05,-1.64216647e-05, 3.17121293e-06,
 -2.63763999e-04,-5.32838106e-05,-1.61474761e-04,-1.13323478e-04,
 -4.67343344e-07, 1.52264952e-06,-1.21644368e+00,-4.53545969e-04,
  1.47749518e-05,-5.49956007e-04]


--- Step 527 ---
qpos:
[ 0.01205838,-0.00118446, 0.00247539, 0.04196059, 0.00460068,-0.00233689,
 -0.0181943 , 0.02845332, 0.01319028, 0.00446202,-0.01029167, 0.02641568,
  0.91470283,-0.00137354, 0.72323362, 0.06553343, 0.09341539,-0.0701071 ,
  0.13095724, 0.50510996, 0.49374412, 0.49472289, 0.50629037]

qacc:
[ -2.12273895, -1.29492738,  6.59032297,-15.278154  ,  1.93982616,
  -0.69574563,  5.41581325,-17.20276732,  5.54156154, -0.83429326,
   1.23648328,  0.63598035, -1.09896311,  1.67425431, -7.81099541,
  24.15585979,  0.51505826,  1.12347691,  1.07563258,  7.49792788,
   0.96140546,-16.25061108]

qfrc_actuator:
[ 3.17720376e-05, 8.00517327e-05, 4.78840612e-05, 1.04410680e-04,
 -3.46610025e-06,-3.35518359e-04,-2.76919299e-04, 6.70334531e-06,
  3.17452729e-05,-1.30261040e-04,-1.75534370e-04, 3.13498730e-05,
  3.97469139e-02,-9.88416539e-04, 2.21734820e-02,-3.82821706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030605813073010524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06872676e-14, -1.81374535e-13,  1.00000000e+00,  1.64483610e-26,
        1.00000000e+00,  1.81374535e-13, -1.00000000e+00,  0.00000000e+00,
        9.06872676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601536, -0.08823001,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24512356e-05,-1.07394096e-05, 2.13706754e-08,-2.59157911e-05,
  1.14398597e-05,-1.70777380e-05,-2.19094095e-05,-3.76833369e-05,
  3.23014480e-05,-9.26744637e-05,-2.14704493e-05,-8.97864500e-07,
 -2.54366673e-04,-5.28036016e-05,-1.15864313e-04, 8.36949660e-05,
 -9.97780015e-07, 2.86519617e-06,-1.21644709e+00,-4.53660193e-04,
  1.67959570e-05,-5.50559841e-04]


--- Step 528 ---
qpos:
[ 0.01205895,-0.00118377, 0.00247579, 0.04196152, 0.00460145,-0.00233755,
 -0.01819457, 0.02845451, 0.01319089, 0.00446005,-0.01029227, 0.02641629,
  0.91557523,-0.00137233, 0.72400375, 0.06553295, 0.09342952,-0.07012514,
  0.13095326, 0.50499055, 0.49386099, 0.49471199, 0.50630614]

qacc:
[ -1.37586683, -1.08428877,  3.41721974, -3.23532357,  7.3812519 ,
   0.35781638, -4.64637815, 15.18702817,  0.38068962, -2.59007253,
   7.73409872, -8.06749654, -0.25007272, -0.73586088,-15.27523786,
  50.07639539,  0.50288743,  1.09639846,  0.82274145,  7.3478494 ,
   0.91971622,-15.84821425]

qfrc_actuator:
[ 2.39913230e-05, 7.74893348e-05, 6.81907482e-05, 1.07367616e-04,
  3.94710670e-05,-3.67075257e-04,-2.73302179e-04, 3.72820524e-05,
  3.28785990e-05,-1.57998856e-04,-1.42073544e-04, 3.27370748e-05,
  3.96718709e-02,-1.02107637e-03, 2.21312319e-02,-3.60049718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60202444, -4.34143986, -1.52660698, -4.34143986,  5.13996799,
       -1.52983028, -1.52660698, -1.52983028,  8.95263088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031792995800511425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23805478e-13,  4.91067636e-14,  1.00000000e+00, -2.57223918e-26,
        1.00000000e+00, -4.91067636e-14, -1.00000000e+00,  0.00000000e+00,
        5.23805478e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601637, -0.08822684,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.14053196e-06,-9.71380505e-06, 1.71814860e-05, 1.98947936e-06,
  4.32599637e-05,-4.72314812e-05,-3.90768186e-06, 2.83549332e-05,
  2.01478638e-06,-8.39670859e-05, 1.16674423e-05,-3.34205065e-06,
 -2.49766802e-04,-8.98573632e-05,-9.22917130e-05, 2.16030184e-04,
 -1.09722501e-06, 2.23574372e-06,-1.21644561e+00,-4.54004465e-04,
  1.68229341e-05,-5.51028141e-04]


--- Step 529 ---
qpos:
[ 0.01205907,-0.00118349, 0.00247655, 0.04196286, 0.00460238,-0.00233869,
 -0.0181945 , 0.02845674, 0.01319082, 0.00445769,-0.01029263, 0.02641689,
  0.91644617,-0.00137148, 0.72477263, 0.06553355, 0.09344563,-0.07013888,
  0.13095171, 0.50487883, 0.4939689 , 0.49472461, 0.50629996]

qacc:
[-3.87070924e+00,-7.02625761e-01, 2.45872034e-02, 6.69022475e+00,
  1.45573024e+00, 5.62002367e-01,-7.31536517e+00, 2.51153144e+01,
 -5.97998313e+00,-1.22626632e+00, 3.73158078e+00,-4.19013747e+00,
 -5.79349313e-01, 1.14314606e-01,-5.04929719e+00, 1.50259188e+01,
  4.92975612e-01, 1.07364203e+00, 6.09603769e-01, 7.22402291e+00,
  8.83322047e-01,-1.55116105e+01]

qfrc_actuator:
[ 1.43781168e-06, 4.02662245e-05, 8.00109283e-05, 1.26501071e-04,
  4.66701757e-05,-3.85490481e-04,-2.53335770e-04, 9.02987651e-05,
 -2.21419210e-06,-1.55628223e-04,-1.22086984e-04, 3.33234685e-05,
  3.95955140e-02,-1.04083824e-03, 2.20569389e-02,-3.55501522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62819793, -4.50795069, -1.04813964, -4.50795069,  5.05832601,
       -1.8499407 , -1.04813964, -1.8499407 , 12.58462003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032512833373186945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70736123e-13,  2.61439689e-13,  1.00000000e+00, -4.46371989e-26,
        1.00000000e+00, -2.61439689e-13, -1.00000000e+00,  0.00000000e+00,
        1.70736123e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601694, -0.08822493,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27920424e-05,-3.90571939e-05, 1.19835661e-05, 1.93462112e-05,
  8.41551935e-06,-4.43793543e-05, 1.07168503e-05, 5.14068320e-05,
 -3.50719351e-05,-4.22375767e-05, 3.99286373e-06,-2.66888463e-06,
 -2.55147232e-04,-8.15129607e-05,-9.91515259e-05, 4.40955649e-05,
 -1.17531509e-06, 1.69756254e-06,-1.21644457e+00,-4.54346250e-04,
  1.65503411e-05,-5.51393459e-04]


--- Step 530 ---
qpos:
[ 0.01205927,-0.00118369, 0.00247759, 0.04196339, 0.00460304,-0.00233975,
 -0.01819467, 0.02845921, 0.01319067, 0.00445599,-0.01029352, 0.02641741,
  0.91731535,-0.00136993, 0.72554045, 0.06553168, 0.09346368,-0.07014841,
  0.13095189, 0.50477464, 0.49406807, 0.49476033, 0.50627218]

qacc:
[  0.66382933, -3.08141761, 13.4450725 ,-27.41792466, -2.33896738,
   1.27592526, -5.39611408,  9.85824017, -0.69665022,  2.19023572,
  -6.19547217,  5.15952073, -1.98198472,  4.08541773,  5.96787245,
 -22.8790479 ,  0.48498158,  1.05459729,  0.43026631,  7.12290397,
   0.85115267,-15.23087631]

qfrc_actuator:
[ 5.87360275e-06, 3.14608247e-07, 8.65851358e-05, 8.39466288e-05,
  3.27671010e-05,-3.60290710e-04,-2.59336548e-04, 1.02841201e-04,
 -5.07969789e-06,-6.42670252e-05,-1.27851662e-04, 3.34473200e-05,
  3.95130993e-02,-9.99553255e-04, 2.19847510e-02,-3.68837778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032853624020105776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68965077e-13, -7.92023800e-14,  1.00000000e+00, -1.33824363e-26,
        1.00000000e+00,  7.92023800e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68965077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601716, -0.08822404,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77053733e-06,-5.85187245e-05, 6.37506974e-07,-4.34408952e-05,
 -1.36810980e-05, 4.83818879e-06,-1.20613533e-05, 1.20088844e-05,
 -3.88446588e-06, 6.85279686e-05,-1.40581271e-05,-1.59381605e-06,
 -2.63292574e-04,-2.02791242e-05,-1.19921796e-04,-1.45352711e-04,
 -1.23313684e-06, 1.24310862e-06,-1.21644394e+00,-4.54690076e-04,
  1.59935500e-05,-5.51658477e-04]


--- Step 531 ---
qpos:
[ 0.01206021,-0.00118434, 0.00247871, 0.04196342, 0.00460319,-0.0023404 ,
 -0.01819534, 0.02846109, 0.01319083, 0.00445542,-0.01029509, 0.02641822,
  0.91818287,-0.00136788, 0.72630695, 0.06552885, 0.09348289,-0.07015377,
  0.13095346, 0.50468087, 0.49415595, 0.49481596, 0.50622552]

qacc:
[  6.52430991, -1.86777191,  7.90893214,-16.40644359, -4.55337828,
   0.72543942,  0.69004762,-10.34839722,  2.69554081,  3.9776493 ,
 -13.2612491 , 18.57078544, -1.64488366,  3.19006973,  1.04935107,
  -6.31893488,  0.2925321 ,  1.04125635,  0.34846768,  4.28691727,
   0.63898808,-15.10819806]

qfrc_actuator:
[ 4.39164245e-05,-2.32862961e-05, 8.99436243e-05, 5.86822753e-05,
  6.56688958e-06,-3.27044641e-04,-2.80476399e-04, 7.37299993e-05,
  1.10584122e-05, 2.63352153e-05,-1.48390745e-04, 5.11151852e-05,
  3.94324552e-02,-9.75828823e-04, 2.19351563e-02,-3.73067162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032906873249286407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23089483e-07,  8.96174452e-14,  1.00000000e+00, -3.79161986e-20,
        1.00000000e+00, -8.96174452e-14, -1.00000000e+00,  6.01853108e-36,
        4.23089483e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0888026 , -0.08819001,  0.0619906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81309246e-05,-5.80596367e-05,-1.01650011e-05,-2.85981943e-05,
 -2.65887669e-05, 3.40050665e-05,-2.12012587e-05,-2.90896884e-05,
  1.60461182e-05, 1.26020082e-04,-8.14139091e-06, 2.00918879e-05,
 -2.54870694e-04,-3.06125678e-05,-1.28139045e-04,-6.75405348e-05,
 -1.27158825e-06, 8.66300075e-07,-1.21644370e+00,-4.55039565e-04,
  1.51642276e-05,-5.51825438e-04]


--- Step 532 ---
qpos:
[ 0.01206126,-0.00118554, 0.00247988, 0.04196385, 0.00460302,-0.00234068,
 -0.01819627, 0.02846226, 0.01319119, 0.00445553,-0.01029643, 0.02641819,
  0.91904893,-0.00136613, 0.72707212, 0.0655284 , 0.09350255,-0.07015502,
  0.13095613, 0.50460028, 0.49423014, 0.49488843, 0.50616259]

qacc:
[ 9.23509632e-01,-1.99063387e-02,-2.70113756e+00, 1.00411739e+01,
 -2.77839280e+00,-2.52025748e-01, 4.63205766e+00,-1.69106282e+01,
  1.68703116e+00,-1.46506969e+00, 1.00440344e+01,-2.53669281e+01,
 -5.94537251e-01, 2.18699652e-01,-9.12906089e+00, 2.91203192e+01,
  1.09166144e-01, 1.02982417e+00, 2.73353945e-01, 1.58253599e+00,
  4.33480476e-01,-1.49919477e+01]

qfrc_actuator:
[ 4.81684562e-05,-5.46725891e-05, 9.14610636e-05, 7.93199337e-05,
 -8.90159650e-06,-3.07086549e-04,-2.92598793e-04, 3.81080305e-05,
  2.04895411e-05, 4.47424365e-05,-1.41929046e-04, 7.95911766e-06,
  3.93529279e-02,-9.98219706e-04, 2.19151577e-02,-3.59455994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032852979954792194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68968390e-13,  8.44841949e-14,  1.00000000e+00,  1.42751584e-26,
        1.00000000e+00, -8.44841949e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68968390e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150261, -0.08815724,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31906297e-06,-6.71578274e-05,-1.27248865e-05, 1.72390067e-05,
 -1.62129525e-05, 3.33655562e-05,-8.70445445e-06,-3.54645734e-05,
  9.92725249e-06, 8.81008594e-05, 3.22078536e-05,-3.76439181e-05,
 -2.50299425e-04,-7.65622305e-05,-9.27248030e-05, 1.14363534e-04,
 -1.20565314e-06, 5.33457632e-07,-1.21644356e+00,-4.55370482e-04,
  1.40124837e-05,-5.51929091e-04]


--- Step 533 ---
qpos:
[ 0.01206235,-0.00118688, 0.00248033, 0.04196418, 0.00460335,-0.0023404 ,
 -0.0181975 , 0.02846331, 0.013192  , 0.00445605,-0.01029726, 0.02641766,
  0.91991347,-0.00136433, 0.72783591, 0.06552663, 0.09352264,-0.07015218,
  0.13095942, 0.50453269, 0.49429085, 0.49497756, 0.50608353]

qacc:
[  0.35795453,  1.57923061, -5.4557113 ,  4.89421305,  4.41038374,
   1.32195067, -3.15904669,  1.2332206 ,  4.01693629, -1.88849787,
   9.62951211,-19.39530048, -1.10601479,  1.63397001,  1.99285747,
  -9.79049547,  0.10888333,  1.01843792,  0.15600721,  1.58743171,
   0.41324459,-14.81145649]

qfrc_actuator:
[ 5.02395955e-05,-5.49379262e-05, 5.63750944e-05, 7.35340713e-05,
  1.75793642e-05,-2.59709104e-04,-2.99340059e-04, 3.44519595e-05,
  4.36433904e-05, 5.53384549e-05,-1.19900153e-04,-1.74224049e-05,
  3.92794377e-02,-9.94422518e-04, 2.18171012e-02,-3.67391233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003256259970602776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26187956e-14,  8.52375912e-14,  1.00000000e+00, -3.63272348e-27,
        1.00000000e+00, -8.52375912e-14, -1.00000000e+00,  0.00000000e+00,
        4.26187956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150247, -0.08815798,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20135055e-06,-3.96827524e-05,-4.99306731e-05,-8.76905062e-06,
  2.60319848e-05, 6.27305967e-05,-2.13654027e-06,-3.21677865e-06,
  2.34658802e-05, 6.49186634e-05, 4.29062756e-05,-2.12217452e-05,
 -2.49993501e-04,-5.63128754e-05,-1.34965450e-04,-8.65836684e-05,
 -1.04843442e-06, 2.63307589e-07,-1.21644348e+00,-4.55688925e-04,
  1.26890903e-05,-5.51972374e-04]


--- Step 534 ---
qpos:
[ 0.01206345,-0.00118795, 0.00247986, 0.04196406, 0.00460366,-0.00233984,
 -0.01819843, 0.0284643 , 0.01319308, 0.00445667,-0.01029773, 0.02641827,
  0.92077654,-0.00136252, 0.72859771, 0.06552039, 0.09354316,-0.07014532,
  0.13096294, 0.50447796, 0.49433824, 0.49508318, 0.50598848]

qacc:
[  0.10799014,  2.01637531, -4.75821764, -1.81089868, -0.2601572 ,
  -0.54715365,  2.73482132, -4.38877711,  2.40041316,  1.42101928,
  -9.64546353, 28.54288489, -1.12919685,  1.69894826, 10.61307173,
 -41.29126938,  0.10890544,  1.00915651,  0.05814343,  1.59435774,
   0.39464949,-14.6645594 ]

qfrc_actuator:
[ 5.10214921e-05,-1.89745685e-05, 1.78107463e-05, 5.22401623e-05,
  1.52775827e-05,-2.49486008e-04,-2.84965222e-04, 3.19073002e-05,
  5.69380629e-05, 4.34875298e-05,-1.06646371e-04, 3.88712050e-05,
  3.92096282e-02,-9.92885086e-04, 2.16722609e-02,-3.91530831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032100737741340424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29695971e-13,  1.72927961e-13,  1.00000000e+00, -2.24280598e-26,
        1.00000000e+00, -1.72927961e-13, -1.00000000e+00,  0.00000000e+00,
        1.29695971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150231, -0.08815919,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.36758205e-07, 3.12286605e-06,-5.32057924e-05,-2.48913187e-05,
 -1.53714760e-06, 4.47336543e-05, 2.69652488e-05, 5.82626584e-09,
  1.39838697e-05, 3.24082637e-05, 3.12189252e-05, 6.01483163e-05,
 -2.42630535e-04,-5.53683095e-05,-2.22414595e-04,-2.64994859e-04,
 -8.86384783e-07, 8.65825926e-08,-1.21644369e+00,-4.56012883e-04,
  1.12999178e-05,-5.51924230e-04]


--- Step 535 ---
qpos:
[ 0.01206421,-0.00118876, 0.00247941, 0.04196327, 0.00460325,-0.00233951,
 -0.01819893, 0.02846531, 0.01319362, 0.00445723,-0.01029731, 0.02641918,
  0.92163823,-0.00136099, 0.72935679, 0.06551524, 0.09356412,-0.07013444,
  0.13096637, 0.50443598, 0.49437244, 0.49520518, 0.50587751]

qacc:
[ -3.02929794, -1.05543423,  7.07675519,-18.80104745, -6.28525229,
  -1.50577184,  4.85526329, -5.09239143, -4.7107156 , -1.92860136,
   5.4344884 , -1.41944579, -0.57761343,  0.24138393, -7.29505732,
  19.71039494,  0.10918406,  1.00169119, -0.02320804,  1.60319559,
   0.37735336,-14.54643531]

qfrc_actuator:
[ 3.32868400e-05, 2.06230774e-05, 3.09226313e-05, 2.20333715e-05,
 -2.17131111e-05,-2.97005108e-04,-2.76138043e-04, 3.00171671e-05,
  2.88137138e-05, 3.60638366e-05,-6.32250010e-05, 5.39756569e-05,
  3.91367505e-02,-1.01044947e-03, 2.15793425e-02,-3.84193301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003150751191295931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32137896e-13,  1.76183862e-13,  1.00000000e+00, -2.32805649e-26,
        1.00000000e+00, -1.76183862e-13, -1.00000000e+00,  0.00000000e+00,
        1.32137896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150212, -0.08816077,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77026809e-05, 2.93286988e-05, 6.35997597e-06,-3.23949229e-05,
 -3.70200153e-05,-1.69463731e-05, 2.13911196e-05, 9.58759645e-07,
 -2.77178790e-05, 1.97152649e-05, 5.60395555e-05, 1.87420096e-05,
 -2.41666597e-04,-7.24405018e-05,-2.26800656e-04, 2.94686370e-05,
 -7.18989651e-07,-3.97152915e-10,-1.21644419e+00,-4.56343812e-04,
  9.84293809e-06,-5.51785638e-04]


--- Step 536 ---
qpos:
[ 0.01206509,-0.00118917, 0.00247874, 0.04196177, 0.00460274,-0.00233926,
 -0.01819958, 0.02846597, 0.01319382, 0.00445788,-0.01029661, 0.0264196 ,
  0.92249847,-0.00135963, 0.73011388, 0.06551114, 0.09358552,-0.07011958,
  0.13096944, 0.50440665, 0.49439358, 0.49534345, 0.50575071]

qacc:
[  1.09753351, -0.330043  ,  4.91441286,-17.05626006, -0.83903129,
  -0.38290779,  2.73863562, -8.5897487 , -2.99554628, -1.64793534,
   8.18877456,-17.32190682, -0.73370008,  0.64198625, -6.08555171,
  17.09917871,  0.10967931,  0.99579206, -0.09059445,  1.6138181 ,
   0.36107996,-14.45300784]

qfrc_actuator:
[ 4.03014342e-05, 4.45496937e-05, 2.12123472e-05,-1.31287118e-05,
 -2.55582057e-05,-3.07750875e-04,-2.88663686e-04, 1.07144915e-05,
  1.20448478e-05, 3.14331093e-05,-5.56260909e-05, 2.69802496e-05,
  3.90620781e-02,-1.02143819e-03, 2.15177152e-02,-3.77874788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000308161534402121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.2517067e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.2517067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150191, -0.08816261,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52548177e-06, 4.02811152e-05,-3.97314701e-06,-3.43109306e-05,
 -4.90784978e-06,-1.57838480e-05,-1.33565941e-05,-1.92704472e-05,
 -1.75501708e-05, 1.87381374e-05, 1.92106091e-05,-2.38497000e-05,
 -2.45842133e-04,-6.83452792e-05,-1.62923486e-04, 3.55526605e-05,
 -5.45782744e-07,-5.70153691e-10,-1.21644496e+00,-4.56683068e-04,
  8.31615490e-06,-5.51557405e-04]


--- Step 537 ---
qpos:
[ 0.01206571,-0.00118928, 0.00247795, 0.04196022, 0.00460219,-0.00233919,
 -0.01820006, 0.02846673, 0.01319417, 0.0044586 ,-0.01029633, 0.02641974,
  0.92335723,-0.00135865, 0.73087006, 0.06550465, 0.09360736,-0.07010076,
  0.13097192, 0.5043899 , 0.49440174, 0.49549791, 0.50560812]

qacc:
[ -2.36252242,  0.61899359, -1.3780254 ,  0.33856554, -0.36339312,
  -0.49567489,  0.96598468,  0.69764151,  1.23867343,  0.67004884,
  -1.1444655 , -2.9198488 , -0.72913673,  0.43202693,  5.92255   ,
 -22.61969069,  0.11035827,  0.9912432 , -0.14619956,  1.6260957 ,
   0.34560572,-14.38082639]

qfrc_actuator:
[ 2.63273041e-05, 5.88289103e-05, 1.57813953e-05,-1.54529858e-05,
 -2.76047856e-05,-3.14260850e-04,-2.78073405e-04, 1.68357907e-05,
  1.98598591e-05, 1.05749909e-05,-8.70162745e-05, 1.09143766e-05,
  3.89757326e-02,-1.04621784e-03, 2.14855455e-02,-3.89960510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003005405694614244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84704352e-13,  9.23521762e-14,  1.00000000e+00, -1.70578489e-26,
        1.00000000e+00, -9.23521762e-14, -1.00000000e+00,  0.00000000e+00,
        1.84704352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915017 , -0.08816464,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37705664e-05, 3.45394635e-05, 1.22785088e-06,-1.39859236e-06,
 -2.19073534e-06,-1.89258729e-05, 5.02132909e-06, 4.60729925e-06,
  7.32602523e-06,-7.47190617e-06,-2.59944518e-05,-1.50654956e-05,
 -2.58853389e-04,-8.26842629e-05,-1.06775584e-04,-1.40718060e-04,
 -3.66333408e-07, 8.37105484e-08,-1.21644600e+00,-4.57031950e-04,
  6.71759314e-06,-5.51240189e-04]


--- Step 538 ---
qpos:
[ 0.01206547,-0.00118918, 0.00247764, 0.04195931, 0.00460127,-0.00233942,
 -0.01819983, 0.02846788, 0.01319461, 0.00445941,-0.01029624, 0.02642071,
  0.92421447,-0.0013582 , 0.73162495, 0.06549672, 0.09362965,-0.07007799,
  0.13097363, 0.50438567, 0.494397  , 0.4956685 , 0.50544974]

qacc:
[ -7.56397979,  0.25892311, -3.21902536, 13.41233196, -3.17322877,
  -1.60086273,  3.52253989,  2.22224771,  0.79177342,  2.35074527,
 -11.66198669, 26.11011433, -0.54372068, -0.15562651,  2.406449  ,
 -11.16492461,  0.11119371,  0.98785849, -0.19189424,  1.63990088,
   0.33074939,-14.32696836]

qfrc_actuator:
[-1.76489848e-05, 8.50121294e-05, 4.84161041e-05, 1.93131685e-05,
 -4.63396281e-05,-3.18078275e-04,-2.36117403e-04, 3.78952928e-05,
  2.43254889e-05, 3.32477896e-05,-8.79618857e-05, 5.46369189e-05,
  3.88877644e-02,-1.07901034e-03, 2.14284187e-02,-3.96808096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029243680035398456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42367046e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.42367046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09150147, -0.08816682,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43545340e-05, 4.57014617e-05, 3.98859211e-05, 3.62670719e-05,
 -1.88043291e-05,-1.31652649e-05, 3.88280740e-05, 2.05111683e-05,
  4.67541594e-06, 1.24535823e-05,-6.22399829e-06, 4.22069226e-05,
 -2.71582010e-04,-9.55546634e-05,-1.29398487e-04,-9.18352569e-05,
 -1.80237423e-07, 2.50552318e-07,-1.21644732e+00,-4.57391727e-04,
  5.04529061e-06,-5.50834519e-04]


--- Step 539 ---
qpos:
[ 0.01206539,-0.0011888 , 0.00247773, 0.04195883, 0.00459979,-0.00233953,
 -0.01819949, 0.02846891, 0.01319475, 0.00446003,-0.01029662, 0.0264226 ,
  0.92507011,-0.00135786, 0.73237774, 0.06548877, 0.09364781,-0.0700628 ,
  0.13097558, 0.50436958, 0.49440138, 0.49579662, 0.50533583]

qacc:
[  1.45385429,  0.15470841, -1.78771853,  8.23666359, -4.93031418,
  -0.35063154,  1.96457017, -4.17420334, -2.6017161 ,  2.95829648,
 -14.7799581 , 31.55245061, -0.94805047,  1.10162659, -2.97616908,
   5.98937401, -1.03191215, -1.89516664,  0.05784464,-16.52288703,
   0.90873042, 26.96858217]

qfrc_actuator:
[-7.91462175e-06, 1.00558193e-04, 6.78272888e-05, 4.01491596e-05,
 -7.47476640e-05,-3.02348540e-04,-2.29223113e-04, 3.20876733e-05,
  9.02348906e-06,-6.79068764e-06,-1.23957580e-04, 9.77432711e-05,
  3.88148567e-02,-1.08078902e-03, 2.13191041e-02,-3.96963763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028467526640254723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.88144511e-07,  7.88144511e-07,  1.00000000e+00,  6.21171770e-13,
        1.00000000e+00, -7.88144511e-07, -1.00000000e+00,  1.00974196e-28,
       -7.88144511e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10958286, -0.03542448,  0.06199186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48551932e-06, 5.08824912e-05, 3.50249662e-05, 2.48842737e-05,
 -2.89514156e-05, 1.72632232e-05, 9.66569274e-06,-4.63094245e-06,
 -1.51634692e-05,-3.25808845e-05,-3.27419434e-05, 4.42418158e-05,
 -2.67408782e-04,-6.89928073e-05,-1.85131033e-04,-2.47643253e-05,
  1.28896977e-08, 4.98422181e-07,-1.21644890e+00,-4.57763665e-04,
  3.29729139e-06,-5.50340814e-04]


--- Step 540 ---
qpos:
[ 0.01206577,-0.00118807, 0.00247777, 0.04195861, 0.00459799,-0.00233947,
 -0.01819908, 0.02846952, 0.0131947 , 0.00446024,-0.01029723, 0.02642362,
  0.92592395,-0.00135663, 0.73312799, 0.06548547, 0.09366183,-0.07005527,
  0.13097671, 0.50434123, 0.49441516, 0.4958821 , 0.50526678]

qacc:
[  4.05125858,  1.12457036, -4.50836369,  9.07167528, -2.88619805,
  -0.87142705,  5.24262833,-12.90357706, -1.62214374, -1.67224517,
   8.84954535,-23.19197752, -1.87981981,  3.95713789,-17.66548605,
  56.62934314, -1.03408062, -1.91723306, -0.20384045,-16.49618529,
   1.00421561, 27.28151289]

qfrc_actuator:
[ 1.56116583e-05, 1.09563879e-04, 6.14562430e-05, 5.25935385e-05,
 -9.08634866e-05,-2.92935925e-04,-2.25281939e-04, 1.05040894e-05,
 -3.75646993e-08,-4.87013125e-05,-1.45121732e-04, 5.12913725e-05,
  3.87403951e-02,-1.02867342e-03, 2.12371802e-02,-3.71883625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002950963359782677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.35139955e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.35139955e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004498, -0.03407194,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37817990e-05, 4.57498631e-05, 9.30935207e-06, 1.63202101e-05,
 -1.69357888e-05, 2.08518692e-05, 8.53356109e-06,-2.06010607e-05,
 -9.50180979e-06,-6.50245048e-05,-3.04025421e-05,-4.81241088e-05,
 -2.61187321e-04,-1.02944100e-05,-1.72701563e-04, 2.24914241e-04,
 -2.10421522e-07, 2.65927339e-07,-1.21644492e+00,-4.58259549e-04,
  6.48656437e-06,-5.49885204e-04]


--- Step 541 ---
qpos:
[ 0.01206643,-0.00118724, 0.00247788, 0.04195858, 0.00459634,-0.00233918,
 -0.01819836, 0.02846949, 0.01319524, 0.00446043,-0.01029796, 0.02642332,
  0.9267761 ,-0.00135478, 0.73387692, 0.06548467, 0.09367178,-0.07005527,
  0.13097633, 0.50430073, 0.49443815, 0.49592583, 0.50524178]

qacc:
[  2.45408753,  0.32516034, -1.73237496,  4.64988528,  1.45517722,
  -1.83667569,  9.68180797,-21.3111385 ,  5.11021914, -2.41460036,
  14.06699405,-36.52169954, -1.67162882,  3.32733362, -9.39116171,
  30.25144103, -1.01775508, -1.88128826, -0.37895798,-16.1384442 ,
   1.04492062, 26.78084138]

qfrc_actuator:
[ 2.92973962e-05, 9.67114880e-05, 5.76375946e-05, 5.99806240e-05,
 -8.18597164e-05,-2.69657444e-04,-2.05376931e-04,-2.01846740e-05,
  3.01588115e-05,-2.04322297e-05,-1.39685224e-04,-1.19723135e-05,
  3.86597513e-02,-9.98421237e-04, 2.12037600e-02,-3.58757862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54469385, -1.02807184,  4.42688497, -1.02807184, 34.77109439,
        7.01958857,  4.42688497,  7.01958857,  6.17487881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030128186473614427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.21249463e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.21249463e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004289, -0.03407485,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43748981e-05, 1.53338580e-05, 7.33271007e-06, 9.98454735e-06,
  8.52849372e-06, 3.58044417e-05, 2.45442055e-05,-2.99025148e-05,
  2.99072115e-05,-1.64417476e-05,-1.34023579e-05,-6.80398084e-05,
 -2.50944190e-04,-2.26551793e-05,-9.02765841e-05, 1.20981882e-04,
 -2.89473760e-07, 1.67338211e-07,-1.21644220e+00,-4.58842662e-04,
  8.80905556e-06,-5.49679172e-04]


--- Step 542 ---
qpos:
[ 0.01206725,-0.00118715, 0.00247894, 0.04195799, 0.00459448,-0.00233869,
 -0.01819764, 0.02846878, 0.01319579, 0.00446051,-0.01029867, 0.02642262,
  0.92762685,-0.00135343, 0.73462458, 0.06548674, 0.09367772,-0.07006268,
  0.13097383, 0.50424819, 0.49447023, 0.49592857, 0.50526014]

qacc:
[  1.4453887 , -4.81203389, 18.09135559,-28.71327567, -1.96994276,
  -1.1431283 ,  7.34235102,-19.34505158,  0.11360831, -1.02344733,
   5.18561384,-12.24940367, -0.34936069, -0.4886328 ,-10.55555673,
  34.20170541, -1.00400357, -1.85143153, -0.52639464,-15.84315901,
   1.07595244, 26.36519425]

qfrc_actuator:
[ 3.70766665e-05, 1.76005531e-05, 9.07750890e-05, 2.88151235e-05,
 -9.36524301e-05,-2.73704723e-04,-2.11655442e-04,-5.59591444e-05,
  2.99600040e-05,-2.12781780e-05,-1.36059692e-04,-3.12744480e-05,
  3.85754527e-02,-1.03464965e-03, 2.11568175e-02,-3.43899192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55392436, -1.33718168,  4.35317956, -1.33718168, 31.37877509,
        8.239885  ,  4.35317956,  8.239885  ,  7.0849992 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003040500832968279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12861964e-14,  4.56430982e-14,  1.00000000e+00, -4.16658483e-27,
        1.00000000e+00, -4.56430982e-14, -1.00000000e+00,  0.00000000e+00,
        9.12861964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004175, -0.03407606,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19013951e-06,-6.86219498e-05, 3.75413460e-05,-3.00632397e-05,
 -1.15367025e-05, 1.97465861e-05, 3.09358549e-06,-3.39753159e-05,
  6.48316050e-07,-1.57098401e-05,-3.76939121e-06,-2.17939087e-05,
 -2.49988354e-04,-8.91182769e-05,-8.22053402e-05, 1.42002584e-04,
 -2.18482448e-07, 2.02781699e-07,-1.21644078e+00,-4.59521408e-04,
  1.02190432e-05,-5.49726136e-04]


--- Step 543 ---
qpos:
[ 0.01206782,-0.00118769, 0.00248018, 0.04195707, 0.00459248,-0.00233799,
 -0.0181976 , 0.02846803, 0.01319599, 0.00446043,-0.01029961, 0.02642171,
  0.92847611,-0.00135247, 0.73537061, 0.06549033, 0.09367968,-0.07007739,
  0.13096874, 0.50418369, 0.49451127, 0.49589091, 0.50532131]

qacc:
[-2.25047019e+00,-1.99756637e+00, 7.27395989e+00,-1.27114366e+01,
 -1.13491703e+00, 2.07668412e+00,-6.83630866e+00, 7.13308819e+00,
 -3.09536841e+00,-1.06539579e-02, 5.94966214e-01,-3.64233603e+00,
 -5.56218039e-01, 2.95738876e-02,-6.95703167e+00, 2.08932860e+01,
 -9.92488629e-01,-1.82672343e+00,-6.50458254e-01,-1.56005222e+01,
  1.09918317e+00, 2.60221329e+01]

qfrc_actuator:
[ 2.35673330e-05,-2.94628891e-05, 9.19007262e-05, 1.06866311e-05,
 -9.98468162e-05,-2.76441438e-04,-2.51210953e-04,-5.89748645e-05,
  1.18601185e-05,-3.95077795e-05,-1.51359257e-04,-4.23275146e-05,
  3.84943228e-02,-1.05662405e-03, 2.10591990e-02,-3.37014697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55399862, -1.6578743 ,  4.24150401, -1.6578743 , 43.50214344,
       15.22363955,  4.24150401, 15.22363955, 10.50445408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030407221098159576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12795534e-14,  9.12795534e-14,  1.00000000e+00,  8.33195687e-27,
        1.00000000e+00, -9.12795534e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12795534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004138, -0.03407591,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33018187e-05,-7.89849307e-05,-9.47888975e-06,-2.03564551e-05,
 -6.51527105e-06, 7.46005730e-06,-3.62833101e-05,-2.72425709e-06,
 -1.80865033e-05,-2.87181962e-05,-1.97534714e-05,-1.22778028e-05,
 -2.59566673e-04,-8.44033763e-05,-1.26860685e-04, 6.44470261e-05,
 -2.69103485e-09, 3.64215958e-07,-1.21644059e+00,-4.60299199e-04,
  1.07730923e-05,-5.50022851e-04]


--- Step 544 ---
qpos:
[ 0.01206856,-0.00118828, 0.00248088, 0.04195626, 0.00459112,-0.00233702,
 -0.01819785, 0.02846791, 0.01319597, 0.00445965,-0.01030052, 0.02642143,
  0.92932378,-0.00135147, 0.73611573, 0.06549131, 0.09367772,-0.07009933,
  0.13096063, 0.50410729, 0.49456116, 0.49581334, 0.5054248 ]

qacc:
[  1.55101905,  1.68163226, -6.54065296,  9.32091475,  5.51613018,
   2.47159451,-10.96305646, 22.12766559, -1.90570168,  0.28347597,
  -4.95355153, 16.12087882, -1.2040964 ,  1.79519586,  6.59615439,
 -24.91599214, -0.98291362, -1.80636607, -0.75481336,-15.40240211,
   1.11604759, 25.74117027]

qfrc_actuator:
[ 3.31438182e-05,-3.84092378e-06, 7.42226929e-05, 1.81239136e-05,
 -6.71848594e-05,-2.42990282e-04,-2.56811844e-04,-2.49592016e-05,
  1.13110832e-06,-1.03574466e-04,-1.60033636e-04,-1.29701612e-05,
  3.84204779e-02,-1.05220726e-03, 2.10058131e-02,-3.50871232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030190884499742277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83867257e-13, -2.75800886e-13,  1.00000000e+00,  5.07107524e-26,
        1.00000000e+00,  2.75800886e-13, -1.00000000e+00,  0.00000000e+00,
        1.83867257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004162, -0.03407467,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17235943e-06,-2.13760576e-05,-3.58710598e-05, 3.33014620e-06,
  3.24803005e-05, 2.99848943e-05,-8.63058176e-06, 3.30271629e-05,
 -1.12529764e-05,-8.47223439e-05,-1.74495587e-05, 2.72092996e-05,
 -2.57933457e-04,-5.91140220e-05,-1.09921426e-04,-1.52594145e-04,
  3.54041097e-07, 6.46246725e-07,-1.21644157e+00,-4.61178144e-04,
  1.05144753e-05,-5.50566476e-04]


--- Step 545 ---
qpos:
[ 0.01206906,-0.00118891, 0.00248102, 0.04195555, 0.00459051,-0.00233613,
 -0.01819773, 0.02846785, 0.01319548, 0.00445799,-0.0103009 , 0.02642252,
  0.93016987,-0.0013504 , 0.73685988, 0.06549183, 0.09367596,-0.07011675,
  0.13095622, 0.50404415, 0.4945984 , 0.49575406, 0.50550947]

qacc:
[-2.09141454e+00, 1.72612790e+00,-6.62059899e+00, 9.19034964e+00,
  6.56146058e+00,-1.01147553e+00, 3.15321807e+00,-2.55869016e+00,
 -4.13458594e+00, 2.19425994e-01,-8.27454927e+00, 3.19332625e+01,
 -1.17315938e+00, 1.75115358e+00,-1.74195829e-02,-1.88260930e+00,
  5.27082616e-02, 1.13026979e+00, 9.24934794e-01, 2.81681229e+00,
 -1.33773556e-01,-1.57597580e+01]

qfrc_actuator:
[ 2.07334150e-05,-5.95884238e-06, 4.59099979e-05, 2.28445899e-05,
 -2.96686206e-05,-2.58977577e-04,-2.42141045e-04,-2.26314210e-05,
 -2.29207103e-05,-1.41284003e-04,-1.29384376e-04, 5.76462952e-05,
  3.83404140e-02,-1.04997682e-03, 2.09896132e-02,-3.51966091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003006144366269198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73117781e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.73117781e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151175, -0.08816791,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21543012e-05,-2.13225761e-05,-3.70314365e-05, 2.62963446e-06,
  3.84521238e-05, 3.92004860e-07, 2.09343722e-05, 3.95421622e-06,
 -2.44049855e-05,-8.74896218e-05, 1.19617590e-05, 6.69163777e-05,
 -2.58134972e-04,-5.72490181e-05,-9.11858391e-05,-3.53742713e-05,
  8.49051483e-07, 1.04567550e-06,-1.21644368e+00,-4.62159442e-04,
  9.47590931e-06,-5.51354562e-04]


--- Step 546 ---
qpos:
[ 0.01206942,-0.0011894 , 0.00248039, 0.04195523, 0.00459035,-0.00233565,
 -0.01819725, 0.02846787, 0.0131947 , 0.00445612,-0.01030087, 0.02642402,
  0.93101434,-0.00134901, 0.73760256, 0.06549356, 0.09367447,-0.07012976,
  0.13095463, 0.50399413, 0.49462294, 0.49571265, 0.50557594]

qacc:
[ -1.36774331,  3.13697758,-12.59287297, 20.59388411,  4.00669165,
  -1.42220729,  3.97956489, -3.03398035, -2.49263546, -0.58213982,
  -0.06545521,  6.70029466, -1.35174834,  2.36488797, -5.71747828,
  17.02493836,  0.0656115 ,  1.1009761 ,  0.7049918 ,  2.58249244,
  -0.03846709,-15.46424805]

qfrc_actuator:
[ 1.32265707e-05, 1.07958281e-05, 1.14538289e-05, 4.36575516e-05,
 -7.36103562e-06,-3.04378378e-04,-2.33601481e-04,-2.12496998e-05,
 -3.68708654e-05,-1.09462290e-04,-9.34033474e-05, 8.09996819e-05,
  3.82673286e-02,-1.03135641e-03, 2.09265272e-02,-3.45516035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57259837,  0.94978537,  4.47286973,  0.94978537, 15.96167378,
       -2.41839756,  4.47286973, -2.41839756,  5.08612967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003095443169081197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45707118e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45707118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151417, -0.08816626,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85669827e-06,-2.68875641e-06,-4.33231045e-05, 1.86724882e-05,
  2.34034960e-05,-4.07081274e-05, 1.13229149e-05, 2.19611416e-06,
 -1.46827716e-05,-1.17124557e-05, 2.17195599e-05, 2.13233087e-05,
 -2.50547997e-04,-4.08247236e-05,-1.16804402e-04, 4.89298268e-05,
  6.20032369e-07, 6.56854228e-07,-1.21644229e+00,-4.61490193e-04,
  1.00257734e-05,-5.51668777e-04]


--- Step 547 ---
qpos:
[ 0.01207002,-0.00118962, 0.00247979, 0.0419551 , 0.00459046,-0.00233519,
 -0.01819708, 0.0284679 , 0.0131948 , 0.00445426,-0.01030021, 0.02642541,
  0.9318574 ,-0.00134773, 0.73834305, 0.06549714, 0.09367328,-0.07013847,
  0.13095511, 0.50395708, 0.49463477, 0.49568875, 0.50562473]

qacc:
[  2.21028825,  0.65027187, -2.57709337,  5.46879527,  2.34655002,
   0.83226999, -3.07787867,  3.82091453,  7.70329259, -2.01337436,
   7.67020633,-10.73932377, -0.75428319,  0.76076608, -8.79628893,
  26.1512868 ,  0.07566915,  1.07675011,  0.5198903 ,  2.39580846,
   0.03635177,-15.2154264 ]

qfrc_actuator:
[ 2.64255282e-05, 5.64650588e-05, 2.69931461e-05, 5.60320686e-05,
  5.81461751e-06,-2.96061060e-04,-2.46640847e-04,-2.04681039e-05,
  8.49893479e-06,-8.94953039e-05,-5.43228339e-05, 7.64094461e-05,
  3.81984888e-02,-1.03868529e-03, 2.08087602e-02,-3.36461319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58987648,  0.8687784 ,  4.50690472,  0.8687784 , 23.44161117,
       -3.63397517,  4.50690472, -3.63397517,  5.29038366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031450704458035883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82510459e-14,  8.82510459e-14,  1.00000000e+00,  7.78824710e-27,
        1.00000000e+00, -8.82510459e-14, -1.00000000e+00,  0.00000000e+00,
       -8.82510459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151603, -0.08816552,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29777166e-05, 3.60385955e-05, 1.03079414e-05, 1.11272954e-05,
  1.38284438e-05,-1.20285942e-05,-1.99892184e-05,-5.31586663e-07,
  4.49411939e-05, 1.88739235e-05, 4.00921376e-05,-3.92445645e-06,
 -2.38114068e-04,-6.28270228e-05,-1.72121844e-04, 7.67894903e-05,
  4.23601283e-07, 3.62554866e-07,-1.21644125e+00,-4.60894142e-04,
  1.04325560e-05,-5.51896866e-04]


--- Step 548 ---
qpos:
[ 0.01207009,-0.00118947, 0.00247931, 0.04195475, 0.00459038,-0.00233482,
 -0.01819733, 0.02846795, 0.01319544, 0.00445271,-0.01029919, 0.02642636,
  0.93269903,-0.00134653, 0.73908158, 0.06550042, 0.09367242,-0.07014295,
  0.13095706, 0.50393289, 0.49463389, 0.49568205, 0.50565626]

qacc:
[ -4.71788358, -0.29997899,  2.71787937, -6.97972212, -1.65620788,
   1.1616314 , -4.40810141,  5.61464935,  4.7796334 , -1.49328066,
   7.7537944 ,-16.06254944, -0.86959556,  1.03894302, -1.97035573,
   2.75507341,  0.08350961,  1.05679061,  0.36440645,  2.24714746,
   0.09506103,-15.006997  ]

qfrc_actuator:
[-1.55346352e-06, 8.37958559e-05, 3.65433554e-05, 4.56497482e-05,
 -4.23725942e-06,-3.08992280e-04,-2.72107964e-04,-2.00182274e-05,
  3.51585111e-05,-5.90190262e-05,-3.15144150e-05, 5.54217795e-05,
  3.81269117e-02,-1.04352985e-03, 2.07062347e-02,-3.38384045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59609177,  0.75713991,  4.53329888,  0.75713991, 41.23362604,
       -6.11910666,  4.53329888, -6.11910666,  5.61808921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031626500341505603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31640754e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31640754e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151744, -0.08816552,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75967452e-05, 5.01076945e-05, 1.86576850e-05,-8.26363442e-06,
 -9.66081282e-06,-2.38231342e-05,-3.04404345e-05,-7.69667789e-07,
  2.79365874e-05, 4.92167660e-05, 3.15188148e-05,-1.88702358e-05,
 -2.37687312e-04,-6.08609450e-05,-1.75976303e-04,-3.78024085e-05,
  2.53386953e-07, 1.60137318e-07,-1.21644052e+00,-4.60355107e-04,
  1.07132287e-05,-5.52037671e-04]


--- Step 549 ---
qpos:
[ 0.01206982,-0.00118898, 0.00247894, 0.04195462, 0.00459018,-0.00233489,
 -0.01819773, 0.02846769, 0.0131957 , 0.00445177,-0.01029829, 0.0264267 ,
  0.93353925,-0.00134538, 0.73981922, 0.06549959, 0.09367193,-0.07014327,
  0.13095994, 0.50392146, 0.49462031, 0.49569233, 0.50567087]

qacc:
[ -2.95209398,  0.60307575, -2.47128668,  6.00703091, -1.04418289,
  -0.83530056,  3.46275939, -8.35549709, -3.31616707, -0.12282175,
   4.17104856,-14.95928541, -1.04468836,  1.44664917, 11.14236071,
 -40.78486992,  0.08962559,  1.04042839,  0.23409481,  2.12887714,
   0.14110215,-14.8335737 ]

qfrc_actuator:
[-1.80462249e-05, 9.99109567e-05, 4.23887309e-05, 5.74446403e-05,
 -1.01242100e-05,-3.52355573e-04,-2.87024506e-04,-3.75381593e-05,
  1.50680765e-05,-2.25545437e-05,-3.62076559e-05, 2.49571785e-05,
  3.80590694e-02,-1.04687088e-03, 2.06714968e-02,-3.59179024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5932325 , -0.60615812, -4.5530602 , -0.60615812, 37.44638611,
       -4.37380684, -4.5530602 , -4.37380684,  5.17552626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003154580316092198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915185 , -0.08816612,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72607071e-05, 4.76265834e-05, 1.82132763e-05, 1.44289413e-05,
 -6.16956219e-06,-6.30197344e-05,-2.36147235e-05,-1.96091117e-05,
 -1.92836879e-05, 6.97423674e-05, 8.70596242e-06,-2.76341016e-05,
 -2.33457056e-04,-5.89325204e-05,-1.23084964e-04,-2.33494126e-04,
  1.04642793e-07, 4.72400032e-08,-1.21644011e+00,-4.59861071e-04,
  1.08804389e-05,-5.52090540e-04]


--- Step 550 ---
qpos:
[ 0.01206902,-0.00118845, 0.00247907, 0.04195465, 0.00458991,-0.00233488,
 -0.01819882, 0.02846719, 0.01319572, 0.00445127,-0.01029765, 0.02642636,
  0.93437825,-0.00134516, 0.74055507, 0.06549861, 0.09367181,-0.07013948,
  0.13096332, 0.50392269, 0.49459403, 0.49571937, 0.50566883]

qacc:
[ -4.73615673, -0.99474962,  3.01633736, -1.22807867, -0.63182682,
   1.53821665, -4.3505781 ,  1.32068432, -2.14986185, -0.0639589 ,
   3.95678194,-15.65034936,  0.08026732, -1.699252  , -2.18114482,
   3.73432342,  0.09440294,  1.02710299,  0.12516074,  2.03493167,
   0.1771798 ,-14.69053112]

qfrc_actuator:
[-4.53861258e-05, 9.14347857e-05, 6.37267215e-05, 6.44329382e-05,
 -1.35052759e-05,-3.24823898e-04,-3.13484048e-04,-4.77573164e-05,
  3.13363226e-06,-1.84133027e-05,-5.70680579e-05,-1.08462599e-05,
  3.79828659e-02,-1.10255407e-03, 2.06028439e-02,-3.58949288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003126217029663786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.77566531e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.77566531e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151928, -0.08816718,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78167996e-05, 2.25190637e-05, 3.39180103e-05, 9.94052133e-06,
 -3.57726551e-06,-1.34212975e-05,-4.30575825e-05,-1.41167248e-05,
 -1.24591694e-05, 4.37725163e-05,-6.33732246e-06,-3.30510687e-05,
 -2.38566723e-04,-1.10232166e-04,-1.58199997e-04,-2.82162128e-05,
 -2.61634065e-08, 2.18041908e-08,-1.21644000e+00,-4.59403106e-04,
  1.09435872e-05,-5.52055132e-04]


--- Step 551 ---
qpos:
[ 0.01206754,-0.00118817, 0.00247969, 0.04195412, 0.0045896 ,-0.00233464,
 -0.0182004 , 0.02846689, 0.01319595, 0.00445088,-0.01029711, 0.02642528,
  0.93521572,-0.0013452 , 0.74128872, 0.06549637, 0.09367208,-0.07013162,
  0.13096684, 0.50393652, 0.49455507, 0.49576302, 0.50565036]

qacc:
[ -5.83586094, -2.84228097, 12.07175568,-22.50258584, -0.35848221,
   2.08271872, -7.76640266, 11.66550528,  1.77063083, -1.10988201,
   7.2922308 ,-20.03010103, -0.77619123,  0.59377444,  0.55894722,
  -6.60456061,  0.09814345,  1.01634412,  0.03435875,  1.96048566,
   0.20541908,-14.57388758]

qfrc_actuator:
[-7.88950994e-05, 5.06005711e-05, 7.61803578e-05, 3.30175859e-05,
 -1.53850339e-05,-2.90596889e-04,-3.28511022e-04,-3.57963534e-05,
  1.38627245e-05,-3.37448795e-05,-6.96768224e-05,-4.95363474e-05,
  3.78963549e-02,-1.11775533e-03, 2.04766742e-02,-3.65863427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003082029253423796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80112344e-13,  9.00561719e-14,  1.00000000e+00,  1.62202282e-26,
        1.00000000e+00, -9.00561719e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80112344e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151984, -0.0881686 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42960870e-05,-2.08374764e-05, 2.16206190e-05,-2.90837941e-05,
 -1.98415143e-06, 1.72356714e-05,-2.35775845e-05, 9.62489770e-06,
  1.03910156e-05, 6.42802277e-06,-5.49144329e-06,-3.76757675e-05,
 -2.62552998e-04,-7.83790254e-05,-2.05925945e-04,-9.20117724e-05,
 -1.41656148e-07, 8.20704307e-08,-1.21644017e+00,-4.58974577e-04,
  1.09096302e-05,-5.51931301e-04]


--- Step 552 ---
qpos:
[ 0.01206637,-0.0011882 , 0.00248051, 0.04195393, 0.00458928,-0.00233453,
 -0.01820175, 0.02846672, 0.01319664, 0.00445046,-0.01029668, 0.02642411,
  0.93605145,-0.00134479, 0.74202111, 0.06549013, 0.09367275,-0.07011973,
  0.1309702 , 0.50396288, 0.49450344, 0.49582314, 0.50561563]

qacc:
[  2.64476122, -0.27063485, -1.13372714,  7.09721546, -0.1655293 ,
  -0.51003327,  0.94372346,  1.29904213,  4.14886085,  0.0675513 ,
   0.05903142, -1.39708909, -1.7693932 ,  3.31412474, 10.29000221,
 -38.51373067,  0.1010829 ,  1.00775662, -0.04108999,  1.90169711,
   0.22748922,-14.48021129]

qfrc_actuator:
[-6.25057302e-05, 2.61347023e-05, 8.31149720e-05, 5.02293503e-05,
 -1.63669992e-05,-3.05808687e-04,-3.18848412e-04,-2.86115690e-05,
  3.78426384e-05,-4.28547958e-05,-7.73992933e-05,-5.41213886e-05,
  3.78143817e-02,-1.09118717e-03, 2.04279372e-02,-3.85824741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003025732766770428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29329370e-13,  9.17317482e-14,  1.00000000e+00,  2.10367841e-26,
        1.00000000e+00, -9.17317482e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29329370e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152022, -0.0881703 ,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54053165e-05,-3.29219750e-05, 4.28051769e-06, 1.65018827e-05,
 -1.03199397e-06,-1.00215948e-05, 1.06678098e-05, 7.29868158e-06,
  2.42782765e-05,-8.24966116e-06,-8.37420350e-06,-5.23112398e-06,
 -2.67379122e-04,-3.66811431e-05,-1.55634412e-04,-2.31719235e-04,
 -2.43781494e-07, 2.26558641e-07,-1.21644061e+00,-4.58570554e-04,
  1.07836783e-05,-5.51719003e-04]


--- Step 553 ---
qpos:
[ 0.0120654 ,-0.00118837, 0.00248132, 0.04195428, 0.0045886 ,-0.00233446,
 -0.01820271, 0.02846628, 0.01319693, 0.00444944,-0.0102958 , 0.02642258,
  0.93688553,-0.00134379, 0.7427523 , 0.06548303, 0.09367384,-0.07010384,
  0.13097314, 0.50400173, 0.49443914, 0.49589963, 0.50556478]

qacc:
[  1.80502397,  0.93028959, -5.86920171, 15.3568003 , -3.09240368,
  -1.73518618,  7.32534208,-12.8502514 , -3.56094546, -2.80525199,
  10.37858797,-16.87713487, -1.72920334,  3.38352473,  0.92618015,
  -5.58972336,  0.10340529,  1.00100824, -0.10356567,  1.85550437,
   0.24470089,-14.40654329]

qfrc_actuator:
[-5.23819684e-05, 2.94159235e-05, 8.68297082e-05, 7.81753866e-05,
 -3.45661636e-05,-2.97142534e-04,-2.94890272e-04,-4.20752868e-05,
  1.61644344e-05,-1.01388849e-04,-6.43862882e-05,-7.41032961e-05,
  3.77458568e-02,-1.05793308e-03, 2.04150041e-02,-3.88435539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002960404193414201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17195042e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.17195042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152047, -0.08817221,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05490041e-05,-1.35364529e-05,-1.99560088e-06, 2.70031805e-05,
 -1.82328323e-05, 5.59039367e-06, 2.34698280e-05,-1.33788301e-05,
 -2.09918785e-05,-6.50776723e-05, 1.00987417e-05,-2.07252798e-05,
 -2.48306928e-04,-2.49938447e-05,-1.15802173e-04,-6.03431516e-05,
 -3.33978513e-07, 4.54039431e-07,-1.21644134e+00,-4.58187383e-04,
  1.05694436e-05,-5.51418252e-04]


--- Step 554 ---
qpos:
[ 0.0120649 ,-0.00118826, 0.00248202, 0.04195423, 0.00458805,-0.00233414,
 -0.01820343, 0.02846462, 0.0131973 , 0.00444745,-0.01029425, 0.02642086,
  0.93771807,-0.00134241, 0.74348225, 0.06547624, 0.09367536,-0.07008397,
  0.13097546, 0.50405302, 0.49436217, 0.4959924 , 0.50549791]

qacc:
[  4.15308526, -0.13238503,  2.72169221, -9.74298251,  1.15819664,
  -2.83951585, 15.73721009,-37.38294531,  0.77091961, -3.50072835,
  11.44585034,-15.11708259, -1.40555065,  2.56269041, -2.69919673,
   6.97567125,  0.105254  ,  0.99581944, -0.15510657,  1.81946566,
   0.25808286,-14.35033321]

qfrc_actuator:
[-2.82902797e-05, 6.70390331e-05, 8.87300698e-05, 5.89708750e-05,
 -2.72480772e-05,-2.74196736e-04,-2.80371117e-04,-1.03063348e-04,
  2.10398093e-05,-1.71247514e-04,-3.94577530e-05,-8.52668443e-05,
  3.76748046e-02,-1.03873056e-03, 2.03756604e-02,-3.86115691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028885787339101576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08098222e-13,  1.92174617e-13,  1.00000000e+00, -2.07737345e-26,
        1.00000000e+00, -1.92174617e-13, -1.00000000e+00,  0.00000000e+00,
        1.08098222e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09152062, -0.08817426,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43856712e-05, 3.08007111e-05,-2.15011763e-07,-1.93303442e-05,
  6.79958664e-06, 3.03496548e-05, 1.81141421e-05,-6.01930303e-05,
  4.25408670e-06,-1.05029020e-04, 1.20187613e-05,-1.40016976e-05,
 -2.35578992e-04,-3.37097331e-05,-1.05955579e-04, 3.37574886e-06,
 -4.13307527e-07, 7.63501562e-07,-1.21644233e+00,-4.57822355e-04,
  1.02695749e-05,-5.51029077e-04]


--- Step 555 ---
qpos:
[ 0.01206504,-0.00118769, 0.00248259, 0.04195462, 0.00458759,-0.00233347,
 -0.01820464, 0.02846296, 0.01319772, 0.00444516,-0.01029297, 0.02641969,
  0.93854925,-0.00134111, 0.74421075, 0.06546912, 0.09367293,-0.07007175,
  0.13097659, 0.50409314, 0.49429445, 0.49604213, 0.50547532]

qacc:
[  5.59035349,  1.86821018, -7.67919098, 15.21225235,  0.78332114,
   1.84936907, -5.93704014,  6.58587324,  0.47986584,  1.46333799,
  -8.13438087, 18.3068862 , -0.83444949,  0.9884748 , -1.10675864,
   0.84074839, -0.98518262, -1.91261059, -0.29569886,-16.76492456,
   0.53141707, 26.91700679]

qfrc_actuator:
[ 3.83161405e-06, 1.07145246e-04, 8.96607744e-05, 8.32173894e-05,
 -2.27167095e-05,-2.60701707e-04,-3.07015922e-04,-1.02753934e-04,
  2.37668255e-05,-1.58532699e-04,-4.32633609e-05,-5.56558351e-05,
  3.76076106e-02,-1.04574737e-03, 2.02992135e-02,-3.88021866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029179790772763947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90238346e-13, -2.85357518e-13,  1.00000000e+00,  5.42859422e-26,
        1.00000000e+00,  2.85357518e-13, -1.00000000e+00,  0.00000000e+00,
        1.90238346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002605, -0.03406341,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28261337e-05, 5.64553381e-05, 6.58769706e-06, 2.51797422e-05,
  4.73768181e-06, 3.16315760e-05,-2.02191573e-05, 1.06973274e-06,
  2.80627763e-06,-4.40750616e-05,-2.44956003e-05, 2.52581426e-05,
 -2.25119210e-04,-5.87174136e-05,-1.31502189e-04,-3.40856393e-05,
 -4.82546045e-07, 1.15411865e-06,-1.21644358e+00,-4.57473478e-04,
  9.88591088e-06,-5.50551502e-04]


--- Step 556 ---
qpos:
[ 0.01206522,-0.00118647, 0.00248275, 0.04195563, 0.00458719,-0.00233267,
 -0.0182064 , 0.02846205, 0.01319783, 0.00444312,-0.01029232, 0.02641883,
  0.93937908,-0.00133962, 0.74493741, 0.06546087, 0.09366658,-0.07006703,
  0.13097591, 0.504122  , 0.49423585, 0.49604982, 0.5054963 ]

qacc:
[  0.31887596,  3.28088525,-13.08692857, 24.06675829,  0.49098032,
   3.20778936,-14.35301198, 28.00350486, -2.80568461,  2.75407887,
 -10.65273537, 16.92349349, -1.12402255,  1.86631378,  0.75707273,
  -6.46580998, -0.97931642, -1.87694987, -0.45539422,-16.35379027,
   0.66017797, 26.48179319]

qfrc_actuator:
[ 4.91305405e-06, 1.48465925e-04, 7.23215809e-05, 1.15097817e-04,
 -1.98700684e-05,-2.70844646e-04,-3.39980128e-04,-6.64052802e-05,
  7.44739214e-06,-1.14295559e-04,-6.36518771e-05,-3.77511437e-05,
  3.75480962e-02,-1.03267429e-03, 2.01952429e-02,-3.94186792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52936534, -0.44325387, -4.50762425, -0.44325387, 27.48709932,
       -2.25753167, -4.50762425, -2.25753167,  4.75135804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002966046824184748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35776718e-14,  4.67888359e-14,  1.00000000e+00,  4.37839033e-27,
        1.00000000e+00, -4.67888359e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35776718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002303, -0.03406522,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03125845e-06, 7.53133666e-05,-4.01077640e-06, 3.50123582e-05,
  2.99358603e-06, 3.40984987e-06,-2.88744456e-05, 3.70301512e-05,
 -1.62613361e-05, 1.56857164e-05,-3.16211994e-05, 1.56647212e-05,
 -2.16070558e-04,-4.00849595e-05,-1.73599787e-04,-8.17400175e-05,
 -5.25057478e-07, 4.95180871e-07,-1.21644145e+00,-4.58063647e-04,
  1.08654487e-05,-5.50513506e-04]


--- Step 557 ---
qpos:
[ 0.01206507,-0.00118475, 0.00248252, 0.041956  , 0.00458683,-0.00233197,
 -0.01820817, 0.02846157, 0.01319774, 0.0044414 ,-0.01029201, 0.02641783,
  0.9402075 ,-0.00133766, 0.74566255, 0.06545182, 0.09365634,-0.0700697 ,
  0.13097287, 0.50413953, 0.49418625, 0.49601625, 0.50556025]

qacc:
[ -2.94802945,  0.42655377,  2.17974516,-13.09850089,  0.32852903,
   0.83863638, -4.98676998, 12.58274548, -1.7464581 ,  1.04575868,
  -2.45363847,  0.07648813, -1.42363712,  2.73526215,  0.24835891,
  -3.97189693, -0.97411594, -1.84741244, -0.58986138,-16.02008132,
   0.75742656, 26.11940182]

qfrc_actuator:
[-1.22862614e-05, 1.54628723e-04, 4.43450867e-05, 8.01877366e-05,
 -1.80373223e-05,-2.77318454e-04,-3.40976236e-04,-4.46768811e-05,
 -2.19826663e-06,-8.70913138e-05,-7.57663002e-05,-4.46084600e-05,
  3.74825871e-02,-1.00779008e-03, 2.01440806e-02,-3.97487840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53497401,  0.25283031,  4.52792073,  0.25283031, 19.27548633,
       -0.8230816 ,  4.52792073, -0.8230816 ,  4.58093329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002983279015797008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79111429e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79111429e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002115, -0.03406558,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71207546e-05, 4.89019487e-05,-1.17209288e-05,-3.11462034e-05,
  1.91894643e-06,-8.94935793e-06,-2.55410055e-06, 2.16001807e-05,
 -1.01075270e-05, 3.01781199e-05,-1.22082389e-05,-6.96866943e-06,
 -2.12823005e-04,-2.34939770e-05,-1.43484230e-04,-6.07101078e-05,
 -4.37614855e-07,-2.23019688e-08,-1.21644060e+00,-4.58674435e-04,
  1.09513472e-05,-5.50708229e-04]


--- Step 558 ---
qpos:
[ 0.0120654 ,-0.00118329, 0.00248258, 0.041956  , 0.00458649,-0.00233119,
 -0.01821002, 0.02846133, 0.01319754, 0.00444053,-0.01029185, 0.02641666,
  0.94103451,-0.00133536, 0.74638704, 0.06544153, 0.09364222,-0.07007967,
  0.13096701, 0.5041457 , 0.49414552, 0.49594206, 0.50566668]

qacc:
[  4.27894265, -1.89170924,  7.786589  ,-14.39221544,  0.21302206,
   0.79558005, -3.7371764 ,  8.05990601, -1.03708942,  1.22630182,
  -2.10888695, -0.9343206 , -1.35356888,  2.47273167,  2.84725063,
 -11.15365865, -0.96962651, -1.82302249, -0.70303754,-15.75066366,
   0.8295717 , 25.81957544]

qfrc_actuator:
[ 1.31602975e-05, 1.04075491e-04, 4.56340898e-05, 5.94807670e-05,
 -1.68153871e-05,-2.63680725e-04,-3.40848989e-04,-3.17077194e-05,
 -7.83269229e-06, 7.34560228e-07,-6.52077950e-05,-4.82268897e-05,
  3.74082088e-02,-9.93921189e-04, 2.01512706e-02,-4.02608469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53253582,  0.04476534,  4.53231475,  0.04476534, 28.23520131,
       -0.2341095 ,  4.53231475, -0.2341095 ,  4.5348481 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029758048828365524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.86541636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.86541636e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11002018, -0.03406479,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49730269e-05,-2.70284872e-05, 8.85154291e-06,-1.96271331e-05,
  1.27275023e-06, 9.02831549e-06,-1.27492668e-06, 1.29210299e-05,
 -5.91558876e-06, 1.01938133e-04, 1.50663063e-05,-2.87742180e-06,
 -2.15912015e-04,-3.15480218e-05,-7.04556305e-05,-7.42084411e-05,
 -2.19193223e-07,-4.07628226e-07,-1.21644096e+00,-4.59328846e-04,
  1.01977578e-05,-5.51137728e-04]


--- Step 559 ---
qpos:
[ 0.01206569,-0.00118213, 0.00248296, 0.04195645, 0.00458652,-0.00233037,
 -0.01821155, 0.02846089, 0.01319762, 0.00444069,-0.01029171, 0.02641508,
  0.9418602 ,-0.00133314, 0.74711026, 0.06543272, 0.09362423,-0.07009685,
  0.13095796, 0.50414046, 0.4941136 , 0.49582777, 0.50581515]

qacc:
[ -0.35988558, -0.40812904, -1.0289778 ,  8.46575892,  3.18363323,
  -1.27277327,  5.48986057, -9.65561449,  2.43344786,  0.55866903,
   1.75522886, -9.69948042, -0.74532225,  0.80213552, -6.28719016,
  19.31747975, -0.96585666, -1.80295716, -0.79827579,-15.53480113,
   0.88163191, 25.57359491]

qfrc_actuator:
[ 1.02512246e-05, 9.10651793e-05, 6.39702821e-05, 8.27820126e-05,
  1.79043532e-06,-2.55854609e-04,-3.22240162e-04,-4.17334470e-05,
  6.68992585e-06, 7.10300913e-05,-5.88435996e-05,-6.75928415e-05,
  3.73338856e-02,-1.00448218e-03, 2.01029080e-02,-3.94544061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5237769 , -0.1964244 ,  4.51951048, -0.1964244 , 39.43828486,
        1.51743456,  4.51951048,  1.51743456,  4.58972679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029487376834813617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88253949e-13,  1.88253949e-13,  1.00000000e+00, -3.54395492e-26,
        1.00000000e+00, -1.88253949e-13, -1.00000000e+00,  0.00000000e+00,
        1.88253949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11001992, -0.03406307,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21227972e-06,-2.71832984e-05, 1.31451499e-05, 2.20630035e-05,
  1.86447896e-05, 1.31593878e-05, 2.07766738e-05,-9.42860831e-06,
  1.43867976e-05, 1.30318489e-04, 2.91880331e-05,-1.45277472e-05,
 -2.18905185e-04,-5.81209106e-05,-9.78199044e-05, 6.53788245e-05,
  1.30848683e-07,-6.67153967e-07,-1.21644248e+00,-4.60042449e-04,
  8.64518147e-06,-5.51802673e-04]


--- Step 560 ---
qpos:
[ 0.01206422,-0.00118127, 0.00248385, 0.04195716, 0.00458676,-0.00232957,
 -0.01821255, 0.02846067, 0.01319787, 0.00444138,-0.01029155, 0.02641335,
  0.94268468,-0.00133162, 0.74783155, 0.06542438, 0.09360638,-0.07010947,
  0.13095267, 0.50414844, 0.4940692 , 0.49573177, 0.50594465]

qacc:
[-15.46094283, -1.25129248,  2.86737664,  0.95308158,  1.97006831,
  -1.04541788,  2.7592852 ,  0.23480711,  1.52101294,  0.34442804,
   0.42517777, -3.50011607, -0.09925619, -1.08184544, -4.29570473,
  10.87404197,  0.03424954,  1.13794329,  0.93910369,  2.9227129 ,
  -0.19842907,-15.73926254]

qfrc_actuator:
[-8.03477282e-05, 8.29859036e-05, 9.23755271e-05, 9.63153509e-05,
  1.27265870e-05,-2.51509330e-04,-2.92900068e-04,-2.96923790e-05,
  1.52060844e-05, 5.92596119e-05,-7.28251263e-05,-7.83304311e-05,
  3.72596382e-02,-1.04715335e-03, 1.99840147e-02,-3.92991144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55069957,   1.39994279,   4.33001464,   1.39994279,
        41.29307154, -11.87922516,   4.33001464, -11.87922516,
         8.39138766,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003030870049122725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48811429e-13, -1.83152528e-13,  1.00000000e+00,  2.72551895e-26,
        1.00000000e+00,  1.83152528e-13, -1.00000000e+00,  0.00000000e+00,
        1.48811429e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153221, -0.08817421,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.06769553e-05,-1.96687066e-05, 2.51534420e-05, 1.32486374e-05,
  1.14721096e-05, 1.55870985e-05, 3.42998661e-05, 1.31422305e-05,
  8.97017598e-06, 6.65120927e-05, 1.60293479e-05,-4.42341978e-06,
 -2.26168736e-04,-9.48286645e-05,-1.63151144e-04, 5.04365133e-06,
  6.13066185e-07,-8.04830335e-07,-1.21644512e+00,-4.60825392e-04,
  6.32342140e-06,-5.52702844e-04]


--- Step 561 ---
qpos:
[ 0.01206236,-0.00118073, 0.00248514, 0.04195803, 0.00458714,-0.00232887,
 -0.01821312, 0.02846061, 0.01319787, 0.00444249,-0.01029093, 0.02641148,
  0.94350784,-0.00133085, 0.74855111, 0.06541785, 0.09358873,-0.07011767,
  0.13095024, 0.50416951, 0.4940122 , 0.49565362, 0.50605587]

qacc:
[ -3.36129996, -1.153591  ,  2.79675472, -0.26520204,  1.15000214,
  -1.03033635,  2.77545057, -0.5595327 , -2.14550457, -1.01243916,
   5.00024013, -8.38263826, -0.08320509, -1.21870967, -8.04123561,
  24.39163163,  0.048877  ,  1.1073947 ,  0.7162305 ,  2.63889251,
  -0.0746738 ,-15.45383306]

qfrc_actuator:
[-9.75560702e-05, 6.02129445e-05, 1.08752980e-04, 1.03996877e-04,
  1.90554145e-05,-2.66966680e-04,-2.75211950e-04,-2.25108343e-05,
  2.35908157e-06, 8.71131996e-05,-4.57754540e-05,-8.39862338e-05,
  3.71801483e-02,-1.09070111e-03, 1.99294223e-02,-3.82878290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58143787,  1.04855691,  4.45983199,  1.04855691, 16.41251785,
       -2.78162064,  4.45983199, -2.78162064,  5.23542832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031209736612577976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44662125e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.44662125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153502, -0.08817267,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98002481e-05,-2.80788174e-05, 1.58540136e-05, 7.96561580e-06,
  6.65955838e-06, 8.93948094e-07, 2.55899135e-05, 9.29258843e-06,
 -1.25673995e-05, 6.81501219e-05, 4.26038550e-05,-2.33525552e-06,
 -2.44187417e-04,-1.02415492e-04,-1.32355728e-04, 7.96300066e-05,
  2.09569165e-07,-8.74811353e-07,-1.21644389e+00,-4.59634780e-04,
  7.94271083e-06,-5.52818411e-04]


--- Step 562 ---
qpos:
[ 0.0120617 ,-0.00118027, 0.00248601, 0.04195868, 0.00458725,-0.0023284 ,
 -0.01821334, 0.02846031, 0.01319738, 0.00444415,-0.0102906 , 0.02640994,
  0.94432936,-0.00132993, 0.74926961, 0.06541146, 0.09357132,-0.07012154,
  0.13094993, 0.50420356, 0.49394252, 0.49559296, 0.50614936]

qacc:
[ 10.41984896,  0.52320687, -1.09111265, -2.18971223, -2.36737467,
  -1.7521694 ,  6.80073094,-11.25978066, -4.40711737,  2.19064722,
  -8.15404687, 13.89922083, -1.24877104,  1.9278724 , -1.92413522,
   4.58513551,  0.06007074,  1.08221435,  0.52862902,  2.4107269 ,
   0.0243596 ,-15.21334748]

qfrc_actuator:
[-3.58973248e-05, 4.65233121e-05, 8.23278685e-05, 9.04009126e-05,
  4.87149814e-06,-2.94209138e-04,-2.64636841e-04,-3.60290151e-05,
 -2.29568571e-05, 1.03123400e-04,-6.55791413e-05,-6.87995357e-05,
  3.70975659e-02,-1.08119014e-03, 1.98921590e-02,-3.81984317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59903417,  0.98177744,  4.49301996,  0.98177744, 24.01639199,
       -4.24291991,  4.49301996, -4.24291991,  5.52616182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031709234506208106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18828805e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.18828805e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153718, -0.08817203,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10814708e-05,-2.58130901e-05,-3.00175101e-05,-1.41001756e-05,
 -1.39950715e-05,-2.10749247e-05, 1.42317981e-05,-1.24140231e-05,
 -2.56470304e-05, 6.27726090e-05,-5.75200280e-07, 1.95367368e-05,
 -2.60002825e-04,-5.44248963e-05,-9.38878779e-05,-4.74804686e-06,
 -1.63367382e-07,-8.62290027e-07,-1.21644303e+00,-4.58522583e-04,
  9.40008800e-06,-5.52861259e-04]


--- Step 563 ---
qpos:
[ 0.01206143,-0.00117972, 0.00248619, 0.0419588 , 0.00458753,-0.0023281 ,
 -0.0182137 , 0.02845988, 0.01319658, 0.00444603,-0.01029125, 0.02640972,
  0.94514921,-0.00132859, 0.7499868 , 0.06540457, 0.09355418,-0.07012116,
  0.1309511 , 0.5042505 , 0.49386009, 0.49554948, 0.50622561]

qacc:
[  3.48145499,  0.9853302 , -1.15027733, -6.7682733 ,  1.52487826,
  -0.09198422,  0.58437195, -2.5618889 , -2.66713966,  5.78716953,
 -25.74513073, 49.96946475, -1.56335311,  2.83265179, -0.32327375,
  -1.45707007,  0.0685845 ,  1.06153964,  0.37101308,  2.22682728,
   0.1039926 ,-15.01193829]

qfrc_actuator:
[-1.70992192e-05, 5.59363751e-05, 4.86169154e-05, 6.43735980e-05,
  1.42346170e-05,-3.10599682e-04,-2.76164204e-04,-4.38808947e-05,
 -3.76495258e-05, 7.62392299e-05,-1.30684208e-04,-6.01199883e-06,
  3.70185296e-02,-1.05818375e-03, 1.98226897e-02,-3.84751038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60529908,  0.88887415,  4.51870362,  0.88887415, 42.15640013,
       -7.38667673,  4.51870362, -7.38667673,  6.05833219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003188435738671752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17626901e-13,  8.70507606e-14,  1.00000000e+00, -1.89445873e-26,
        1.00000000e+00, -8.70507606e-14, -1.00000000e+00,  0.00000000e+00,
        2.17626901e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153884, -0.08817211,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05261673e-05,-1.18308606e-05,-4.32464729e-05,-2.84530455e-05,
  8.95652079e-06,-2.57864781e-05,-1.45585486e-05,-8.50351668e-06,
 -1.53949345e-05, 8.86612389e-06,-5.15527463e-05, 6.58378941e-05,
 -2.56533471e-04,-3.71733782e-05,-1.20563983e-04,-4.17444286e-05,
 -5.12103890e-07,-7.67309208e-07,-1.21644250e+00,-4.57469594e-04,
  1.07171372e-05,-5.52827261e-04]


--- Step 564 ---
qpos:
[ 0.01206035,-0.00117908, 0.00248561, 0.04195897, 0.00458826,-0.00232801,
 -0.01821421, 0.02846006, 0.01319597, 0.00444711,-0.01029163, 0.02641031,
  0.94596759,-0.0013273 , 0.75070223, 0.06539875, 0.09353734,-0.0701166 ,
  0.13095323, 0.50431024, 0.49376486, 0.49552292, 0.50628498]

qacc:
[ -7.1167414 ,  2.35764055, -8.36869318, 10.16747289,  3.98627109,
   1.3910073 , -7.94336313, 18.87250934,  1.56823552, -0.15888167,
  -4.39288309, 18.4908572 , -0.89856323,  1.08070769, -5.77596246,
  16.50600304,  0.07500931,  1.04465268,  0.23888406,  2.07816865,
   0.16840671,-14.8445502 ]

qfrc_actuator:
[-5.92094179e-05, 6.13046856e-05, 1.09783009e-05, 6.67704966e-05,
  3.73887133e-05,-3.20459423e-04,-2.82850403e-04,-1.28343009e-05,
 -2.82156750e-05,-1.17981220e-05,-1.33390457e-04, 3.09567739e-05,
  3.69470095e-02,-1.06291896e-03, 1.97446076e-02,-3.79004460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6022703 , -0.76181809, -4.53878014, -0.76181809, 31.65811749,
       -4.54122764, -4.53878014, -4.54122764,  5.3644992 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003179986864297185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36410224e-14,  1.74564090e-13,  1.00000000e+00,  7.61815536e-27,
        1.00000000e+00, -1.74564090e-13, -1.00000000e+00,  0.00000000e+00,
       -4.36410224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154009, -0.08817278,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15293999e-05,-1.14139220e-05,-4.64025504e-05,-1.62811547e-07,
  2.34015081e-05,-2.76537117e-05,-1.40987800e-05, 2.92729900e-05,
  9.00416513e-06,-9.09750034e-05,-4.96082773e-06, 3.68444754e-05,
 -2.43486433e-04,-6.15342129e-05,-1.44389815e-04, 3.81712428e-05,
 -8.41414540e-07,-5.90169847e-07,-1.21644228e+00,-4.56461344e-04,
  1.19103448e-05,-5.52713468e-04]


--- Step 565 ---
qpos:
[ 0.01205843,-0.00117859, 0.00248463, 0.04195916, 0.00458892,-0.00232826,
 -0.01821476, 0.02846096, 0.01319581, 0.00444769,-0.01029207, 0.02641062,
  0.94678464,-0.00132667, 0.75141643, 0.06539254, 0.09352082,-0.07010792,
  0.13095587, 0.50438271, 0.4936568 , 0.49551309, 0.50632779]

qacc:
[ -7.40013645,  0.99844954, -3.95372527,  5.23151507, -0.63399738,
   1.12925635, -7.75158943, 20.60884533,  4.07681338, -1.06872483,
   3.97662077, -8.1701431 , -0.27109182, -0.73075438, -0.64993751,
  -0.36594974,  0.07980816,  1.03095439,  0.12840169,  1.95759379,
   0.2208868 ,-14.70681205]

qfrc_actuator:
[-1.01313098e-04, 4.64611669e-05,-1.09116534e-05, 6.81198866e-05,
  3.29617551e-05,-3.44038488e-04,-2.86564394e-04, 2.31104553e-05,
 -4.66106087e-06,-2.90575272e-05,-1.35017791e-04, 1.69165792e-05,
  3.68747159e-02,-1.10175131e-03, 1.96987274e-02,-3.80712942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59196662, -0.59808758, -4.55285061, -0.59808758, 45.56550834,
       -5.38251055, -4.55285061, -5.38251055,  5.2990429 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031509980619663647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76170058e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.76170058e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154102, -0.08817391,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32887327e-05,-3.08460454e-05,-2.99665201e-05,-7.46817136e-07,
 -3.76977149e-06,-4.06901578e-05,-1.01461785e-05, 3.48410860e-05,
  2.37804705e-05,-6.76134419e-05,-1.97659404e-05,-1.73968031e-05,
 -2.40945507e-04,-9.65798664e-05,-1.12381896e-04,-3.45630595e-05,
 -1.15489428e-06,-3.31278719e-07,-1.21644237e+00,-4.55486866e-04,
  1.29923538e-05,-5.52517754e-04]


--- Step 566 ---
qpos:
[ 0.01205637,-0.0011782 , 0.00248362, 0.04195934, 0.00458918,-0.00232879,
 -0.01821533, 0.02846159, 0.01319559, 0.0044485 ,-0.01029289, 0.02641069,
  0.94760036,-0.00132677, 0.75212949, 0.06538609, 0.09350464,-0.07009516,
  0.13095865, 0.50446785, 0.49353588, 0.4955198 , 0.50635428]

qacc:
[ -1.27514772, -0.11194881,  0.26501878, -0.4399418 , -3.52818276,
  -0.87107833,  3.77140855, -8.36165544, -0.56138931,  0.87515895,
  -1.6189053 , -2.19230281, -0.19056108, -0.99464815, -1.01024734,
   1.0416884 ,  0.08334331,  1.01994376,  0.0362811 ,  1.85942281,
   0.2640126 ,-14.59493657]

qfrc_actuator:
[-1.07550800e-04, 5.51979120e-05,-5.66208814e-06, 6.88314840e-05,
  1.23320362e-05,-3.57876350e-04,-2.88553057e-04, 8.37558545e-06,
 -8.49641346e-06, 3.16668655e-05,-1.35784523e-04, 8.52816090e-06,
  3.68019971e-02,-1.14266608e-03, 1.96562058e-02,-3.81466448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003105993222191905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93613528e-14, -8.93613528e-14,  1.00000000e+00,  7.98545138e-27,
        1.00000000e+00,  8.93613528e-14, -1.00000000e+00,  0.00000000e+00,
        8.93613528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154171, -0.08817539,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.47935764e-06,-1.47503648e-05,-4.82960526e-06,-1.65843642e-06,
 -2.07524874e-05,-3.71819666e-05,-1.04300792e-05,-1.61517314e-05,
 -3.18036136e-06, 1.80775694e-05,-1.77731120e-05,-1.23104633e-05,
 -2.46787447e-04,-1.03501305e-04,-1.04273083e-04,-2.53926583e-05,
 -1.45526208e-06, 8.94308398e-09,-1.21644275e+00,-4.54537774e-04,
  1.39728995e-05,-5.52238568e-04]


--- Step 567 ---
qpos:
[ 0.01205459,-0.00117747, 0.00248271, 0.04195981, 0.00458919,-0.00232972,
 -0.01821552, 0.02846099, 0.0131943 , 0.00444921,-0.01029365, 0.02641102,
  0.9484144 ,-0.00132644, 0.75284107, 0.0653757 , 0.0934888 ,-0.07007835,
  0.13096128, 0.50456561, 0.49340205, 0.49554293, 0.50636466]

qacc:
[ 2.50537060e+00, 7.74124268e-01,-3.30827626e+00, 7.83946407e+00,
 -2.16658898e+00,-4.10932457e+00, 1.90551688e+01,-4.05921124e+01,
 -9.48793497e+00, 2.31981638e-01,-2.11177482e+00, 6.55164041e+00,
 -1.70969832e+00, 3.15576530e+00, 9.84675264e+00,-3.73983907e+01,
  8.58979605e-02, 1.01120123e+00,-4.02906346e-02, 1.77914545e+00,
  2.99809266e-01,-1.45056397e+01]

qfrc_actuator:
[-9.26282538e-05, 1.13608374e-04, 1.56552445e-05, 8.69490771e-05,
  9.25022274e-08,-3.83559389e-04,-2.71756117e-04,-5.38069208e-05,
 -6.39315359e-05, 1.43699435e-05,-1.35690192e-04, 2.13663459e-05,
  3.67237464e-02,-1.11346708e-03, 1.95411755e-02,-4.02950138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048733786395197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47939484e-13, -1.82079365e-13,  1.00000000e+00,  2.69367274e-26,
        1.00000000e+00,  1.82079365e-13, -1.00000000e+00,  0.00000000e+00,
        1.47939484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154221, -0.08817715,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47046541e-05, 4.90945778e-05, 1.76275164e-05, 1.72879658e-05,
 -1.28433457e-05,-4.93045744e-05, 7.28546569e-06,-6.44492744e-05,
 -5.55161715e-05,-1.14087066e-05, 1.21313393e-06, 1.27582719e-05,
 -2.57380443e-04,-3.57156207e-05,-1.72416167e-04,-2.31228034e-04,
 -1.74458669e-06, 4.30111458e-07,-1.21644341e+00,-4.53607590e-04,
  1.48595084e-05,-5.51874758e-04]


--- Step 568 ---
qpos:
[ 0.01205369,-0.00117641, 0.00248206, 0.04196013, 0.0045894 ,-0.00233114,
 -0.01821544, 0.02845932, 0.01319235, 0.00444978,-0.01029436, 0.02641116,
  0.94922672,-0.00132544, 0.75355024, 0.06536548, 0.09347331,-0.07005753,
  0.13096349, 0.50467596, 0.4932553 , 0.49558235, 0.50635908]

qacc:
[  7.75734666, -0.60016778,  3.3336961 , -6.40912763,  1.75183682,
  -3.58190957, 16.34562639,-34.8891977 , -5.75375302, -0.68908413,
   3.04100118, -6.36434307, -1.77204793,  3.47196432, -4.00862071,
   9.09343122,  0.08769324,  1.00437508, -0.1037232 ,  1.71317812,
   0.32986592,-14.43607427]

qfrc_actuator:
[-4.76294786e-05, 1.30402298e-04, 2.87526764e-05, 7.97102977e-05,
  1.06471708e-05,-4.16102529e-04,-2.61827363e-04,-1.07892659e-04,
 -9.60271089e-05, 3.78028645e-06,-1.35365463e-04, 1.10293681e-05,
  3.66422553e-02,-1.07859414e-03, 1.94412941e-02,-4.00985204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002982334220116428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51233252e-13, -1.86133234e-13,  1.00000000e+00,  2.81495343e-26,
        1.00000000e+00,  1.86133234e-13, -1.00000000e+00,  0.00000000e+00,
        1.51233252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154255, -0.08817911,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54313432e-05, 4.86235551e-05, 2.60098651e-05,-4.18996620e-06,
  1.01735172e-05,-6.13382304e-05,-1.57278325e-06,-5.71965008e-05,
 -3.36759141e-05,-1.62129203e-05,-1.44017269e-06,-1.05341670e-05,
 -2.54276338e-04,-2.16887309e-05,-2.09327099e-04,-1.64486164e-05,
 -2.02445459e-06, 9.31904385e-07,-1.21644435e+00,-4.52691249e-04,
  1.56580226e-05,-5.51425452e-04]


--- Step 569 ---
qpos:
[ 0.01205369,-0.00117568, 0.00248192, 0.04196009, 0.00458939,-0.00233247,
 -0.01821583, 0.02845768, 0.01319106, 0.00445032,-0.01029482, 0.02641115,
  0.95003768,-0.00132492, 0.75425727, 0.06535907, 0.09346083,-0.07004492,
  0.13096525, 0.50474937, 0.4931508 , 0.49559879, 0.5063716 ]

qacc:
[  7.85848822, -2.6118243 , 10.2036585 ,-17.08345424, -1.94897203,
   1.47283613, -5.20907519,  6.42298669,  5.85845979, -1.07363666,
   4.36364789, -7.31004465, -0.27680536, -0.58726797,-14.62718639,
  46.57359802,  0.75331617, -2.05309637, -0.11075619,  9.46860604,
  -2.87678195, 30.05829169]

qfrc_actuator:
[-3.04880603e-06, 6.88509676e-05, 3.67165921e-05, 5.75703524e-05,
 -9.74495091e-07,-3.81511554e-04,-2.73811936e-04,-1.03530461e-04,
 -6.08539892e-05, 1.50256558e-05,-1.17163131e-04, 4.88709837e-06,
  3.65695354e-02,-1.11173057e-03, 1.93932455e-02,-3.79880884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56729702,  0.72054799, -4.51010118,  0.72054799, 48.11997679,
        6.95811346, -4.51010118,  6.95811346,  5.67894717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030799866295280753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01158964e-14, -9.01158964e-14,  1.00000000e+00,  8.12087479e-27,
        1.00000000e+00,  9.01158964e-14, -1.00000000e+00,  0.00000000e+00,
        9.01158964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242799, -0.03132815,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58865168e-05,-2.91803182e-05, 2.10596764e-05,-1.92417988e-05,
 -1.13504445e-05,-2.42723444e-06,-2.68078747e-05, 5.72302714e-07,
  3.42122958e-05, 1.39933687e-06, 1.43121026e-05,-7.09089070e-06,
 -2.40549060e-04,-8.69945753e-05,-1.47546655e-04, 1.82876238e-04,
 -2.29609483e-06, 1.51407028e-06,-1.21644556e+00,-4.51784728e-04,
  1.63729954e-05,-5.50889966e-04]


--- Step 570 ---
qpos:
[ 0.01205456,-0.00117517, 0.00248159, 0.04196016, 0.00458854,-0.00233343,
 -0.01821687, 0.02845678, 0.0131909 , 0.00445096,-0.01029541, 0.02641107,
  0.95084716,-0.00132422, 0.75496258, 0.06535549, 0.09345125,-0.07004037,
  0.1309658 , 0.50478628, 0.49308765, 0.49559312, 0.50640186]

qacc:
[  7.72866997,  0.42246919, -2.4256483 ,  4.86459752, -7.29399495,
   3.83528553,-16.03654163, 29.45606927,  9.85919241,  0.34264922,
  -0.75794629, -0.25062002, -1.07189129,  1.6581821 ,-11.0340534 ,
  35.05400346,  0.72319076, -2.0154433 , -0.30438871,  9.44291772,
  -2.63093766, 29.41307179]

qfrc_actuator:
[ 4.09186519e-05, 4.95784172e-05, 2.34994600e-05, 6.22767732e-05,
 -4.33152278e-05,-3.42525496e-04,-2.98324773e-04,-6.47721435e-05,
 -4.12965468e-06, 2.15837303e-05,-1.23960247e-04, 1.29675518e-06,
  3.65074338e-02,-1.09602069e-03, 1.93231019e-02,-3.65414346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59249287,  1.73039118, -4.25402598,  1.73039118, 14.06447609,
        3.85287639, -4.25402598,  3.85287639,  6.15971022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003152487978261287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64130196e-13, -2.20108497e-13,  1.00000000e+00,  5.81373005e-26,
        1.00000000e+00,  2.20108497e-13, -1.00000000e+00,  0.00000000e+00,
        2.64130196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242639, -0.0313327 ,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52605162e-05,-3.20731246e-05,-1.73251838e-05, 3.80727012e-06,
 -4.26642742e-05, 3.21686227e-05,-2.82723635e-05, 3.77458351e-05,
  5.76977723e-05, 9.98700034e-06,-4.99409733e-06,-3.17497691e-06,
 -2.33778522e-04,-4.55579153e-05,-1.20888902e-04, 1.35104735e-04,
 -1.26409336e-06, 4.70501583e-07,-1.21644255e+00,-4.52933823e-04,
  1.41099656e-05,-5.50337102e-04]


--- Step 571 ---
qpos:
[ 0.01205631,-0.00117465, 0.00248074, 0.04196028, 0.0045872 ,-0.00233411,
 -0.01821792, 0.02845596, 0.01319142, 0.00445161,-0.01029631, 0.02641097,
  0.951655  ,-0.00132244, 0.7556663 , 0.06535301, 0.09344446,-0.07004376,
  0.13096448, 0.50478706, 0.49306509, 0.49556605, 0.50644953]

qacc:
[ 7.58766031, 1.59780511,-5.93449549, 7.7269566 ,-4.39713368, 0.61283378,
 -1.99959701, 3.36507409, 5.98761196, 0.82994533,-2.91892369, 3.18534655,
 -2.10364802, 4.571329  ,-5.52829031,16.22586843, 0.69876013,-1.98390279,
 -0.46738071, 9.41262269,-2.4360743 ,28.87827029]

qfrc_actuator:
[ 8.41736060e-05, 5.56910407e-05,-1.95044302e-06, 6.50040846e-05,
 -6.78852970e-05,-3.18970000e-04,-2.94470759e-04,-5.93471258e-05,
  2.92979322e-05, 7.44123028e-06,-1.45480354e-04,-7.85192452e-07,
  3.64411118e-02,-1.03373267e-03, 1.92397400e-02,-3.60311932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60483008,  1.87451273, -4.20602688,  1.87451273, 20.00626902,
        6.8640059 , -4.20602688,  6.8640059 ,  7.66393236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031871295731304705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70864362e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.70864362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242478, -0.03133504,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45306152e-05,-1.52403992e-05,-3.40821223e-05, 8.25268694e-07,
 -2.57762029e-05, 3.73562893e-05, 8.34920759e-06, 6.56824038e-06,
  3.50721044e-05,-9.72207766e-06,-2.01851520e-05,-1.89093976e-06,
 -2.24956018e-04, 8.56911975e-06,-1.28942764e-04, 4.18123860e-05,
 -4.97873533e-07,-8.09088829e-08,-1.21644086e+00,-4.53802751e-04,
  1.25558229e-05,-5.50016540e-04]


--- Step 572 ---
qpos:
[ 0.01205752,-0.00117429, 0.00248017, 0.0419604 , 0.00458592,-0.00233456,
 -0.0182186 , 0.02845486, 0.0131913 , 0.00445223,-0.0102972 , 0.02641118,
  0.95246153,-0.00132081, 0.7563689 , 0.06535006, 0.09344038,-0.07005497,
  0.13096074, 0.50475206, 0.49308249, 0.49551813, 0.50651437]

qacc:
[ -4.6418745 , -1.01973627,  3.35813827, -3.78882092,  0.53795261,
  -1.35414272,  6.47243965,-12.26956297, -5.61136399,  0.58426977,
  -3.38204413,  8.59299801, -0.75612806,  0.78362628, -0.19363085,
  -1.62785501,  0.67897162, -1.9575959 , -0.60447911,  9.38096077,
  -2.28153248, 28.4370701 ]

qfrc_actuator:
[ 5.56529783e-05, 5.91478577e-05, 1.89487962e-05, 6.65595691e-05,
 -6.40367659e-05,-3.04741230e-04,-2.73977066e-04,-7.35737690e-05,
 -4.51933194e-06, 1.64511888e-05,-1.40092472e-04, 1.57648898e-05,
  3.63669997e-02,-1.05096947e-03, 1.91964297e-02,-3.62542650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6063319 ,  2.03533852, -4.13227428,  2.03533852, 34.2938327 ,
       14.62248385, -4.13227428, 14.62248385, 11.8085897 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003191309405233822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73944749e-13, -1.30458561e-13,  1.00000000e+00,  2.26925817e-26,
        1.00000000e+00,  1.30458561e-13, -1.00000000e+00,  0.00000000e+00,
        1.73944749e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242314, -0.03133561,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72585392e-05,-1.20693757e-05, 1.35822405e-05,-2.62304925e-07,
  3.12573163e-06, 3.71539877e-05, 2.94886096e-05,-1.22022456e-05,
 -3.28222147e-05,-6.75940653e-07, 8.30297482e-07, 1.53976430e-05,
 -2.16114094e-04,-6.08871371e-05,-1.03198958e-04,-3.78041050e-05,
  2.55934953e-08,-1.66254989e-07,-1.21644041e+00,-4.54450290e-04,
  1.16823767e-05,-5.49915777e-04]


--- Step 573 ---
qpos:
[ 0.01205803,-0.00117395, 0.00247949, 0.04196089, 0.00458504,-0.0023349 ,
 -0.01821927, 0.02845397, 0.01319043, 0.00445272,-0.01029798, 0.02641159,
  0.95326684,-0.00131991, 0.75707095, 0.06534408, 0.09343896,-0.07007393,
  0.13095413, 0.50468152, 0.49313933, 0.49544981, 0.50659614]

qacc:
[ -6.11814631,  1.07120593, -5.37630785, 11.941943  ,  3.51268664,
   0.55710398, -2.70447563,  6.42783304, -6.58390018, -0.06525459,
  -0.8559819 ,  4.25931612, -0.25758134, -0.7776602 ,  8.29617378,
 -30.24701729,  0.66297239, -1.93576305, -0.71971915,  9.35022151,
  -2.15885271, 28.07541151]

qfrc_actuator:
[ 2.06210441e-05, 6.11765440e-05, 1.37902573e-05, 8.52005315e-05,
 -4.34982013e-05,-3.13903660e-04,-2.79384397e-04,-6.37400062e-05,
 -4.21315295e-05, 3.86915035e-06,-1.36506586e-04, 2.54307698e-05,
  3.62882410e-02,-1.09738309e-03, 1.91718384e-02,-3.77937081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59913714, -2.22816105,  4.02335194, -2.22816105, 21.92690186,
        9.59623989,  4.02335194,  9.59623989,  9.91360336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031712124342540837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75047091e-13, -4.37617728e-14,  1.00000000e+00,  7.66037104e-27,
        1.00000000e+00,  4.37617728e-14, -1.00000000e+00,  0.00000000e+00,
        1.75047091e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824215 , -0.03133477,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58127447e-05,-1.94614368e-06,-5.98579191e-06, 1.85898204e-05,
  2.06400051e-05, 1.72101735e-05, 5.49289109e-06, 1.22137670e-05,
 -3.85445343e-05,-1.21530450e-05, 4.08521075e-06, 9.96679093e-06,
 -2.29346460e-04,-9.88131907e-05,-8.28831063e-05,-1.70902263e-04,
  3.23543517e-07, 1.94918709e-07,-1.21644114e+00,-4.54918985e-04,
  1.14665171e-05,-5.50025191e-04]


--- Step 574 ---
qpos:
[ 0.01205847,-0.00117368, 0.00247851, 0.04196162, 0.00458475,-0.00233522,
 -0.01821994, 0.02845357, 0.0131898 , 0.00445302,-0.01029892, 0.0264118 ,
  0.95407071,-0.00131922, 0.75777218, 0.06533461, 0.09344014,-0.07010057,
  0.13094424, 0.50457567, 0.49323519, 0.49536143, 0.50669467]

qacc:
[ -0.70283974,  1.23183709, -5.57249548, 10.30943412,  5.24149431,
   1.05156842, -5.77069282, 14.18480379,  2.16038267, -0.22834759,
   1.3052865 , -4.45050363, -0.92616194,  1.00948626,  9.36150204,
 -34.42684297,  0.65007016, -1.91774691, -0.81654036,  9.32197372,
  -2.06131428, 27.78149579]

qfrc_actuator:
[ 1.75657037e-05, 4.45065679e-05,-6.72019857e-06, 9.59672755e-05,
 -1.33102451e-05,-3.19336899e-04,-2.82373254e-04,-3.98659128e-05,
 -2.83965649e-05,-2.15492103e-05,-1.51865446e-04, 1.31916453e-05,
  3.62120613e-02,-1.10739973e-03, 1.91265143e-02,-3.95629450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58528579, -2.43116335,  3.88771019, -2.43116335, 29.19215942,
       15.38780582,  3.88771019, 15.38780582, 14.20798599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003131994556229284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241983, -0.03133281,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07590619e-06,-1.82181851e-05,-2.10027936e-05, 1.08391554e-05,
  3.07819567e-05, 5.87791460e-06, 1.67810605e-06, 2.50427677e-05,
  1.26358738e-05,-3.09691932e-05,-1.70180634e-05,-1.24234498e-05,
 -2.43083682e-04,-7.09379991e-05,-1.10749075e-04,-1.99069967e-04,
  4.08757638e-07, 9.88445630e-07,-1.21644302e+00,-4.55239582e-04,
  1.18896340e-05,-5.50337386e-04]


--- Step 575 ---
qpos:
[ 0.01205852,-0.00117362, 0.00247764, 0.04196212, 0.00458449,-0.00233545,
 -0.01822038, 0.02845344, 0.01318935, 0.00445317,-0.01029976, 0.02641148,
  0.95487302,-0.00131807, 0.75847184, 0.06532476, 0.09344329,-0.07012269,
  0.1309387 , 0.50447779, 0.49332197, 0.49529778, 0.50676987]

qacc:
[-3.37879255e+00,-1.04990810e+00, 4.35885789e+00,-8.46052206e+00,
  1.74443584e-01,-4.74728738e-03,-9.45582659e-01, 5.09110832e+00,
  1.49252104e+00,-1.53281612e+00, 7.37048117e+00,-1.63738383e+01,
 -1.49249609e+00, 2.74780597e+00,-1.07830346e+00, 5.80841575e-01,
  4.94478253e-01, 1.12615943e+00, 1.08607418e+00, 7.78878523e+00,
  8.03380007e-01,-1.62503878e+01]

qfrc_actuator:
[-2.14737653e-06, 3.44482635e-05,-7.01873586e-07, 8.42363564e-05,
 -1.31954257e-05,-3.04732147e-04,-2.66136159e-04,-2.56725953e-05,
 -2.00536314e-05,-1.90513195e-05,-1.42855049e-04,-1.18633711e-05,
  3.61481438e-02,-1.07806078e-03, 1.90634682e-02,-3.96780369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003247537223971947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.70933071e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.70933071e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606172, -0.08824995,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98349830e-05,-2.41225944e-05, 4.98970430e-08,-1.30270691e-05,
  9.93769312e-07, 1.93425221e-05, 1.85357057e-05, 1.49924887e-05,
  8.69234952e-06,-1.88657555e-05, 9.32040223e-08,-2.72124757e-05,
 -2.34075492e-04,-3.01255015e-05,-1.43306344e-04,-3.85325026e-05,
  2.90563562e-07, 2.20462549e-06,-1.21644600e+00,-4.55434261e-04,
  1.29370617e-05,-5.50846680e-04]


--- Step 576 ---
qpos:
[ 0.01205799,-0.00117354, 0.00247677, 0.0419621 , 0.00458423,-0.00233566,
 -0.01821999, 0.02845275, 0.013189  , 0.00445285,-0.01029954, 0.02641119,
  0.95567389,-0.00131659, 0.75917003, 0.06531508, 0.09344839,-0.07014042,
  0.13093648, 0.5043877 , 0.49339989, 0.49525823, 0.50682234]

qacc:
[ -5.11321167, -1.02881823,  5.85277599,-14.69408495,  0.05766728,
  -3.43486212, 14.62142247,-25.54145475,  0.95465667, -3.55032176,
  11.65782013,-12.6213548 , -1.29489925,  2.26946279, -2.62048421,
   6.19417402,  0.48586355,  1.09842233,  0.82930942,  7.57228336,
   0.79617981,-15.844487  ]

qfrc_actuator:
[-3.15172923e-05, 4.62613008e-05, 3.19122191e-06, 5.93873133e-05,
 -1.30322215e-05,-2.95924402e-04,-2.20852925e-04,-5.27666557e-05,
 -1.49674957e-05,-3.52807940e-05,-8.39133798e-05,-8.70829537e-06,
  3.60809935e-02,-1.06118707e-03, 1.90111898e-02,-3.95278236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003358374538815351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65291722e-13,  8.78112276e-14,  1.00000000e+00, -1.45144691e-26,
        1.00000000e+00, -8.78112276e-14, -1.00000000e+00,  0.00000000e+00,
        1.65291722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606326, -0.08824704,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99414951e-05,-2.22459341e-06,-1.52519680e-06,-2.61328466e-05,
  1.96927855e-07, 2.41094793e-05, 5.20887013e-05,-2.53302214e-05,
  5.32720683e-06,-2.79196760e-05, 5.41225254e-05, 1.82200146e-06,
 -2.23090904e-04,-3.45405486e-05,-1.27219042e-04,-6.66948024e-06,
  9.96100473e-08, 1.69633549e-06,-1.21644422e+00,-4.55352367e-04,
  1.36712369e-05,-5.51274584e-04]


--- Step 577 ---
qpos:
[ 0.01205711,-0.00117342, 0.00247592, 0.04196179, 0.00458397,-0.00233607,
 -0.0182189 , 0.02845143, 0.01318906, 0.00445265,-0.0102991 , 0.02641093,
  0.95647327,-0.00131485, 0.75986681, 0.06530723, 0.09345541,-0.07015386,
  0.13093671, 0.50430524, 0.49346909, 0.49524225, 0.50685263]

qacc:
[ -3.05947032, -0.5923911 ,  3.49360804, -8.81257906,  0.06153401,
  -3.49566147, 14.75895155,-26.61878257,  3.59816737, -0.42546273,
   1.63462515, -1.67827356, -1.18401399,  1.95233493, -7.5271158 ,
  23.46210446,  0.47862806,  1.07514536,  0.61297062,  7.39455589,
   0.78797225,-15.50485712]

qfrc_actuator:
[-4.85780302e-05, 5.33142808e-05, 5.87439461e-06, 4.47886634e-05,
 -1.28321446e-05,-3.26070546e-04,-1.94337789e-04,-8.61682897e-05,
  5.91484605e-06,-9.10352683e-06,-6.70276374e-05,-6.71253443e-06,
  3.60012992e-02,-1.05185491e-03, 1.89707443e-02,-3.85124054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.69385264, -1.93667852,  4.27569046, -1.93667852, 11.34274104,
        3.01162104,  4.27569046,  3.01162104,  6.05796958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003422175402895272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62210129e-13,  2.48384259e-13,  1.00000000e+00, -4.02904427e-26,
        1.00000000e+00, -2.48384259e-13, -1.00000000e+00,  0.00000000e+00,
        1.62210129e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606423, -0.08824538,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79115163e-05, 4.37311739e-06, 1.14272848e-06,-1.52522536e-05,
  2.13060397e-07,-6.98579202e-06, 3.70344297e-05,-3.10579097e-05,
  2.10208544e-05, 2.18325113e-05, 1.78491840e-05, 2.70800166e-06,
 -2.29326925e-04,-4.05876760e-05,-1.05018219e-04, 8.35583427e-05,
 -6.15343186e-08, 1.27324484e-06,-1.21644290e+00,-4.55291260e-04,
  1.40754307e-05,-5.51602219e-04]


--- Step 578 ---
qpos:
[ 0.01205638,-0.00117332, 0.00247486, 0.04196098, 0.00458372,-0.00233669,
 -0.018218  , 0.02845014, 0.01318936, 0.00445242,-0.01029866, 0.02641072,
  0.9572713 ,-0.00131328, 0.76056231, 0.06529963, 0.09346431,-0.07016307,
  0.13093867, 0.50423028, 0.49352974, 0.49524943, 0.50686114]

qacc:
[  1.28657737, -0.47844958,  3.75712938,-11.97580671,  0.03786143,
   0.2769348 , -1.4910867 ,  2.3167168 ,  2.20044208,  0.09736511,
  -0.67106485,  1.7647534 , -0.73386697,  0.67468421, -2.6156916 ,
   6.47925454,  0.47262014,  1.05569629,  0.43103334,  7.2494229 ,
   0.77904404,-15.22156947]

qfrc_actuator:
[-4.05016289e-05, 3.97171427e-05,-9.93323004e-06, 1.85855496e-05,
 -1.26119293e-05,-3.61636985e-04,-2.14789749e-04,-8.75525671e-05,
  1.81761972e-05,-2.88918055e-05,-7.49584855e-05,-5.42109486e-06,
  3.59301106e-02,-1.06486108e-03, 1.89054916e-02,-3.84152815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003447923015005433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82996439e-13,  1.25780323e-13,  1.00000000e+00, -6.07514478e-26,
        1.00000000e+00, -1.25780323e-13, -1.00000000e+00,  0.00000000e+00,
        4.82996439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08606475, -0.08824475,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.56950752e-06,-1.15661594e-05,-1.52803479e-05,-2.62698460e-05,
  2.23653266e-07,-3.31494177e-05,-1.84126901e-05,-1.00525413e-06,
  1.28651329e-05,-3.76617374e-06,-1.13186030e-06, 2.89655289e-06,
 -2.25702284e-04,-6.53379166e-05,-1.10295114e-04,-5.56602876e-07,
 -1.95916379e-07, 9.29401522e-07,-1.21644200e+00,-4.55249446e-04,
  1.41720828e-05,-5.51831292e-04]


--- Step 579 ---
qpos:
[ 0.0120561 ,-0.00117329, 0.00247365, 0.04195952, 0.00458416,-0.00233733,
 -0.01821748, 0.02844986, 0.01318947, 0.00445186,-0.01029788, 0.02641054,
  0.95806814,-0.00131247, 0.76125626, 0.06529352, 0.09347434,-0.07016812,
  0.13094193, 0.50416571, 0.49357926, 0.49527652, 0.50685069]

qacc:
[ 3.92744936e+00,-1.04150903e+00, 6.28325080e+00,-1.71942908e+01,
  6.07467835e+00, 3.12225959e+00,-1.55020004e+01, 3.37900225e+01,
 -1.74359897e+00,-1.31941809e+00, 3.94224275e+00,-3.69444999e+00,
 -8.13107874e-03,-1.30200760e+00,-6.82967139e+00, 2.05059404e+01,
  2.81142260e-01, 1.03823110e+00, 3.27982863e-01, 4.37007474e+00,
  5.88470054e-01,-1.50808711e+01]

qfrc_actuator:
[-1.76989227e-05, 3.15271645e-05,-1.88731918e-05,-1.42677591e-05,
  2.31235870e-05,-3.47095158e-04,-2.27311569e-04,-3.46198343e-05,
  7.50730401e-06,-5.84059219e-05,-6.21351641e-05,-4.59983818e-06,
  3.58640668e-02,-1.10869167e-03, 1.88413709e-02,-3.76180080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003442215542106759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31755027e-07,  5.03955506e-15,  1.00000000e+00,  1.16794222e-21,
        1.00000000e+00, -5.03955506e-15, -1.00000000e+00,  1.88079096e-37,
       -2.31755027e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08884938, -0.08820503,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30166419e-05,-1.89242213e-05,-1.41065123e-05,-3.43850936e-05,
  3.57311120e-05,-7.82669002e-06,-2.16722965e-05, 5.08576925e-05,
 -1.03050951e-05,-3.17206248e-05, 1.20040477e-05, 6.76598514e-07,
 -2.23523103e-04,-9.91359191e-05,-1.20958212e-04, 6.40833240e-05,
 -3.05908339e-07, 6.59959115e-07,-1.21644149e+00,-4.55225948e-04,
  1.39783802e-05,-5.51963309e-04]


--- Step 580 ---
qpos:
[ 0.01205574,-0.00117315, 0.00247249, 0.04195798, 0.00458468,-0.00233783,
 -0.01821691, 0.02844983, 0.01318911, 0.00445139,-0.01029739, 0.02641037,
  0.95886353,-0.00131182, 0.76194868, 0.06528904, 0.09348549,-0.07016908,
  0.13094599, 0.50411138, 0.49361779, 0.49532324, 0.50682154]

qacc:
[ -0.61186815, -0.12723576,  0.99574465, -2.46134508,  0.69814355,
   0.54875167, -2.71772677,  6.71314792, -4.18006636,  0.93011042,
  -3.12941523,  3.51491303, -0.76685386,  0.70105016, -7.13331701,
  21.76873072,  0.27938043,  1.02520705,  0.19713452,  4.30949802,
   0.58022124,-14.87683308]

qfrc_actuator:
[-2.19247480e-05, 6.21561708e-05,-5.91573435e-06,-1.52544088e-05,
  2.62188071e-05,-3.20346887e-04,-2.17050938e-04,-2.11136521e-05,
 -1.65697091e-05,-4.01865592e-05,-7.27094542e-05,-4.05633623e-06,
  3.57851671e-02,-1.11710860e-03, 1.87780006e-02,-3.67691379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034162683586720123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99301685e-07, -7.61674711e-14,  1.00000000e+00,  6.08807880e-20,
        1.00000000e+00,  7.61674711e-14, -1.00000000e+00,  0.00000000e+00,
        7.99301685e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08884937, -0.08820569,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57418274e-06, 1.56848785e-05, 6.13780577e-06,-2.94980332e-06,
  4.11042344e-06, 2.01049253e-05, 7.73469108e-06, 1.34100538e-05,
 -2.43823966e-05, 2.99799072e-06,-1.56262278e-05,-3.86985978e-07,
 -2.41956336e-04,-6.84655608e-05,-1.16853552e-04, 7.17135567e-05,
 -3.42495151e-07, 4.29799954e-07,-1.21644120e+00,-4.55192695e-04,
  1.34538887e-05,-5.52038846e-04]


--- Step 581 ---
qpos:
[ 0.01205465,-0.00117269, 0.00247133, 0.04195711, 0.00458455,-0.00233826,
 -0.01821618, 0.02844926, 0.0131888 , 0.00445063,-0.01029663, 0.02641056,
  0.95965736,-0.00131095, 0.76263966, 0.06528232, 0.09349703,-0.07016598,
  0.13095056, 0.50407005, 0.49364291, 0.49538659, 0.50677627]

qacc:
[ -6.48842013,  1.81991694, -8.65591499, 19.92208675, -5.7500998 ,
  -1.45060477,  7.58618813,-17.12384816,  0.53619808, -0.39112709,
  -0.6886661 ,  6.750055  , -1.34228703,  2.19920345,  4.72029332,
 -19.44609248,  0.09972907,  1.01298518,  0.12898072,  1.62148982,
   0.39367604,-14.78723175]

qfrc_actuator:
[-5.97823699e-05, 9.81609109e-05, 2.29543028e-06, 2.03181142e-05,
 -7.68593232e-06,-3.21927770e-04,-2.11146508e-04,-4.86449759e-05,
 -1.28325121e-05,-6.46269714e-05,-6.13262323e-05, 1.40917942e-05,
  3.57092720e-02,-1.10457267e-03, 1.86778529e-02,-3.80269595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033785621902356067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64304068e-13,  2.46456102e-13,  1.00000000e+00,  4.04937402e-26,
        1.00000000e+00, -2.46456102e-13, -1.00000000e+00,  0.00000000e+00,
       -1.64304068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154925, -0.0881678 ,  0.06199034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79529122e-05, 4.59290463e-05, 1.21207650e-05, 3.64053538e-05,
 -3.37813496e-05, 1.18473911e-05, 1.14731861e-05,-2.61413292e-05,
  3.04513108e-06,-2.60062989e-05, 1.00651448e-05, 1.77296802e-05,
 -2.44274289e-04,-4.67356017e-05,-1.51333854e-04,-1.38098002e-04,
 -3.61661300e-07, 2.80756003e-07,-1.21644123e+00,-4.55172857e-04,
  1.27585223e-05,-5.52021813e-04]


--- Step 582 ---
qpos:
[ 0.01205346,-0.00117203, 0.00247033, 0.04195668, 0.00458435,-0.00233883,
 -0.01821531, 0.02844909, 0.01318854, 0.00444933,-0.01029556, 0.02641065,
  0.96044976,-0.00131023, 0.76332902, 0.06527311, 0.09350898,-0.07015887,
  0.13095526, 0.50404158, 0.49365475, 0.49546642, 0.50671501]

qacc:
[ -0.87915612,  0.73201133, -4.0719189 , 11.24609692, -0.5204056 ,
   0.25053774, -2.82507552,  9.5541517 ,  0.43388312, -1.78725708,
   5.73696025, -7.52196535, -0.91516198,  1.03483065,  5.14588527,
 -21.39389853,  0.10026872,  1.00455134,  0.03404068,  1.60895047,
   0.38630278,-14.64024073]

qfrc_actuator:
[-6.38651643e-05, 1.01631208e-04, 7.68815192e-06, 4.16093931e-05,
 -9.82845657e-06,-3.40505575e-04,-2.08000133e-04,-2.91132621e-05,
 -1.05030939e-05,-1.14322288e-04,-5.49645157e-05, 6.93479935e-06,
  3.56352409e-02,-1.11527898e-03, 1.85982924e-02,-3.92738673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033216783315474785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25338336e-13,  2.50676672e-13,  1.00000000e+00, -3.14193969e-26,
        1.00000000e+00, -2.50676672e-13, -1.00000000e+00,  0.00000000e+00,
        1.25338336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154922, -0.08816923,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14860958e-06, 3.32063619e-05, 1.76449862e-05, 2.43922648e-05,
 -3.10132882e-06,-1.07068397e-05, 6.10128430e-06, 1.99296583e-05,
  2.40413303e-06,-6.13811631e-05, 2.84205182e-06,-7.57878786e-06,
 -2.39963162e-04,-6.68904377e-05,-1.69304600e-04,-1.52976982e-04,
 -3.24038349e-07, 1.93955696e-07,-1.21644141e+00,-4.55152781e-04,
  1.19323544e-05,-5.51951561e-04]


--- Step 583 ---
qpos:
[ 0.01205292,-0.0011712 , 0.00246999, 0.04195648, 0.00458413,-0.00233945,
 -0.01821413, 0.02844913, 0.01318831, 0.00444793,-0.01029482, 0.02640995,
  0.96124077,-0.00130991, 0.76401696, 0.06526561, 0.09352133,-0.07014776,
  0.13095979, 0.50402587, 0.49365342, 0.49556258, 0.5066379 ]

qacc:
[  5.72897416, -1.20624142,  3.62948308, -0.86157876, -0.204718  ,
  -0.48320353,  0.70679208,  2.55437832,  0.25125335, -0.82068538,
   6.08218316,-19.15733474, -0.4853787 , -0.07794623, -7.21827447,
  22.23726547,  0.10084322,  0.99779296, -0.04470301,  1.60107298,
   0.37886335,-14.52245233]

qfrc_actuator:
[-3.02728369e-05, 1.21081460e-04, 4.67382573e-05, 5.42939400e-05,
 -1.09999930e-05,-3.33591798e-04,-1.88791199e-04,-1.75632415e-05,
 -9.02985801e-06,-1.07785269e-04,-6.95139939e-05,-3.28421092e-05,
  3.55623734e-02,-1.13965608e-03, 1.85897362e-02,-3.81950071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003252683894391095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154913, -0.08817102,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34547326e-05, 4.26999085e-05, 4.89327526e-05, 1.51946491e-05,
 -1.26481027e-06, 3.05045045e-06, 1.84354539e-05, 1.16899746e-05,
  1.51730400e-06,-2.74909230e-05,-2.71385853e-05,-4.24563537e-05,
 -2.40377363e-04,-8.27057523e-05,-1.07207926e-04, 7.66971794e-05,
 -2.78959992e-07, 1.96318349e-07,-1.21644187e+00,-4.55141988e-04,
  1.10329547e-05,-5.51790197e-04]


--- Step 584 ---
qpos:
[ 0.01205313,-0.00116997, 0.00247007, 0.04195607, 0.0045839 ,-0.00233991,
 -0.01821284, 0.02844964, 0.0131881 , 0.0044467 ,-0.01029364, 0.02640938,
  0.96203053,-0.00131049, 0.76470339, 0.06526238, 0.09353409,-0.07013269,
  0.13096388, 0.50402282, 0.49363901, 0.49567497, 0.50654501]

qacc:
[  6.61007165, -1.0665526 ,  5.43033333, -9.94000825, -0.10886644,
   0.86291318, -4.72479658, 12.49524972,  0.17889522, -0.7578335 ,
   2.45256708, -0.99762009,  0.1856766 , -1.86164922,-15.15300861,
  49.70936081,  0.10145897,  0.99248669, -0.10975587,  1.59712405,
   0.37138207,-14.42966478]

qfrc_actuator:
[ 7.46197425e-06, 1.50078043e-04, 6.98995185e-05, 4.40968675e-05,
 -1.16004620e-05,-3.11405790e-04,-1.77917500e-04, 6.97399169e-06,
 -8.07166536e-06,-4.99901895e-05,-2.50814975e-05,-2.04489697e-05,
  3.54955773e-02,-1.18967384e-03, 1.85492617e-02,-3.59301424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174799973770376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37123218e-14,  1.74849287e-13,  1.00000000e+00,  7.64306831e-27,
        1.00000000e+00, -1.74849287e-13, -1.00000000e+00,  0.00000000e+00,
       -4.37123218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154901, -0.08817305,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86966426e-05, 6.36210817e-05, 3.85276427e-05,-6.38085319e-06,
 -6.36712344e-07, 2.82090353e-05, 1.41726629e-05, 2.55320781e-05,
  9.90763837e-07, 3.50400398e-05, 3.39511065e-05, 9.45266387e-06,
 -2.36958113e-04,-1.11309418e-04,-8.70321593e-05, 2.15611344e-04,
 -2.26578820e-07, 2.85223289e-07,-1.21644260e+00,-4.55140372e-04,
  1.00601348e-05,-5.51538481e-04]


--- Step 585 ---
qpos:
[ 0.01205344,-0.00116802, 0.00246978, 0.04195521, 0.00458366,-0.0023401 ,
 -0.01821178, 0.02845114, 0.01318755, 0.0044455 ,-0.01029194, 0.02640967,
  0.96281893,-0.00131166, 0.76538863, 0.06525892, 0.09354725,-0.07011366,
  0.13096731, 0.50403237, 0.4936116 , 0.49580351, 0.50643641]

qacc:
[  0.90470258,  1.09039608, -0.61790157, -7.06618957, -0.0587975 ,
   3.03517345,-14.51089691, 31.86376528, -2.90346267,  0.36255427,
  -4.80523382, 18.68634525, -0.35435414, -0.50444842, -1.0727865 ,
   1.1914508 ,  0.10211945,  0.98843783, -0.16326742,  1.59649807,
   0.36387182,-14.35833001]

qfrc_actuator:
[ 1.18154034e-05, 1.84492137e-04, 4.80076840e-05, 2.05136322e-05,
 -1.18604983e-05,-2.98012905e-04,-1.89730351e-04, 5.67177927e-05,
 -2.51764024e-05,-5.04202898e-05, 8.38424512e-07, 2.26401962e-05,
  3.54271360e-02,-1.21891665e-03, 1.84630664e-02,-3.61816813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030906746781227123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49021306e-14,  1.79608522e-13,  1.00000000e+00, -8.06480533e-27,
        1.00000000e+00, -1.79608522e-13, -1.00000000e+00,  0.00000000e+00,
        4.49021306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154885, -0.08817527,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47133086e-06, 7.76445050e-05,-4.24212103e-06,-1.96524336e-05,
 -2.69988276e-07, 3.31889567e-05,-3.36783344e-06, 5.19370109e-05,
 -1.70689391e-05, 2.66144805e-05, 3.76684256e-05, 4.59507929e-05,
 -2.41961671e-04,-9.44289659e-05,-1.08218162e-04,-2.57531951e-05,
 -1.66966151e-07, 4.58598972e-07,-1.21644360e+00,-4.55148001e-04,
  9.01343470e-06,-5.51197022e-04]


--- Step 586 ---
qpos:
[ 0.01205381,-0.00116549, 0.00246893, 0.0419548 , 0.00458343,-0.00234013,
 -0.01821106, 0.02845256, 0.01318681, 0.00444396,-0.01029019, 0.02640951,
  0.96360573,-0.00131255, 0.76607234, 0.0652575 , 0.09356083,-0.07009068,
  0.13096992, 0.50405446, 0.49357123, 0.49594813, 0.50631215]

qacc:
[ 4.13452945e-01, 3.20796092e+00,-1.21959767e+01, 2.03231688e+01,
 -2.37250237e-02, 9.77433318e-01,-2.80581352e+00, 1.72844557e+00,
 -1.75620740e+00,-1.48685871e+00, 6.49138486e+00,-1.39010168e+01,
 -1.27801779e+00, 2.08127188e+00,-8.35843522e+00, 2.61130102e+01,
  1.02826112e-01, 9.85477205e-01,-2.07079978e-01, 1.59869400e+00,
  3.56337292e-01,-1.43054504e+01]

qfrc_actuator:
[ 1.42377815e-05, 2.03929419e-04, 1.74685384e-05, 4.24818171e-05,
 -1.19183591e-05,-3.07809562e-04,-2.14854423e-04, 4.98626289e-05,
 -3.50230427e-05,-1.21234186e-04,-2.01068211e-05,-5.38931041e-06,
  3.53524355e-02,-1.20013258e-03, 1.84080482e-02,-3.50747112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000300247181953317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62212092e-14,  1.84884837e-13,  1.00000000e+00,  8.54560072e-27,
        1.00000000e+00, -1.84884837e-13, -1.00000000e+00,  0.00000000e+00,
       -4.62212092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154868, -0.08817761,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60041847e-06, 6.10740515e-05,-1.57212121e-05, 2.47632622e-05,
 -5.60063391e-08, 1.02838255e-05,-1.69000530e-05,-4.54388290e-06,
 -1.03277317e-05,-4.61657324e-05,-9.22445544e-06,-2.46924759e-05,
 -2.48432181e-04,-4.46322862e-05,-1.13865422e-04, 9.38706596e-05,
 -1.00131077e-07, 7.14805294e-07,-1.21644487e+00,-4.55165080e-04,
  7.89218184e-06,-5.50766297e-04]


--- Step 587 ---
qpos:
[ 0.01205489,-0.00116275, 0.00246786, 0.04195502, 0.00458319,-0.0023405 ,
 -0.01821012, 0.02845356, 0.01318596, 0.00444222,-0.01028872, 0.02640903,
  0.96439095,-0.00131319, 0.76675491, 0.06525766, 0.09357482,-0.07006378,
  0.13097156, 0.50408904, 0.49351796, 0.4961088 , 0.50617223]

qacc:
[  6.28396026,  2.23011695,-10.25747928, 21.53213264,  0.02568987,
  -1.91223329,  7.90728865,-15.1332736 , -0.99594201, -0.15206522,
   1.58078154, -6.72753819, -1.26923689,  2.0470235 , -6.34844506,
  19.94913692,  0.10357899,  0.98345836, -0.24277047,  1.60329674,
   0.34877756,-14.26849303]

qfrc_actuator:
[ 5.10201332e-05, 1.96477147e-04,-1.90152423e-07, 7.33146551e-05,
 -1.18569994e-05,-3.49279751e-04,-2.12263524e-04, 2.74823912e-05,
 -4.05135112e-05,-1.27391071e-04,-3.34006539e-05,-2.18824869e-05,
  3.52740515e-02,-1.18867131e-03, 1.83718101e-02,-3.42395841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029119468675979643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76581079e-14,  1.90632432e-13,  1.00000000e+00,  9.08518100e-27,
        1.00000000e+00, -1.90632432e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76581079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154849, -0.08818003,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68701733e-05, 2.44330805e-05,-6.14195183e-06, 3.33844357e-05,
  6.42225198e-08,-3.94155896e-05, 2.46475430e-06,-2.26174362e-05,
 -5.80174121e-06,-3.49067659e-05,-2.48229211e-05,-1.92711363e-05,
 -2.45699870e-04,-4.57438507e-05,-8.37291145e-05, 7.27832565e-05,
 -2.60349970e-08, 1.05253859e-06,-1.21644640e+00,-4.55191932e-04,
  6.69553569e-06,-5.50246667e-04]


--- Step 588 ---
qpos:
[ 0.01205675,-0.00116007, 0.00246674, 0.04195529, 0.00458295,-0.0023414 ,
 -0.01820849, 0.02845463, 0.01318573, 0.0044407 ,-0.0102874 , 0.02640898,
  0.96517467,-0.0013137 , 0.76743602, 0.06525853, 0.09358467,-0.07004476,
  0.13097326, 0.50411185, 0.49347426, 0.49622514, 0.50607807]

qacc:
[ 6.83211039e+00, 1.07862754e-01,-7.32245933e-01, 1.66838910e+00,
  5.40207634e-02,-2.47984334e+00, 7.55799494e+00,-7.17243384e+00,
  5.53793767e+00, 1.56957072e+00,-7.06130253e+00, 1.47127703e+01,
 -1.10739017e+00, 1.65276252e+00,-4.27077580e+00, 1.19447533e+01,
 -1.03481753e+00,-1.97191411e+00, 1.74392260e-02,-1.72447558e+01,
  6.20543723e-01, 2.78295550e+01]

qfrc_actuator:
[ 8.99796264e-05, 1.73028512e-04,-1.02159362e-05, 7.35894888e-05,
 -1.17263198e-05,-3.73811887e-04,-1.75714137e-04, 3.16521036e-05,
 -7.89271759e-06,-7.70210810e-05,-2.40456168e-05, 4.11925154e-06,
  3.52041649e-02,-1.18168736e-03, 1.82882750e-02,-3.39261036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028417635969052446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95340497e-13, -1.95340497e-13,  1.00000000e+00,  3.81579096e-26,
        1.00000000e+00,  1.95340497e-13, -1.00000000e+00,  0.00000000e+00,
        1.95340497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996908, -0.03403637,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00081681e-05,-9.70177348e-06,-4.60285056e-06, 1.75295894e-06,
  1.19598251e-07,-4.70333464e-05, 2.79199826e-05, 2.12211583e-06,
  3.24414969e-05, 2.49384884e-05,-1.57618133e-06, 2.32736296e-05,
 -2.35452381e-04,-4.99655095e-05,-1.21180619e-04, 2.29262479e-05,
  5.53972875e-08, 1.47075475e-06,-1.21644820e+00,-4.55228978e-04,
  5.42252142e-06,-5.49638398e-04]


--- Step 589 ---
qpos:
[ 0.01205837,-0.00115794, 0.00246603, 0.04195559, 0.00458307,-0.0023425 ,
 -0.01820708, 0.02845541, 0.0131859 , 0.00443936,-0.01028546, 0.02640919,
  0.96595699,-0.0013144 , 0.76811523, 0.06525919, 0.09359044,-0.07003345,
  0.1309742 , 0.5041229 , 0.49343996, 0.49629835, 0.50602871]

qacc:
[ -2.05966993, -1.7799518 ,  5.17899612, -4.88175338,  3.04836235,
  -0.26798739,  1.75439423, -6.17133617,  3.46972539, -0.93746596,
   2.60870405,  0.75997011, -0.75930595,  0.68015148, -2.12552145,
   3.40086575, -1.02008186, -1.92644461, -0.19256648,-16.76319035,
   0.7239816 , 27.23642929]

qfrc_actuator:
[ 7.66398104e-05, 1.22424870e-04, 1.99344409e-06, 7.36190662e-05,
  6.19681074e-06,-3.87852354e-04,-1.90349606e-04, 1.59370342e-05,
  1.13918115e-05,-4.63122292e-05, 1.66314609e-05, 1.94780200e-05,
  3.51287736e-02,-1.19512480e-03, 1.81764321e-02,-3.41008978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52377987, -0.22093926, -4.51838137, -0.22093926, 11.39950465,
       -0.33620835, -4.51838137, -0.33620835,  4.54021975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029487469168495983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41266796e-14,  9.41266796e-14,  1.00000000e+00, -8.85983181e-27,
        1.00000000e+00, -9.41266796e-14, -1.00000000e+00,  0.00000000e+00,
        9.41266796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996503, -0.03404129,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22122777e-05,-5.69809331e-05, 9.67680380e-06,-5.17304132e-07,
  1.79089125e-05,-3.44722316e-05,-2.08486156e-05,-1.67273525e-05,
  2.02105411e-05, 4.53769030e-05, 4.64405393e-05, 1.68250637e-05,
 -2.35672131e-04,-6.87417753e-05,-1.70442293e-04,-3.30797840e-05,
 -1.54937590e-07, 8.65024702e-07,-1.21644416e+00,-4.55832719e-04,
  8.13880357e-06,-5.49275170e-04]


--- Step 590 ---
qpos:
[ 0.01205913,-0.00115649, 0.00246612, 0.04195623, 0.00458305,-0.00234341,
 -0.01820632, 0.02845598, 0.0131856 , 0.0044384 ,-0.01028339, 0.02640994,
  0.96673791,-0.00131551, 0.7687929 , 0.06525788, 0.09359218,-0.07002969,
  0.13097366, 0.50412224, 0.49341488, 0.49632942, 0.50602335]

qacc:
[ -7.5384444 , -2.45438201,  6.05745783, -1.09200965, -1.17469873,
   1.65741812, -4.62847638,  1.82278431, -4.04922911,  1.25389317,
  -6.027225  , 14.86664561, -0.62926614,  0.21712107,  3.71482622,
 -16.22218549, -1.00743822, -1.88859084, -0.36952011,-16.36728247,
   0.8028881 , 26.74067774]

qfrc_actuator:
[ 3.26237797e-05, 9.15342961e-05, 4.48660144e-05, 9.12496940e-05,
 -1.05641750e-06,-3.60208071e-04,-2.17322279e-04, 6.36533934e-06,
 -1.28449994e-05,-2.74699635e-05, 2.21405021e-05, 4.62063929e-05,
  3.50501253e-02,-1.22054723e-03, 1.81062816e-02,-3.50946978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54474366e+00, -5.63374057e-03,  4.54474017e+00, -5.63374057e-03,
        4.95270730e+01,  5.57608937e-02,  4.54474017e+00,  5.57608937e-02,
        4.54481278e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003012968986475656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21203495e-14, -1.84240699e-13,  1.00000000e+00,  1.69723176e-26,
        1.00000000e+00,  1.84240699e-13, -1.00000000e+00,  0.00000000e+00,
        9.21203495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996233, -0.03404412,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43898120e-05,-6.08569626e-05, 3.22580102e-05, 1.55105380e-05,
 -6.75289446e-06, 3.37228216e-06,-3.72461102e-05,-1.20991372e-05,
 -2.36515369e-05, 5.45639041e-05, 2.11763661e-05, 3.06046705e-05,
 -2.43446261e-04,-8.34756393e-05,-1.55228557e-04,-1.23879806e-04,
 -2.21593587e-07, 4.13998316e-07,-1.21644152e+00,-4.56469025e-04,
  9.86264890e-06,-5.49152319e-04]


--- Step 591 ---
qpos:
[ 0.01206005,-0.00115534, 0.00246663, 0.0419567 , 0.0045826 ,-0.00234405,
 -0.01820572, 0.02845638, 0.01318537, 0.00443777,-0.01028177, 0.0264107 ,
  0.96751718,-0.00131599, 0.76946831, 0.06526067, 0.09358993,-0.07003336,
  0.13097104, 0.50410991, 0.49339888, 0.49631914, 0.50606131]

qacc:
[  1.38930567, -1.91821216,  6.92351946,-10.15027206, -3.79347309,
   0.46428521, -0.43859389, -2.35813789,  0.48232398,  1.71063393,
  -5.50793088,  6.19280578, -1.53157429,  2.87823502,-15.66281111,
  50.13444348, -0.99668555, -1.85716064, -0.51854362,-16.04284002,
   0.86227389, 26.32804035]

qfrc_actuator:
[ 4.19324877e-05, 9.05818754e-05, 7.00681586e-05, 8.36209137e-05,
 -2.30752889e-05,-3.25621726e-04,-2.15660253e-04, 5.23635056e-07,
 -9.24131217e-06,-3.37515887e-05,-1.09594654e-05, 4.38678877e-05,
  3.49802245e-02,-1.18185910e-03, 1.80398772e-02,-3.28334821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55460817, -0.25447844,  4.54749341, -0.25447844, 44.75397521,
        2.24956281,  4.54749341,  2.24956281,  4.68049405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003042537511731003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28062723e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28062723e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996072, -0.03404527,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01784339e-06,-2.77292083e-05, 1.71226134e-05,-8.82116509e-06,
 -2.22083040e-05, 2.82808405e-05,-2.64730854e-06,-7.22206270e-06,
  2.94782886e-06, 2.99165737e-05,-1.81756583e-05, 1.32494115e-06,
 -2.42709953e-04,-2.33119751e-05,-1.55824359e-04, 1.98234944e-04,
 -1.47821970e-07, 1.04427040e-07,-1.21644020e+00,-4.57156182e-04,
  1.06700777e-05,-5.49269951e-04]


--- Step 592 ---
qpos:
[ 0.01206073,-0.00115434, 0.00246687, 0.04195641, 0.00458155,-0.0023447 ,
 -0.01820501, 0.02845638, 0.01318518, 0.00443707,-0.01028063, 0.02641114,
  0.96829476,-0.00131543, 0.77014181, 0.06526578, 0.09358374,-0.07004436,
  0.13096585, 0.50408595, 0.49339185, 0.49626816, 0.50614203]

qacc:
[ -2.12518347, -0.961178  ,  6.37756834,-18.97735321, -5.30106086,
  -1.16107056,  5.85226019,-13.04181058,  0.3835059 ,  0.56574594,
  -0.79884424, -3.96821027, -2.0443498 ,  4.32269244, -9.66798934,
  30.03571576, -0.98763119, -1.83114844, -0.64397951,-15.77822075,
   0.90604702, 25.9865142 ]

qfrc_actuator:
[ 2.93049033e-05, 7.19851238e-05, 4.92256494e-05, 4.34453031e-05,
 -5.36006052e-05,-3.40278238e-04,-2.14806999e-04,-2.07972869e-05,
 -7.01897492e-06,-7.29773666e-05,-4.89541131e-05, 2.43995778e-05,
  3.49103199e-02,-1.12331447e-03, 1.79492138e-02,-3.16901048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55518082, -0.54525314,  4.52242981, -0.54525314, 34.12032576,
        3.56456351,  4.52242981,  3.56456351,  4.98494746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030442416458677235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82348045e-13,  2.73522067e-13,  1.00000000e+00, -4.98762142e-26,
        1.00000000e+00, -2.73522067e-13, -1.00000000e+00,  0.00000000e+00,
        1.82348045e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10995996, -0.03404507,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24137280e-05,-3.09927270e-05,-2.47883411e-05,-4.09481352e-05,
 -3.11484997e-05, 3.09426715e-07, 6.11927618e-06,-2.03409728e-05,
  2.31702583e-06,-2.61915411e-05,-3.40215451e-05,-1.87934485e-05,
 -2.29152099e-04, 5.75475309e-06,-1.43095435e-04, 1.04660813e-04,
  6.36938418e-08,-7.32795694e-08,-1.21644012e+00,-4.57906648e-04,
  1.06191825e-05,-5.49627353e-04]


--- Step 593 ---
qpos:
[ 0.01206125,-0.00115339, 0.00246623, 0.04195603, 0.00458014,-0.00234542,
 -0.01820426, 0.02845649, 0.01318433, 0.00443611,-0.01027933, 0.02641167,
  0.96907082,-0.0013139 , 0.77081424, 0.06526748, 0.09357362,-0.07006259,
  0.13095766, 0.50405038, 0.49339369, 0.49617699, 0.50626502]

qacc:
[-1.40234870e+00, 2.16487547e+00,-7.41201684e+00, 7.11462076e+00,
 -3.13361864e+00, 2.77534431e-02,-6.77845692e-01, 2.49008790e+00,
 -5.81370442e+00,-5.73299990e-01, 1.19079732e+00, 2.81711106e-01,
 -2.11401971e+00, 4.47769305e+00, 8.81500475e+00,-3.28362891e+01,
 -9.80092958e-01,-1.80970345e+00,-7.49521780e-01,-1.55638378e+01,
  9.37251049e-01, 2.57059523e+01]

qfrc_actuator:
[ 2.16028214e-05, 6.05054401e-05, 1.28725797e-06, 3.76621698e-05,
 -7.11309634e-05,-3.48810336e-04,-2.14654057e-04,-1.55954816e-05,
 -4.11416394e-05,-7.84348781e-05,-3.64182116e-05, 3.04889622e-05,
  3.48458004e-02,-1.07128837e-03, 1.78759984e-02,-3.35237612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54832563, -0.85933433,  4.46640913, -0.85933433, 48.0589847 ,
        8.37142366,  4.46640913,  8.37142366,  6.15898232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030237527485907356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17918161e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17918161e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1099599 , -0.03404378,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.06673526e-06,-3.57306736e-05,-5.88240926e-05,-8.76739641e-06,
 -1.84181177e-05,-7.96259881e-06, 2.67247155e-07, 5.03206940e-06,
 -3.40647882e-05,-2.79256779e-05, 2.27848241e-06, 3.42193099e-06,
 -2.09096059e-04, 6.57322129e-06,-1.31377947e-04,-1.96899787e-04,
  4.10905331e-07,-1.25758431e-07,-1.21644121e+00,-4.58728700e-04,
  9.75399415e-06,-5.50223365e-04]


--- Step 594 ---
qpos:
[ 0.01206167,-0.00115249, 0.00246491, 0.04195625, 0.00457887,-0.00234632,
 -0.01820321, 0.02845734, 0.01318307, 0.00443555,-0.01027791, 0.02641184,
  0.96984553,-0.00131175, 0.77148572, 0.0652675 , 0.09355961,-0.070088  ,
  0.13094611, 0.50400324, 0.49340431, 0.49604605, 0.5064299 ]

qacc:
[ -0.86888972,  3.10414208,-13.70648437, 25.33435214,  1.28842592,
   0.48169213, -5.22005218, 17.8236898 , -3.54842451, -0.56373564,
   4.32133421,-11.09106302, -1.58041803,  3.13698873,  3.77009898,
 -15.02745361, -0.97390062, -1.79210435, -0.8383201 ,-15.39177065,
   0.95825223, 25.47774882]

qfrc_actuator:
[ 1.68679617e-05, 7.10316533e-05,-2.66924923e-05, 6.99121818e-05,
 -6.31170484e-05,-3.53595238e-04,-1.97130704e-04, 2.29252278e-05,
 -6.08772035e-05,-1.01597915e-05,-1.17547876e-05, 1.61247272e-05,
  3.47845592e-02,-1.04127151e-03, 1.78611771e-02,-3.42553155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002985794644701778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.78876268e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.78876268e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10996038, -0.03404166,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97634273e-06,-2.20111791e-05,-4.29113506e-05, 2.85137419e-05,
  7.48556453e-06,-8.95593513e-06, 1.60858563e-05, 3.82871143e-05,
 -2.07149852e-05, 5.32800183e-05, 1.92894389e-05,-1.54162182e-05,
 -1.93260022e-04,-1.09577301e-05,-1.03149492e-04,-1.02455527e-04,
  8.92419946e-07,-5.72173393e-08,-1.21644344e+00,-4.59627587e-04,
  8.10745308e-06,-5.51056599e-04]


--- Step 595 ---
qpos:
[ 0.01206134,-0.00115193, 0.00246389, 0.04195683, 0.00457805,-0.00234752,
 -0.01820158, 0.0284583 , 0.01318124, 0.0044357 ,-0.01027638, 0.02641179,
  0.97061915,-0.00131008, 0.77215647, 0.06526683, 0.09354567,-0.07010873,
  0.13093934, 0.50396961, 0.49340222, 0.4959338 , 0.50657532]

qacc:
[ -6.57455049, -0.57068969, -0.08457279,  5.9330539 ,  3.97420491,
  -1.84152878,  5.52942354, -4.42189497, -5.04525119,  0.22983198,
   1.43894198, -5.79230479, -0.31157343, -0.35749451,  1.01639828,
  -5.10658369,  0.01934549,  1.16837425,  1.19158446,  3.02692353,
  -0.22564545,-16.09341856]

qfrc_actuator:
[-2.15892059e-05, 5.92586617e-05,-7.03721354e-06, 8.88087208e-05,
 -4.01367950e-05,-3.73751472e-04,-1.69457249e-04, 2.74951782e-05,
 -8.97272849e-05, 4.85386009e-05, 2.39546724e-06, 7.65596951e-06,
  3.47146719e-02,-1.07774999e-03, 1.78547918e-02,-3.45066765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.58618962,   1.41064082,   4.36385469,   1.41064082,
        45.3450241 , -13.17552481,   4.36385469, -13.17552481,
         8.84525287,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003134575192725031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76707906e-13, -1.77093060e-13,  1.00000000e+00,  4.90030498e-26,
        1.00000000e+00,  1.77093060e-13, -1.00000000e+00,  0.00000000e+00,
        2.76707906e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156499, -0.08817918,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86074286e-05,-3.17447352e-05, 1.08143737e-05, 1.70244373e-05,
  2.31883995e-05,-2.01797875e-05, 2.91259499e-05, 5.48531755e-06,
 -2.94204377e-05, 9.18086018e-05, 2.69874440e-05,-5.81976598e-06,
 -1.95096365e-04,-7.70653856e-05,-7.20194277e-05,-4.57290674e-05,
  1.50749407e-06, 1.30172398e-07,-1.21644676e+00,-4.60606344e-04,
  5.70370909e-06,-5.52125584e-04]


--- Step 596 ---
qpos:
[ 0.01206021,-0.0011515 , 0.00246334, 0.04195724, 0.00457786,-0.00234883,
 -0.01820043, 0.02845832, 0.01317908, 0.00443635,-0.01027465, 0.02641201,
  0.97139152,-0.00130876, 0.77282635, 0.0652655 , 0.09353188,-0.07012493,
  0.13093626, 0.50394933, 0.49338733, 0.49583973, 0.50670206]

qacc:
[ -7.04485852, -1.78963864,  6.82765827,-10.28200107,  5.47922123,
  -0.70320255,  6.26044162,-21.63152357, -2.91962947,  0.63623837,
  -2.38057446,  6.17451096, -0.55072713,  0.18185033,  0.73091007,
  -4.38572543,  0.03617398,  1.13216734,  0.92620694,  2.71287429,
  -0.09220421,-15.74324607]

qfrc_actuator:
[-6.18351209e-05, 6.99255613e-05, 2.27286718e-05, 8.19516328e-05,
 -8.54011815e-06,-4.02934379e-04,-2.07119053e-04,-2.34668871e-05,
 -1.05962868e-04, 6.55246645e-05, 1.02171202e-05, 2.04718352e-05,
  3.46396223e-02,-1.10001103e-03, 1.78162011e-02,-3.48281910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6311826 ,  1.0775115 ,  4.50408939,  1.0775115 , 11.3976082 ,
       -1.61872929,  4.50408939, -1.61872929,  5.01843056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032593445158980716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70313850e-13,  2.55470775e-13,  1.00000000e+00, -4.35102111e-26,
        1.00000000e+00, -2.55470775e-13, -1.00000000e+00,  0.00000000e+00,
        1.70313850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09156818, -0.08817681,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13573523e-05,-4.14401314e-06, 2.51354959e-05,-7.51015133e-06,
  3.22496479e-05,-3.41857331e-05,-3.80605509e-05,-5.07164052e-05,
 -1.70382518e-05, 7.36120529e-05, 2.98885144e-05, 1.75680310e-05,
 -2.14873969e-04,-7.37298941e-05,-8.46517176e-05,-4.58319427e-05,
  1.09590920e-06,-1.76546712e-07,-1.21644496e+00,-4.59432688e-04,
  7.24539553e-06,-5.52429872e-04]


--- Step 597 ---
qpos:
[ 0.01205895,-0.0011509 , 0.00246304, 0.0419572 , 0.00457771,-0.00235027,
 -0.01820001, 0.02845741, 0.01317744, 0.00443735,-0.01027298, 0.02641207,
  0.97216248,-0.00130738, 0.77349477, 0.06526254, 0.09351829,-0.07013672,
  0.130936  , 0.50394226, 0.49335957, 0.4957634 , 0.5068108 ]

qacc:
[-1.13072006e+00,-1.41514989e+00, 7.30053300e+00,-1.57200164e+01,
  2.90544586e-01,-8.93990739e-02, 3.99634399e+00,-1.89054580e+01,
  4.49879409e+00, 2.95878610e-01, 2.08665568e-01,-2.95796042e+00,
 -1.07789690e+00, 1.56842771e+00, 2.79623072e+00,-1.28015528e+01,
  4.91390552e-02, 1.10218242e+00, 7.02595659e-01, 2.46119181e+00,
  1.38293444e-02,-1.54471615e+01]

qfrc_actuator:
[-6.72954106e-05, 9.39867340e-05, 4.05305993e-05, 6.00156524e-05,
 -7.63518679e-06,-4.19861604e-04,-2.47631442e-04,-7.12411385e-05,
 -7.91363202e-05, 5.73946361e-05,-3.66008860e-06, 1.01655673e-05,
  3.45668546e-02,-1.09593331e-03, 1.77210459e-02,-3.57218956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65985906,  1.02209218,  4.54638472,  1.02209218, 15.09979331,
       -2.34704624,  4.54638472, -2.34704624,  5.18750856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003335335324699401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32167471e-14,  8.32167471e-14,  1.00000000e+00,  6.92502700e-27,
        1.00000000e+00, -8.32167471e-14, -1.00000000e+00,  0.00000000e+00,
       -8.32167471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157065, -0.08817555,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.63989909e-06, 2.65931778e-05, 1.97851266e-05,-2.13887511e-05,
  1.81652696e-06,-4.60335667e-05,-5.40162255e-05,-5.15442799e-05,
  2.63701115e-05, 3.99036458e-05, 5.58766853e-06,-5.78112483e-06,
 -2.24535509e-04,-5.10162462e-05,-1.46525890e-04,-1.04553615e-04,
  7.23241815e-07,-3.93531813e-07,-1.21644353e+00,-4.58354586e-04,
  8.60830171e-06,-5.52659803e-04]


--- Step 598 ---
qpos:
[ 0.01205798,-0.00115009, 0.00246292, 0.04195724, 0.00457722,-0.0023517 ,
 -0.01819994, 0.02845588, 0.01317612, 0.00443826,-0.01027155, 0.02641208,
  0.97293201,-0.00130565, 0.77416142, 0.06525917, 0.09350493,-0.0701442 ,
  0.1309378 , 0.50394825, 0.49331892, 0.49570445, 0.50690207]

qacc:
[  2.54063498, -0.05482376,  0.22568949,  0.79702229, -2.92827015,
  -0.26052474,  3.54403529,-13.58192904,  2.93840788,  0.44063002,
  -1.49062052,  0.95037366, -1.30809574,  2.26685673, -1.29057948,
   0.90392423,  0.05908687,  1.0774244 ,  0.51450953,  2.25911823,
   0.09836507,-15.19788742]

qfrc_actuator:
[-5.22372610e-05, 1.08080570e-04, 5.11800988e-05, 6.48968372e-05,
 -2.48047751e-05,-3.93852178e-04,-2.53922167e-04,-9.89794372e-05,
 -6.26888308e-05, 1.64151718e-05,-3.03690566e-05, 4.04650873e-06,
  3.45008407e-02,-1.07633124e-03, 1.76452946e-02,-3.58814779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67395645,  0.94362343,  4.57771163,  0.94362343, 21.71300787,
       -3.51233311,  4.57771163, -3.51233311,  5.39796881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033717600169150264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23177672e-14,  1.64635534e-13,  1.00000000e+00,  1.35524296e-26,
        1.00000000e+00, -1.64635534e-13, -1.00000000e+00,  0.00000000e+00,
       -8.23177672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157254, -0.08817519,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48770389e-05, 3.21188949e-05, 1.78374448e-05, 6.28864182e-06,
 -1.71295127e-05,-1.30483948e-05,-2.42224502e-05,-3.25789804e-05,
  1.72154939e-05,-1.78102105e-05,-1.80121386e-05,-4.33568720e-06,
 -2.19741370e-04,-3.37215152e-05,-1.59312160e-04,-4.17100657e-05,
  3.81069935e-07,-5.22030756e-07,-1.21644246e+00,-4.57348518e-04,
  9.81849584e-06,-5.52811345e-04]


--- Step 599 ---
qpos:
[ 0.01205719,-0.00114916, 0.00246271, 0.04195702, 0.00457654,-0.00235293,
 -0.01820014, 0.02845469, 0.01317536, 0.00443892,-0.01027035, 0.02641204,
  0.97370019,-0.0013037 , 0.7748264 , 0.06525752, 0.09349184,-0.07014746,
  0.13094102, 0.5039672 , 0.49326534, 0.49566257, 0.50697631]

qacc:
[  1.64730904, -0.13617051,  1.81919897, -6.26107271, -1.78405307,
   1.75041711, -7.27186472, 13.4272772 ,  4.86094807,  0.20688382,
  -1.00646622,  0.68308574, -1.04371233,  1.65219924, -7.6127369 ,
  23.15959095,  0.06668147,  1.05706468,  0.3566486 ,  2.09654541,
   0.16604497,-14.98920219]

qfrc_actuator:
[-4.29870756e-05, 9.83400453e-05, 3.97608682e-05, 5.00060260e-05,
 -3.47123521e-05,-3.59929580e-04,-2.57517032e-04,-7.91403251e-05,
 -3.47434953e-05,-8.48960228e-06,-4.68228752e-05, 4.06207230e-07,
  3.44389331e-02,-1.06546723e-03, 1.75972425e-02,-3.48961326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.67575439,  0.83497769,  4.60059685,  0.83497769, 36.50936626,
       -5.77758853,  4.60059685, -5.77758853,  5.72434823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003376362971976993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157398, -0.08817556,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.68122757e-06, 1.21549547e-05,-2.37794818e-06,-1.27772491e-05,
 -1.03983930e-05, 2.02751322e-05,-1.03810571e-05, 1.78149239e-05,
  2.84334884e-05,-3.88186717e-05,-2.25307926e-05,-5.11738002e-06,
 -2.08948685e-04,-3.87746571e-05,-1.29532915e-04, 7.48695378e-05,
  6.30742258e-08,-5.63391198e-07,-1.21644172e+00,-4.56396856e-04,
  1.08957800e-05,-5.52881706e-04]


--- Step 600 ---
qpos:
[ 0.01205653,-0.00114859, 0.00246289, 0.04195666, 0.00457573,-0.00235386,
 -0.01820025, 0.02845475, 0.01317494, 0.0044394 ,-0.01026911, 0.02641193,
  0.97446694,-0.00130104, 0.77548957, 0.06525903, 0.09347904,-0.07014655,
  0.13094514, 0.50399901, 0.49319883, 0.49563752, 0.50703389]

qacc:
[  1.04972209, -1.84155121,  6.47518038, -9.31270056, -0.99772887,
   2.68386045,-14.26764338, 35.44924352,  3.00485712, -0.51846   ,
   1.75998842, -2.86673484, -1.50907953,  3.01819266,-12.08596056,
  38.64748627,  0.07244336,  1.04041098,  0.224493  ,  1.96545733,
   0.22051421,-14.81575786]

qfrc_actuator:
[-3.72363644e-05, 5.65407960e-05, 5.07941991e-05, 4.13140648e-05,
 -4.02602157e-05,-3.21457669e-04,-2.41672613e-04,-1.37078764e-05,
 -1.80040651e-05,-5.79937990e-06,-3.92833608e-05,-1.72974001e-06,
  3.43795328e-02,-1.02435212e-03, 1.75285856e-02,-3.32434820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.66768851, -0.68770154, -4.61675023, -0.68770154, 34.86088803,
       -4.49751636, -4.61675023, -4.49751636,  5.33762922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033556385330536787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65426492e-13,  1.65426492e-13,  1.00000000e+00,  2.73659244e-26,
        1.00000000e+00, -1.65426492e-13, -1.00000000e+00,  0.00000000e+00,
       -1.65426492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157505, -0.08817651,  0.06199041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.02830792e-06,-3.60657305e-05, 1.28015134e-05,-8.50359142e-06,
 -5.83771170e-06, 4.84748525e-05, 1.93898163e-05, 6.62951464e-05,
  1.75381630e-05,-2.39212511e-05,-3.45485233e-06,-4.68407427e-06,
 -2.00191778e-04,-7.27898335e-06,-1.24330254e-04, 1.51720679e-04,
 -2.35497405e-07,-5.18918414e-07,-1.21644130e+00,-4.55486317e-04,
  1.18552462e-05,-5.52868944e-04]


--- Step 601 ---
qpos:
[ 0.01205525,-0.00114826, 0.00246316, 0.04195655, 0.00457487,-0.00235458,
 -0.01820013, 0.0284556 , 0.01317473, 0.00443975,-0.01026785, 0.02641213,
  0.97523239,-0.0012979 , 0.77615125, 0.06526115, 0.09346726,-0.0701415 ,
  0.13094975, 0.50404078, 0.49312191, 0.49563192, 0.50707264]

qacc:
[ -5.40441654, -0.064789  , -1.23929935,  5.50657545, -0.52448724,
   1.24482447, -7.33882948, 20.36925767,  1.7989458 ,  0.43957448,
  -3.12161021,  8.59900797, -1.3184373 ,  2.47837839, -4.00956366,
  10.98618646,  0.25632886,  1.03626671,  0.12156558,  4.51591218,
   0.43154201,-14.6440751 ]

qfrc_actuator:
[-6.90951815e-05, 4.92045169e-05, 5.71172135e-05, 5.40831584e-05,
 -4.31998625e-05,-3.15928049e-04,-2.32178031e-04, 2.47810483e-05,
 -7.99747919e-06,-4.25904127e-06,-3.52806799e-05, 1.48276258e-05,
  3.43163663e-02,-1.00117438e-03, 1.74476367e-02,-3.29869645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65121316,  2.48179774, -3.93375951,  2.48179774, 37.70912929,
       20.85614572, -3.93375951, 20.85614572, 17.80929647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033126972650913077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84906906e-07, -7.85488382e-14,  1.00000000e+00,  4.59437579e-20,
        1.00000000e+00,  7.85488382e-14, -1.00000000e+00,  6.01853108e-36,
        5.84906906e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08887546, -0.0882197 ,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17019720e-05,-2.52420692e-05, 1.48259398e-07, 1.15003923e-05,
 -3.09278693e-06, 3.95158159e-05, 2.42019414e-05, 4.25299014e-05,
  1.04995997e-05,-1.27775404e-05,-1.54710618e-06, 1.53171484e-05,
 -1.91610600e-04,-1.85434371e-05,-1.25633450e-04, 1.70656290e-05,
 -5.18228770e-07,-3.89796889e-07,-1.21644118e+00,-4.54606834e-04,
  1.27084322e-05,-5.52771699e-04]


--- Step 602 ---
qpos:
[ 0.01205359,-0.00114808, 0.00246348, 0.04195658, 0.00457398,-0.00235485,
 -0.01820021, 0.0284562 , 0.01317498, 0.00444036,-0.01026674, 0.02641248,
  0.97599654,-0.00129443, 0.77681131, 0.06526258, 0.09345652,-0.07013235,
  0.13095446, 0.50409248, 0.49303455, 0.4956456 , 0.50709284]

qacc:
[ -3.26369849, -0.03745306, -0.78474769,  3.36812925, -0.26565883,
   0.64870733, -0.45137658, -3.66635565,  4.09616427,  1.03388433,
  -3.8828162 ,  6.6722156 , -1.19811942,  2.09094514, -0.21689542,
  -2.54286914,  0.25788656,  1.02379867,  0.02604238,  4.40428931,
   0.46937411,-14.53227996]

qfrc_actuator:
[-8.73282015e-05, 4.48080087e-05, 6.07427702e-05, 6.16423957e-05,
 -4.45824817e-05,-2.94696217e-04,-2.44421385e-04, 1.15622475e-05,
  1.57224802e-05, 3.21004529e-05,-3.33902675e-05, 2.44945656e-05,
  3.42456552e-02,-9.88816250e-04, 1.73593508e-02,-3.33778559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003260612329461588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24320300e-07, -3.72416685e-14,  1.00000000e+00, -1.95265628e-20,
        1.00000000e+00,  3.72416685e-14, -1.00000000e+00,  0.00000000e+00,
       -5.24320300e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08887584, -0.08822149,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91455302e-05,-1.80107919e-05,-1.17656005e-06, 6.70727389e-06,
 -1.45979502e-06, 5.01724302e-05, 3.76874087e-07,-9.86063465e-06,
  2.40156762e-05, 2.95260898e-05,-4.29438433e-07, 9.35941429e-06,
 -1.96278566e-04,-2.92476882e-05,-1.49047585e-04,-5.54702975e-05,
 -7.37843659e-07,-1.61002514e-07,-1.21644121e+00,-4.53760526e-04,
  1.34028983e-05,-5.52543253e-04]


--- Step 603 ---
qpos:
[ 0.01205173,-0.00114792, 0.00246353, 0.04195636, 0.00457308,-0.00235443,
 -0.01820051, 0.02845592, 0.01317517, 0.00444124,-0.01026622, 0.02641333,
  0.97675921,-0.00129015, 0.77746996, 0.06526573, 0.09344754,-0.07011911,
  0.13095892, 0.5041512 , 0.4929393 , 0.49568121, 0.50709225]

qacc:
[ -1.81927845,  0.23880993,  0.17372738, -4.05334653, -0.106342  ,
  -0.24577392,  5.92903777,-21.3316273 , -0.57280676,  3.04501339,
 -12.38242265, 21.56815958, -1.72109099,  3.50531948, -7.17417512,
  22.29663668,  0.44047581,  1.02263085, -0.06167269,  6.99794122,
   0.6620171 ,-14.38171543]

qfrc_actuator:
[-9.73833460e-05, 4.21952312e-05, 4.50074420e-05, 4.83235405e-05,
 -4.50383505e-05,-2.46612477e-04,-2.51621993e-04,-3.19744945e-05,
  1.18212075e-05, 3.57679882e-05,-6.81274726e-05, 4.78087726e-05,
  3.41704629e-02,-9.47475129e-04, 1.73306360e-02,-3.23712712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032022494696808124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73350489e-13,  1.73350489e-13,  1.00000000e+00, -3.00503921e-26,
        1.00000000e+00, -1.73350489e-13, -1.00000000e+00,  0.00000000e+00,
        1.73350489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609083, -0.0882668 ,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06072281e-05,-1.26518583e-05,-1.93719173e-05,-1.40006865e-05,
 -4.79603003e-07, 7.58041841e-05, 2.87065336e-06,-4.15659765e-05,
 -3.20587999e-06, 2.04643421e-05,-2.83889719e-05, 2.47412120e-05,
 -2.06250706e-04,-2.81532164e-06,-1.07421903e-04, 7.74321788e-05,
 -9.38988245e-07, 1.36852287e-07,-1.21644154e+00,-4.52936243e-04,
  1.39165432e-05,-5.52229659e-04]


--- Step 604 ---
qpos:
[ 0.01205011,-0.00114764, 0.00246331, 0.04195562, 0.00457218,-0.00235367,
 -0.01820107, 0.02845517, 0.01317531, 0.00444164,-0.01026578, 0.02641451,
  0.97752074,-0.00128653, 0.77812754, 0.06526801, 0.09344031,-0.07010182,
  0.13096286, 0.50421694, 0.49283612, 0.49573862, 0.50707105]

qacc:
[ 2.08604046e+00,-1.94532612e-01, 3.12914771e+00,-1.18450541e+01,
  1.80529447e-03, 1.87989590e-01, 2.00051555e+00,-1.00598193e+01,
 -4.10857917e-01, 2.90345284e-01,-3.38510714e+00, 9.69737472e+00,
 -1.80380101e-01,-7.98369422e-01, 1.05625574e+00,-5.99815917e+00,
  4.39851233e-01, 1.01321241e+00,-1.30827122e-01, 6.90493121e+00,
  6.91093443e-01,-1.43162220e+01]

qfrc_actuator:
[-8.47962172e-05, 5.83290410e-05, 3.57154585e-05, 2.28168152e-05,
 -4.49455219e-05,-2.53850646e-04,-2.73431838e-04,-5.74566216e-05,
  9.44214956e-06,-3.35617278e-05,-8.88180530e-05, 6.11665444e-05,
  3.40926461e-02,-9.95882125e-04, 1.72737954e-02,-3.28553724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003131611130030715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54521356e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.54521356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609056, -0.0882691 ,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22818162e-05, 4.45400693e-06,-1.47751644e-05,-2.69906905e-05,
  1.07217963e-07, 3.39517531e-05,-7.23755804e-06,-2.29427475e-05,
 -2.45938419e-06,-6.27303027e-05,-1.91220495e-05, 1.37291253e-05,
 -2.09061988e-04,-9.08146950e-05,-1.03315419e-04,-5.92659043e-05,
 -1.06896833e-06, 5.06604148e-07,-1.21644207e+00,-4.52129347e-04,
  1.41071491e-05,-5.51781354e-04]


--- Step 605 ---
qpos:
[ 0.01204934,-0.00114743, 0.00246355, 0.04195525, 0.00457163,-0.00235275,
 -0.0182018 , 0.02845414, 0.01317543, 0.00444154,-0.01026525, 0.02641549,
  0.97828131,-0.00128462, 0.77878364, 0.06526938, 0.09343485,-0.07008051,
  0.13096605, 0.50428969, 0.49272495, 0.49581774, 0.50702939]

qacc:
[  7.51419792, -0.61038824,  0.48291082,  5.19311088,  3.08773537,
   0.08186981,  1.15076147, -5.79485767, -0.24913198, -1.34935678,
   4.72408105, -8.05881439,  0.96186442, -4.00783069,  0.44915608,
  -4.96534885,  0.43925946,  1.00591289, -0.18786757,  6.83042983,
   0.71476401,-14.26621252]

qfrc_actuator:
[-4.12333041e-05, 6.78231626e-05, 6.58869033e-05, 4.36279557e-05,
 -2.67785923e-05,-2.58710342e-04,-2.86143722e-04,-7.21612232e-05,
  7.98631208e-06,-5.72749539e-05,-8.36020515e-05, 5.07539668e-05,
  3.40186020e-02,-1.09699279e-03, 1.71947724e-02,-3.33272273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030536665998062706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08926194e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.08926194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609012, -0.08827152,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39150792e-05, 7.77996552e-06, 2.83399413e-05, 1.99666837e-05,
  1.81830841e-05, 1.16282099e-05,-7.38521756e-06,-1.39453172e-05,
 -1.54546826e-06,-6.21764696e-05,-9.63414946e-06,-1.34996605e-05,
 -2.25709718e-04,-1.57919269e-04,-1.39339679e-04,-6.52655533e-05,
 -1.18084551e-06, 9.32679117e-07,-1.21644294e+00,-4.51340992e-04,
  1.40397629e-05,-5.51244608e-04]


--- Step 606 ---
qpos:
[ 0.0120491 ,-0.0011475 , 0.00246425, 0.0419555 , 0.00457165,-0.0023518 ,
 -0.01820209, 0.02845327, 0.01317586, 0.00444176,-0.0102653 , 0.02641593,
  0.97904047,-0.00128303, 0.7794388 , 0.06526936, 0.09343241,-0.07006733,
  0.13096829, 0.50432635, 0.49265542, 0.49587395, 0.50700552]

qacc:
[  4.66318155, -0.41430924, -1.73168516, 12.02514592,  4.98184856,
  -0.85385062,  2.4649439 , -0.56956907,  2.84486624,  0.92785044,
  -0.44017199, -8.14639047, -0.71859609,  0.47478539,  2.85113165,
 -11.92542434,  0.75550638, -2.03434262, -0.2376241 ,  9.17560525,
  -3.00036181, 29.60476124]

qfrc_actuator:
[-1.53003343e-05, 3.79681211e-05, 8.36247787e-05, 7.37981306e-05,
  1.88070077e-06,-2.44325842e-04,-2.57874463e-04,-6.26527685e-05,
  2.48382411e-05,-1.55096914e-07,-9.84960323e-05, 2.64857029e-05,
  3.39574991e-02,-1.10413303e-03, 1.71717510e-02,-3.39654702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54470445,  0.27753717, -4.53622218,  0.27753717, 40.08377717,
        2.17436741, -4.53622218,  2.17436741,  4.67773757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030128506486711004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21239678e-14, -1.84247936e-13,  1.00000000e+00,  1.69736509e-26,
        1.00000000e+00,  1.84247936e-13, -1.00000000e+00,  0.00000000e+00,
        9.21239678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235765, -0.0313489 ,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71822191e-05,-1.87870449e-05, 2.35206987e-05, 3.18708285e-05,
  2.91828814e-05, 1.87478634e-05, 2.92782230e-05, 9.48097607e-06,
  1.67876944e-05, 1.97768299e-05,-2.93981672e-05,-2.75319348e-05,
 -2.37700119e-04,-7.79270013e-05,-9.85048660e-05,-8.63939308e-05,
 -1.27540513e-06, 1.41531557e-06,-1.21644413e+00,-4.50568129e-04,
  1.37192236e-05,-5.50618388e-04]


--- Step 607 ---
qpos:
[ 0.01204849,-0.00114805, 0.00246561, 0.04195577, 0.00457202,-0.00235091,
 -0.01820201, 0.02845287, 0.01317616, 0.00444253,-0.01026572, 0.02641603,
  0.97979823,-0.00128158, 0.78009299, 0.06526817, 0.09343286,-0.07006215,
  0.13096889, 0.50432719, 0.49262674, 0.49590813, 0.50699912]

qacc:
[-3.28187081,-2.38729279, 7.52490541,-7.81315327, 3.02486816,-0.16520609,
 -1.56506045, 9.33195732,-1.31179764, 1.07715691,-1.37346142,-4.27362445,
 -0.88220767, 0.96827861, 2.11958007,-9.41129034, 0.72549641,-1.99948832,
 -0.40994462, 9.20793707,-2.72535096,29.04258112]

qfrc_actuator:
[-3.54669689e-05, 2.50696146e-06, 1.11457727e-04, 7.36728014e-05,
  1.87277839e-05,-2.53849180e-04,-2.41051960e-04,-3.89330948e-05,
  1.68257668e-05, 5.15893772e-05,-1.07066836e-04, 1.20703043e-05,
  3.38935829e-02,-1.10886280e-03, 1.71344028e-02,-3.45174904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56257335,  1.29086767, -4.37615542,  1.29086767, 22.26757707,
        5.22257888, -4.37615542,  5.22257888,  6.10311695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003066121012241241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05234187e-14,  4.52617093e-14,  1.00000000e+00, -4.09724467e-27,
        1.00000000e+00, -4.52617093e-14, -1.00000000e+00,  0.00000000e+00,
        9.05234187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235542, -0.03135222,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94026806e-05,-3.97389240e-05, 2.79430697e-05, 5.00918945e-07,
  1.76844568e-05, 7.39536110e-06, 2.46226605e-05, 2.57199874e-05,
 -7.52553660e-06, 5.55501477e-05,-9.06255776e-06,-1.51228843e-05,
 -2.30971648e-04,-6.56104217e-05,-9.91095567e-05,-7.43061661e-05,
 -6.00765847e-07, 5.33071044e-07,-1.21644155e+00,-4.52059508e-04,
  1.26201553e-05,-5.50122702e-04]


--- Step 608 ---
qpos:
[ 0.01204729,-0.00114856, 0.00246687, 0.04195568, 0.00457224,-0.00235004,
 -0.0182022 , 0.02845211, 0.01317566, 0.0044437 ,-0.010266  , 0.02641629,
  0.98055479,-0.00128133, 0.78074567, 0.06526898, 0.09343613,-0.07006485,
  0.13096727, 0.50429244, 0.49263825, 0.49592098, 0.50700993]

qacc:
[-5.11748417,-0.41862969, 3.08527076,-9.19999176,-1.28409932, 0.03232581,
  1.38031526,-7.17129797,-6.93648599, 0.45498791,-1.43474245, 3.46215379,
  0.41535343,-2.5433697 ,-8.29735931,25.66141836, 0.70137186,-1.97039847,
 -0.55487649, 9.22610975,-2.50567127,28.57702402]

qfrc_actuator:
[-6.48470082e-05, 1.72319179e-05, 1.09469453e-04, 5.57205606e-05,
  1.07314651e-05,-2.77636931e-04,-2.66728562e-04,-6.03358366e-05,
 -2.35157213e-05, 8.20073810e-05,-9.40600505e-05, 2.13352654e-05,
  3.38120522e-02,-1.18320973e-03, 1.70831698e-02,-3.34167561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56950264,  1.419739  , -4.34335073,  1.419739  , 36.99962744,
       10.60064358, -4.34335073, 10.60064358,  8.03460322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030864306640118744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79855494e-13, -4.49638735e-14,  1.00000000e+00,  8.08699970e-27,
        1.00000000e+00,  4.49638735e-14, -1.00000000e+00,  0.00000000e+00,
        1.79855494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235331, -0.03135364,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99467739e-05,-1.70557116e-06,-6.74667464e-06,-1.86796851e-05,
 -7.49137473e-06,-1.34904953e-05,-2.02373562e-05,-1.97353189e-05,
 -4.05329158e-05, 5.89373391e-05, 2.28383032e-05, 1.10370259e-05,
 -2.41696679e-04,-1.31897764e-04,-1.11832266e-04, 9.15908893e-05,
 -1.82424876e-07, 1.26868637e-07,-1.21644026e+00,-4.53253573e-04,
  1.21732658e-05,-5.49847856e-04]


--- Step 609 ---
qpos:
[ 0.01204609,-0.00114891, 0.00246775, 0.04195504, 0.00457201,-0.00234931,
 -0.01820265, 0.02845111, 0.01317503, 0.00444518,-0.0102658 , 0.02641699,
  0.98130989,-0.00128163, 0.78139706, 0.06527007, 0.09344212,-0.07007534,
  0.13096294, 0.50422231, 0.4926894 , 0.49591307, 0.50703771]

qacc:
[ 1.66919277e-03, 1.20328046e-01, 2.24006122e+00,-1.14124459e+01,
 -3.88137015e+00, 2.97137696e-02, 6.35613155e-01,-4.23916216e+00,
 -1.17450165e+00, 3.57947274e-03,-1.32233734e+00, 8.07777791e+00,
 -4.67935194e-01,-2.79408760e-01,-2.73422208e+00, 6.82340617e+00,
  6.82023727e-01,-1.94621996e+00,-6.76697176e-01, 9.23519257e+00,
 -2.32967621e+00, 2.81935772e+01]

qfrc_actuator:
[-6.38939493e-05, 2.62545902e-05, 9.00791144e-05, 2.74471021e-05,
 -1.18192483e-05,-2.92247549e-04,-2.81883780e-04,-7.26566852e-05,
 -2.92966972e-05, 9.95375519e-05,-6.84828362e-05, 4.44556000e-05,
  3.37359628e-02,-1.20944160e-03, 1.70183637e-02,-3.33040767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56741032, -1.58348799,  4.28413384, -1.58348799, 18.19324718,
        5.03633869,  4.28413384,  5.03633869,  6.42892588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003080318110319641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01061988e-14, -9.01061988e-14,  1.00000000e+00,  8.11912707e-27,
        1.00000000e+00,  9.01061988e-14, -1.00000000e+00,  0.00000000e+00,
        9.01061988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235131, -0.03135353,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01905657e-07, 5.87241395e-06,-2.12259740e-05,-2.89435540e-05,
 -2.27674652e-05,-2.72106129e-05,-2.11233680e-05,-1.39828016e-05,
 -6.90988553e-06, 5.56230794e-05, 4.09364274e-05, 2.66500948e-05,
 -2.56799092e-04,-9.66465017e-05,-1.11044374e-04, 7.92517732e-07,
  4.36037497e-10, 1.75107332e-07,-1.21644018e+00,-4.54214539e-04,
  1.23634276e-05,-5.49783532e-04]


--- Step 610 ---
qpos:
[ 0.01204561,-0.00114923, 0.0024687 , 0.04195405, 0.00457152,-0.00234893,
 -0.01820268, 0.02845065, 0.01317433, 0.00444671,-0.01026489, 0.02641832,
  0.9820633 ,-0.00128114, 0.78204717, 0.06526667, 0.09345078,-0.07009353,
  0.1309555 , 0.50411697, 0.49277973, 0.49588484, 0.50708229]

qacc:
[  6.24414635, -0.86370507,  4.57331315,-10.66737604, -2.3341345 ,
  -0.53837098, -0.99836619,  9.78868231, -0.54514669, -0.64669649,
  -0.26206301,  9.9988551 , -2.08055516,  4.10241693, 11.75804725,
 -43.60258207,  0.66655697, -1.92621976, -0.7790441 ,  9.23894086,
  -2.18813394, 27.88007049]

qfrc_actuator:
[-2.73394408e-05, 3.17090635e-05, 9.60702482e-05, 1.10753617e-05,
 -2.49950622e-05,-3.01222419e-04,-2.55143850e-04,-4.40037202e-05,
 -3.24321994e-05, 9.15335709e-05,-3.57433979e-05, 7.55325933e-05,
  3.36791821e-02,-1.15372096e-03, 1.69134932e-02,-3.57278570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55821271, -1.75506797,  4.20678494, -1.75506797, 24.94668298,
        8.50605666,  4.20678494,  8.50605666,  8.10693406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003053241762938086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81810533e-13, -2.27263166e-13,  1.00000000e+00,  4.13188374e-26,
        1.00000000e+00,  2.27263166e-13, -1.00000000e+00,  0.00000000e+00,
        1.81810533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234938, -0.03135222,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65618499e-05, 3.12147298e-06, 3.58491571e-06,-1.74174723e-05,
 -1.38332891e-05,-2.91803841e-05, 1.80334602e-05, 2.64863660e-05,
 -3.31016052e-06, 3.26370775e-05, 5.01719826e-05, 3.53906535e-05,
 -2.39746866e-04,-1.22799628e-05,-1.61622140e-04,-2.57983206e-04,
 -3.67928448e-08, 6.61767229e-07,-1.21644126e+00,-4.54989429e-04,
  1.31779440e-05,-5.49921744e-04]


--- Step 611 ---
qpos:
[ 0.01204556,-0.00114961, 0.00246944, 0.04195325, 0.00457088,-0.00234884,
 -0.01820265, 0.0284502 , 0.01317361, 0.00444838,-0.01026381, 0.02641969,
  0.98281508,-0.00127946, 0.7826956 , 0.06526002, 0.09346133,-0.07010735,
  0.13095116, 0.50401937, 0.49286132, 0.4958807 , 0.50710406]

qacc:
[  3.87904403,  0.85824855, -3.9746378 ,  7.57726348, -1.34581476,
  -0.50015067,  1.17103137, -0.7628673 , -0.28004088, -0.16546769,
   0.69945483, -0.32941408, -2.36775952,  5.06732362,  7.4727226 ,
 -29.41691096,  0.47312397,  1.09389244,  0.77534373,  7.65082945,
   0.75065659,-15.81378152]

qfrc_actuator:
[-5.63858788e-06, 1.73411635e-05, 8.14970669e-05, 1.96092095e-05,
 -3.25427225e-05,-3.24298405e-04,-2.57092189e-04,-4.46980754e-05,
 -3.39966999e-05, 8.60906617e-05,-3.46506213e-05, 7.55149482e-05,
  3.36180816e-02,-1.08545304e-03, 1.68378876e-02,-3.73191664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030967146697484516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79258205e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79258205e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860944 , -0.08827096,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27429288e-05,-1.26109622e-05,-1.40955777e-05, 8.45196795e-06,
 -7.95425197e-06,-3.45508130e-05,-4.84028435e-06,-8.04605991e-07,
 -1.64462620e-06, 2.46159479e-05, 1.52066244e-05, 3.79733802e-06,
 -2.16331361e-04, 1.76257524e-05,-1.83314044e-04,-1.95390624e-04,
 -2.82878647e-07, 1.57545990e-06,-1.21644347e+00,-4.55612753e-04,
  1.46065528e-05,-5.50256310e-04]


--- Step 612 ---
qpos:
[ 0.01204578,-0.00115036, 0.00246985, 0.04195294, 0.00457049,-0.00234894,
 -0.0182035 , 0.0284498 , 0.01317321, 0.00445036,-0.0102636 , 0.02642111,
  0.98356558,-0.00127783, 0.7833426 , 0.06525298, 0.09347375,-0.07011687,
  0.1309491 , 0.50392938, 0.4929343 , 0.49590015, 0.50710354]

qacc:
[  2.29020104,  1.48141673, -8.10870595, 17.61605723,  2.24979172,
   2.28288665, -8.73923321, 11.15807035,  2.88906527,  2.89101588,
  -9.91101722, 11.79509362, -0.83820372,  1.01551214, -0.86956382,
   0.07517102,  0.46869819,  1.07248091,  0.57108375,  7.46410124,
   0.75077623,-15.49081681]

qfrc_actuator:
[ 7.13431014e-06,-2.65960201e-05, 5.48234520e-05, 4.26920666e-05,
 -1.89676683e-05,-3.55763815e-04,-3.11566086e-04,-4.49462060e-05,
 -1.68725411e-05, 8.20635348e-05,-8.77811423e-05, 7.49291111e-05,
  3.35437939e-02,-1.09913902e-03, 1.68172039e-02,-3.73402127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59729566, -1.55927017,  4.32478947, -1.55927017, 14.23561912,
        3.47502471,  4.32478947,  3.47502471,  5.85018957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031660389127365074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50666260e-13,  4.38332825e-14,  1.00000000e+00, -1.53708532e-26,
        1.00000000e+00, -4.38332825e-14, -1.00000000e+00,  0.00000000e+00,
        3.50666260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609569, -0.08826911,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34163387e-05,-5.35238096e-05,-3.07254550e-05, 2.22194506e-05,
  1.33363404e-05,-5.18259268e-05,-6.22346814e-05,-1.91089740e-06,
  1.70919329e-05, 1.29628321e-05,-4.60773106e-05, 1.05984258e-06,
 -2.08455650e-04,-5.46087690e-05,-1.29879574e-04,-3.73037058e-05,
 -4.34157479e-07, 1.19115032e-06,-1.21644263e+00,-4.55577279e-04,
  1.44964335e-05,-5.50478720e-04]


--- Step 613 ---
qpos:
[ 0.01204649,-0.00115123, 0.00246982, 0.04195324, 0.00457027,-0.00234947,
 -0.01820468, 0.02845009, 0.01317302, 0.00445245,-0.01026341, 0.02642247,
  0.98431476,-0.0012763 , 0.78398793, 0.06524692, 0.09348728,-0.07012219,
  0.13094887, 0.50384991, 0.49299606, 0.49593986, 0.50708364]

qacc:
[ 4.35102123e+00, 2.29527532e+00,-1.09785225e+01, 2.21988511e+01,
  1.44979278e+00, 1.79159223e+00,-1.00998460e+01, 2.27995311e+01,
  1.83160406e+00, 1.14171819e-01,-4.81208261e-03,-8.77329266e-01,
 -7.39469459e-01, 7.44531905e-01,-5.40272115e+00, 1.54002403e+01,
  2.76412853e-01, 1.05326950e+00, 4.57033190e-01, 4.52080340e+00,
  5.60545350e-01,-1.53332477e+01]

qfrc_actuator:
[ 3.23072077e-05,-1.69363954e-05, 3.88547273e-05, 7.41132530e-05,
 -1.08236324e-05,-3.74482305e-04,-3.25633809e-04,-9.46105670e-06,
 -6.63908712e-06, 9.64254681e-05,-8.37227640e-05, 7.39864919e-05,
  3.34722727e-02,-1.10797707e-03, 1.67496238e-02,-3.67897051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003201427888278902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05680963e-07,  1.35464825e-13,  1.00000000e+00, -8.20484657e-20,
        1.00000000e+00, -1.35464825e-13, -1.00000000e+00,  0.00000000e+00,
        6.05680963e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888165, -0.08822328,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55382163e-05,-2.56390740e-05,-3.00362127e-05, 2.84983709e-05,
  8.50894296e-06,-6.06168051e-05,-3.24933262e-05, 3.10760146e-05,
  1.07321680e-05, 1.20656919e-05, 1.06733052e-06,-1.96964626e-06,
 -2.15199081e-04,-5.99469181e-05,-1.36206096e-04, 3.51527056e-05,
 -5.57761376e-07, 8.84080839e-07,-1.21644221e+00,-4.55566871e-04,
  1.40851356e-05,-5.50603424e-04]


--- Step 614 ---
qpos:
[ 0.01204647,-0.00115199, 0.00246947, 0.04195353, 0.0045698 ,-0.00235059,
 -0.0182057 , 0.02845078, 0.01317331, 0.00445427,-0.01026273, 0.02642348,
  0.98506265,-0.00127487, 0.78463087, 0.06524168, 0.09350119,-0.07012335,
  0.13095005, 0.50378376, 0.49304412, 0.49599667, 0.50704707]

qacc:
[ -6.50417721,  1.04166637, -3.4268531 ,  3.64363085, -2.13524002,
  -0.41746988, -1.35845122,  8.57084592,  4.15217528, -2.47880954,
   9.82765443,-16.5926152 , -0.70427902,  0.6805749 , -5.98052848,
  15.85023613,  0.09361255,  1.03688443,  0.35402998,  1.73748667,
   0.37007364,-15.18564001]

qfrc_actuator:
[-6.43019789e-06, 7.03678935e-06, 2.95496112e-05, 7.47322497e-05,
 -2.37009295e-05,-4.02997365e-04,-3.15642491e-04, 1.13049392e-05,
  1.72033157e-05, 6.86415335e-05,-6.35913065e-05, 5.51518136e-05,
  3.34077859e-02,-1.11382789e-03, 1.66113728e-02,-3.64410747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003216914884628108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72560211e-13,  1.72560211e-13,  1.00000000e+00,  2.97770265e-26,
        1.00000000e+00, -1.72560211e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72560211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158288, -0.08817917,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80170524e-05, 4.69021122e-06,-1.73062959e-05,-9.63791977e-07,
 -1.26557277e-05,-6.77560799e-05,-5.43741323e-06, 1.76515817e-05,
  2.41586267e-05,-2.09782037e-05, 2.26568847e-05,-1.83276094e-05,
 -2.13463482e-04,-5.93001138e-05,-2.01033310e-04, 1.83503594e-05,
 -5.91174787e-07, 6.12902215e-07,-1.21644197e+00,-4.55550015e-04,
  1.33290217e-05,-5.50680076e-04]


--- Step 615 ---
qpos:
[ 0.01204529,-0.00115284, 0.00246932, 0.04195416, 0.00456919,-0.00235198,
 -0.01820668, 0.028451  , 0.01317422, 0.0044559 ,-0.01026263, 0.02642432,
  0.98580941,-0.00127438, 0.78527207, 0.0652387 , 0.09351548,-0.07012042,
  0.13095214, 0.50373075, 0.49307866, 0.49607034, 0.50699407]

qacc:
[-1.01291910e+01, 2.43866455e-02,-1.67796099e+00, 7.28448226e+00,
 -1.31713492e+00,-1.43509322e+00, 6.62817220e+00,-1.47822648e+01,
  5.51822696e+00, 1.03368605e+00,-3.35452657e+00, 1.54752109e+00,
  2.18178027e-01,-1.84446422e+00,-9.42514719e+00, 2.91744027e+01,
  9.53508448e-02, 1.02506259e+00, 2.24464842e-01, 1.70495601e+00,
  3.67535169e-01,-1.49784337e+01]

qfrc_actuator:
[-6.47245491e-05, 3.90298575e-06, 4.20532180e-05, 9.27471600e-05,
 -3.10935346e-05,-4.01551303e-04,-3.09345248e-04,-1.22634843e-05,
  4.88665695e-05, 3.36478575e-05,-1.05341076e-04, 4.36618105e-05,
  3.33369138e-02,-1.17109976e-03, 1.65746413e-02,-3.51506936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032046521507543557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33051300e-14,  1.73220520e-13,  1.00000000e+00, -7.50133715e-27,
        1.00000000e+00, -1.73220520e-13, -1.00000000e+00,  0.00000000e+00,
        4.33051300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158314, -0.08817937,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93708298e-05,-4.10936271e-06, 1.13215050e-05, 1.76017256e-05,
 -7.77775536e-06,-3.67629249e-05,-7.73299101e-06,-2.63129842e-05,
  3.23488260e-05,-4.28969930e-05,-4.39587586e-05,-1.19705349e-05,
 -2.19161786e-04,-1.09999850e-04,-1.27837509e-04, 1.04030556e-04,
 -5.48253274e-07, 3.97866021e-07,-1.21644186e+00,-4.55529888e-04,
  1.23874573e-05,-5.50709947e-04]


--- Step 616 ---
qpos:
[ 0.01204411,-0.00115359, 0.00246924, 0.04195499, 0.00456848,-0.0023532 ,
 -0.01820778, 0.02845054, 0.01317481, 0.00445779,-0.01026296, 0.02642461,
  0.9865548 ,-0.00127448, 0.7859128 , 0.06523573, 0.09353015,-0.07011342,
  0.13095469, 0.50369072, 0.49309983, 0.49616069, 0.50692483]

qacc:
[ 2.67398369e-04, 3.34570089e-01,-1.80634538e+00, 4.95883617e+00,
 -7.46117803e-01,-8.06629134e-01, 6.06508051e+00,-1.76902174e+01,
 -2.81302774e+00, 3.85356195e-01, 1.47473962e+00,-1.06332443e+01,
 -3.97183579e-01,-4.15866128e-01,-6.99712164e-01, 1.45556979e+00,
  9.68827574e-02, 1.01535346e+00, 1.16138382e-01, 1.68129597e+00,
  3.63530495e-01,-1.48092542e+01]

qfrc_actuator:
[-6.30322119e-05, 2.01762807e-05, 4.94927935e-05, 1.03099582e-04,
 -3.51916818e-05,-3.64460337e-04,-3.05195517e-04,-4.39559721e-05,
  3.16173459e-05, 8.31202300e-05,-1.12325682e-04, 1.87792601e-05,
  3.32569168e-02,-1.20510427e-03, 1.65828707e-02,-3.50882526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031723769028403626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158329, -0.08818014,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39782185e-09, 1.70823198e-05, 8.60805640e-06, 1.09142418e-05,
 -4.33141975e-06, 1.38671697e-05,-5.27913497e-06,-3.40424847e-05,
 -1.63374035e-05, 1.58428795e-05,-2.16967077e-05,-2.84817645e-05,
 -2.41810992e-04,-9.64300034e-05,-4.28917715e-05,-5.33247317e-06,
 -4.96613876e-07, 2.77908062e-07,-1.21644205e+00,-4.55523380e-04,
  1.13716562e-05,-5.50646594e-04]


--- Step 617 ---
qpos:
[ 0.01204365,-0.00115401, 0.00246919, 0.04195521, 0.00456774,-0.00235435,
 -0.01820886, 0.02845005, 0.01317485, 0.00445986,-0.01026285, 0.02642419,
  0.98729867,-0.00127443, 0.7865523 , 0.06523263, 0.09354522,-0.0701024 ,
  0.13095734, 0.50366357, 0.49310774, 0.49626754, 0.50683951]

qacc:
[  6.30996255, -0.86522218,  6.23224012,-16.85631078, -0.38320938,
  -0.04710548,  0.43473607, -1.04917811, -4.88196615, -2.41893059,
  11.93368723,-24.86640458, -1.19739468,  1.80299403, -1.38815876,
   2.34099967,  0.09826813,  1.00748032,  0.02583202,  1.66495198,
   0.35838647,-14.67251974]

qfrc_actuator:
[-2.60399741e-05, 4.79295525e-05, 5.39430904e-05, 7.33602965e-05,
 -3.73194013e-05,-3.59575325e-04,-3.02187308e-04,-4.46292974e-05,
  3.46819378e-06, 1.11895953e-04,-8.06235319e-05,-1.36822142e-05,
  3.31928100e-02,-1.18960285e-03, 1.65008577e-02,-3.52164590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000312453907116525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.88309443e-14,  1.77661889e-13,  1.00000000e+00, -1.57818733e-26,
        1.00000000e+00, -1.77661889e-13, -1.00000000e+00,  0.00000000e+00,
        8.88309443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158335, -0.08818135,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69997918e-05, 3.95814228e-05, 9.42565449e-06,-2.84969306e-05,
 -2.24479768e-06, 1.01469377e-05, 4.07279429e-06,-9.17814047e-07,
 -2.86000266e-05, 3.18638601e-05, 3.12991849e-05,-3.30908832e-05,
 -2.36808007e-04,-4.98732977e-05,-1.11501109e-04,-2.07834161e-05,
 -4.36834994e-07, 2.49195923e-07,-1.21644253e+00,-4.55529405e-04,
  1.02820538e-05,-5.50491114e-04]


--- Step 618 ---
qpos:
[ 0.01204364,-0.00115421, 0.00246893, 0.04195545, 0.00456697,-0.00235571,
 -0.01820919, 0.0284492 , 0.0131749 , 0.00446169,-0.01026219, 0.02642378,
  0.98804104,-0.00127368, 0.78718977, 0.06522886, 0.09356068,-0.07008737,
  0.1309598 , 0.50364919, 0.4931025 , 0.49639078, 0.50673821]

qacc:
[  3.91858219,  0.90203935, -2.88833349,  3.39191611, -0.14471718,
  -3.13506317, 12.28384474,-19.58617087,  0.08865892, -1.84011593,
   6.07444415, -6.6739237 , -1.69003407,  3.28396186, -0.85761257,
  -1.10290352,  0.09955242,  1.00120093, -0.04921263,  1.65466265,
   0.35235323,-14.56353314]

qfrc_actuator:
[-4.09173310e-06, 4.67947911e-05, 3.88693634e-05, 7.35391987e-05,
 -3.82717524e-05,-3.73983356e-04,-2.64464670e-04,-6.25723738e-05,
  4.64975211e-06, 7.49679246e-05,-6.19104547e-05,-1.48221244e-05,
  3.31383002e-02,-1.14491398e-03, 1.63754372e-02,-3.56352883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030648364384683324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52806800e-14,  1.81122720e-13,  1.00000000e+00,  8.20135993e-27,
        1.00000000e+00, -1.81122720e-13, -1.00000000e+00,  0.00000000e+00,
       -4.52806800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158335, -0.0881829 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30168119e-05, 2.17550669e-05,-6.71888894e-06, 1.64516666e-06,
 -1.01296649e-06,-7.87744152e-06, 4.03157050e-05,-1.73790005e-05,
  3.86813653e-07,-1.41475604e-05, 2.79818096e-05, 6.61832251e-07,
 -2.14793580e-04,-1.19143011e-05,-1.84819254e-04,-5.87421223e-05,
 -3.69290192e-07, 3.08677170e-07,-1.21644328e+00,-4.55547330e-04,
  9.11857249e-06,-5.50244410e-04]


--- Step 619 ---
qpos:
[ 0.0120432 ,-0.00115445, 0.00246861, 0.04195572, 0.0045662 ,-0.00235692,
 -0.0182092 , 0.02844847, 0.01317495, 0.00446362,-0.0102617 , 0.02642372,
  0.98878197,-0.00127238, 0.78782526, 0.06522587, 0.09357655,-0.07006835,
  0.13096181, 0.50364749, 0.49308418, 0.4965303 , 0.50662101]

qacc:
[ -3.74626748,  0.15871398, -0.74530574,  1.28022745, -0.04343948,
  -0.40106959,  1.23809832,  0.20336595,  0.11166929,  1.31997138,
  -5.94268273, 12.03468682, -1.44596111,  2.68950625, -5.15805529,
  14.01091191,  0.10076993,  0.99630382, -0.11136012,  1.64940237,
   0.34562147,-14.4783344 ]

qfrc_actuator:
[-2.66910472e-05, 2.83097319e-05, 3.00555915e-05, 7.35385401e-05,
 -3.85254845e-05,-3.46444166e-04,-2.42152116e-04,-5.50277828e-05,
  5.33588219e-06, 8.77297959e-05,-6.90280761e-05, 2.40640418e-06,
  3.30682988e-02,-1.11881811e-03, 1.63039741e-02,-3.51573753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002996328649899349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47369801e-14, -1.85263894e-13,  1.00000000e+00, -6.43550818e-27,
        1.00000000e+00,  1.85263894e-13, -1.00000000e+00,  0.00000000e+00,
       -3.47369801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915833 , -0.0881847 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19358572e-05,-7.61909607e-06,-5.08668563e-06, 7.30459451e-07,
 -2.86278387e-07, 3.07716900e-05, 2.50720560e-05, 8.26948592e-06,
  6.97410272e-07, 1.05861423e-05,-6.59865003e-06, 1.75986752e-05,
 -2.09015583e-04,-1.94485163e-05,-1.65129116e-04, 2.02428911e-05,
 -2.94199788e-07, 4.53918025e-07,-1.21644431e+00,-4.55576866e-04,
  7.88074878e-06,-5.49907218e-04]


--- Step 620 ---
qpos:
[ 0.01204249,-0.00115478, 0.00246879, 0.04195561, 0.00456509,-0.0023576 ,
 -0.01820971, 0.02844853, 0.01317502, 0.00446536,-0.01026116, 0.02642353,
  0.98952152,-0.00127073, 0.78845955, 0.06522458, 0.09358846,-0.07005685,
  0.13096345, 0.50363487, 0.49307485, 0.49662743, 0.50654744]

qacc:
[ -2.33147839, -2.29696246,  9.63621193,-16.96975112, -3.02284974,
   3.68979615,-15.50282448, 29.64313437,  0.07649592, -0.65755846,
   2.46872865, -4.43251618, -1.20227129,  2.04793811, -6.88995363,
  21.67552211, -0.98909241, -1.87909633, -0.09096893,-16.61124839,
   0.51741986, 26.43594479]

qfrc_actuator:
[-3.98191940e-05, 3.50971714e-05, 6.04360142e-05, 5.56641330e-05,
 -5.61186920e-05,-3.11782554e-04,-2.64446769e-04,-1.47735837e-05,
  5.71585098e-06, 5.90450454e-05,-7.33906385e-05,-5.18644026e-06,
  3.29997022e-02,-1.10400865e-03, 1.62915828e-02,-3.41531669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002929767032659924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01027927e-06,  1.01027984e-06,  1.00000000e+00,  1.02066477e-12,
        1.00000000e+00, -1.01027984e-06, -1.00000000e+00,  2.01948392e-28,
       -1.01027927e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10944316, -0.03538719,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37536381e-05, 1.51313962e-06, 2.82127665e-05,-1.83609341e-05,
 -1.75919909e-05, 5.74477021e-05,-1.25481048e-05, 4.26057822e-05,
  4.09621165e-07,-2.34489051e-05,-2.40782069e-06,-7.03027173e-06,
 -2.05233501e-04,-3.08884575e-05,-8.87485009e-05, 7.96787153e-05,
 -2.11669318e-07, 6.82973390e-07,-1.21644561e+00,-4.55617998e-04,
  6.56782830e-06,-5.49480130e-04]


--- Step 621 ---
qpos:
[ 0.01204301,-0.00115512, 0.00246929, 0.04195563, 0.00456378,-0.00235791,
 -0.01821069, 0.02844875, 0.01317509, 0.00446639,-0.01025986, 0.02642363,
  0.99025983,-0.00126918, 0.78909316, 0.06522014, 0.09359638,-0.07005296,
  0.13096376, 0.50361074, 0.49307479, 0.496682  , 0.50651798]

qacc:
[ 10.79932497, -0.64986649,  1.70846436,  0.13055839, -1.79260527,
   2.15198909, -7.60691536, 10.77688559,  0.07569226, -2.46511718,
   6.24940919, -2.13300735, -0.89814915,  1.10473849,  8.56609181,
 -31.34111766, -0.99796285, -1.90249277, -0.33441017,-16.56086835,
   0.66336155, 26.81930351]

qfrc_actuator:
[ 2.37574253e-05, 3.93548866e-05, 7.82915350e-05, 6.29662546e-05,
 -6.60242233e-05,-3.08778283e-04,-2.95082151e-04,-8.87541015e-06,
  5.91209986e-06, 5.74637386e-06,-4.07573937e-05, 8.15363018e-06,
  3.29319945e-02,-1.11374302e-03, 1.62347499e-02,-3.58636465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54142386, -0.17207707, -4.53816264, -0.17207707, 11.58623984,
       -0.2671238 , -4.53816264, -0.2671238 ,  4.55155261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002926045407167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.62142177e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.62142177e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990371, -0.03401881,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31863849e-05, 1.01525052e-05, 2.10108289e-05, 7.98698773e-06,
 -1.03885445e-05, 3.43873691e-05,-1.88263551e-05, 8.75836250e-06,
  2.06136421e-07,-6.72788009e-05, 2.72234276e-05, 1.21103457e-05,
 -2.03611518e-04,-5.68590726e-05,-9.50798276e-05,-1.79505080e-04,
 -2.66286959e-07, 3.85325910e-07,-1.21644255e+00,-4.56403064e-04,
  8.90639104e-06,-5.49312224e-04]


--- Step 622 ---
qpos:
[ 0.01204429,-0.00115558, 0.00246952, 0.04195579, 0.00456304,-0.00235823,
 -0.01821157, 0.0284487 , 0.01317482, 0.00446744,-0.01025846, 0.02642383,
  0.99099698,-0.00126829, 0.78972519, 0.06521572, 0.09360035,-0.07005655,
  0.13096211, 0.50357509, 0.49308388, 0.49669489, 0.50653194]

qacc:
[  6.65475521,  0.86798791, -3.94970912,  6.96377088,  5.09931053,
  -0.85588969,  4.13348705, -8.870624  , -3.02043745, -0.0550335 ,
  -0.19560625,  1.8385426 , -0.15315874, -0.85854356, -2.39316574,
   4.96357747, -0.9883255 , -1.86904136, -0.48908733,-16.19452112,
   0.75931883, 26.3981145 ]

qfrc_actuator:
[ 6.09582986e-05, 6.54165400e-06, 5.31065292e-05, 6.72596760e-05,
 -3.58151007e-05,-3.24828773e-04,-2.95030554e-04,-2.32691788e-05,
 -1.17541530e-05, 4.47966596e-05,-2.21431908e-05, 1.59548369e-05,
  3.28595321e-02,-1.15564852e-03, 1.61672257e-02,-3.57880560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55359799, -0.22375186, -4.54809738, -0.22375186, 26.10661226,
       -1.06033943, -4.54809738, -1.06033943,  4.6057633 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030395280750804277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82630822e-13, -2.28288528e-13,  1.00000000e+00,  4.16925217e-26,
        1.00000000e+00,  2.28288528e-13, -1.00000000e+00,  0.00000000e+00,
        1.82630822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990157, -0.03402018,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90013930e-05,-2.24270196e-05,-2.02288901e-05, 5.60765475e-06,
  2.99251954e-05,-3.15798943e-07, 5.15350123e-06,-1.33982108e-05,
 -1.76808874e-05, 7.51773488e-06, 8.46180762e-06, 6.09028136e-06,
 -2.13295023e-04,-9.26656162e-05,-1.38367020e-04,-1.63536762e-05,
 -1.92697260e-07, 2.19371359e-07,-1.21644073e+00,-4.57227142e-04,
  1.03848496e-05,-5.49374476e-04]


--- Step 623 ---
qpos:
[ 0.01204463,-0.00115624, 0.00246953, 0.04195567, 0.00456268,-0.00235863,
 -0.0182124 , 0.02844849, 0.01317469, 0.0044687 ,-0.01025748, 0.02642379,
  0.99173277,-0.00126757, 0.79035595, 0.06520935, 0.0936004 ,-0.0700675 ,
  0.13095799, 0.50352789, 0.49310199, 0.49666683, 0.50658875]

qacc:
[ -8.29245018, -0.21945979,  1.60929394, -6.05721858,  3.22594207,
  -0.57883117,  2.58500934, -5.37169613,  1.17413738,  0.96795878,
  -2.05598259, -1.54754715, -0.85119239,  0.89363127,  4.04627768,
 -16.78215392, -0.98004475, -1.84138614, -0.61927462,-15.89529743,
   0.83315126, 26.04892424]

qfrc_actuator:
[ 1.13018524e-05,-1.28924110e-05, 3.80610456e-05, 5.19320955e-05,
 -1.77451322e-05,-3.34322589e-04,-2.94707340e-04,-3.17262784e-05,
 -4.28632735e-06, 5.00373570e-05,-4.71105987e-05, 2.73876314e-06,
  3.27895800e-02,-1.16299938e-03, 1.61040433e-02,-3.67902790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55606033e+00, -1.37408336e-02,  4.55603961e+00, -1.37408336e-02,
        2.59784138e+01,  6.46089628e-02,  4.55603961e+00,  6.46089628e-02,
        4.55625519e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00030468563151329897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82191562e-13, -2.27739453e-13,  1.00000000e+00,  4.14922067e-26,
        1.00000000e+00,  2.27739453e-13, -1.00000000e+00,  0.00000000e+00,
        1.82191562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10990039, -0.03402016,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85529612e-05,-3.58906733e-05,-2.19760747e-05,-1.68808902e-05,
  1.89237953e-05,-9.14751108e-06, 4.42242772e-07,-8.55150628e-06,
  6.97232756e-06, 1.13914912e-05,-2.21903121e-05,-1.24878449e-05,
 -2.24546369e-04,-6.59031350e-05,-1.32555163e-04,-1.19859869e-04,
  1.38954346e-08, 1.87475877e-07,-1.21644016e+00,-4.58097807e-04,
  1.09803091e-05,-5.49669783e-04]


--- Step 624 ---
qpos:
[ 0.01204402,-0.00115668, 0.00246967, 0.04195562, 0.00456219,-0.00235888,
 -0.0182136 , 0.02844818, 0.01317533, 0.00446984,-0.01025694, 0.02642329,
  0.99246707,-0.00126635, 0.7909852 , 0.06520245, 0.09359655,-0.07008573,
  0.13095095, 0.50346914, 0.49312901, 0.49659839, 0.50668792]

qacc:
[ -8.28426309,  0.11814524, -0.28511852,  1.25813952, -1.11267811,
   1.00869301, -2.89526355,  1.65092804,  6.85766259,  0.11643771,
   1.27707395, -8.4247623 , -1.49674515,  2.70349489, -0.54921181,
  -1.13490325, -0.97301655, -1.81860908, -0.72879933,-15.65214596,
   0.88930432, 25.76155043]

qfrc_actuator:
[-3.58130865e-05, 4.68508362e-05, 6.46704458e-05, 6.07082344e-05,
 -2.47301688e-05,-3.22062175e-04,-3.11964679e-04,-3.66208371e-05,
  3.56730335e-05, 1.70526477e-05,-7.99789229e-05,-2.27841084e-05,
  3.27265194e-02,-1.13209736e-03, 1.60434945e-02,-3.69994032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55068261, -0.2745109 ,  4.54239541, -0.2745109 , 37.78084312,
        2.00820061,  4.54239541,  2.00820061,  4.67204434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003030819293031173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15777977e-14,  9.15777977e-14,  1.00000000e+00, -8.38649304e-27,
        1.00000000e+00, -9.15777977e-14, -1.00000000e+00,  0.00000000e+00,
        9.15777977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10989999, -0.03401901,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85050486e-05, 3.44166697e-05, 1.59147183e-05, 6.15326424e-06,
 -6.44810758e-06, 6.90128151e-06,-1.93740869e-05,-5.43527078e-06,
  4.01678174e-05,-3.17882101e-05,-3.37070485e-05,-2.60507535e-05,
 -2.19180658e-04,-2.57168395e-05,-1.39794453e-04,-4.57980543e-05,
  3.52861944e-07, 2.82185756e-07,-1.21644080e+00,-4.59030004e-04,
  1.07428215e-05,-5.50199509e-04]


--- Step 625 ---
qpos:
[ 0.01204354,-0.00115647, 0.00246963, 0.04195566, 0.00456196,-0.00235909,
 -0.0182147 , 0.0284478 , 0.01317645, 0.00447056,-0.01025613, 0.02642247,
  0.9932    ,-0.0012648 , 0.79161278, 0.06520185, 0.09359286,-0.07009946,
  0.13094727, 0.50342362, 0.49314338, 0.49654805, 0.50676848]

qacc:
[ 1.11863842e+00, 1.52871217e+00,-4.54558521e+00, 5.67037626e+00,
  2.32692474e+00,-3.76208540e-01, 1.71537308e+00,-3.16913290e+00,
  4.18805959e+00,-1.96603849e+00, 7.53875307e+00,-1.30985189e+01,
 -9.89864974e-01, 1.60322731e+00,-2.14164454e+01, 7.14978343e+01,
  3.71858122e-02, 1.12409689e+00, 8.40550951e-01, 2.75724254e+00,
 -1.13792270e-01,-1.56461276e+01]

qfrc_actuator:
[-2.77684298e-05, 1.00483352e-04, 6.27469822e-05, 6.59427699e-05,
 -1.08969504e-05,-3.14692599e-04,-3.03869697e-04,-3.93748591e-05,
  5.89225731e-05,-3.12144779e-06,-6.41447144e-05,-3.76217348e-05,
  3.26676545e-02,-1.11433575e-03, 1.60378522e-02,-3.35435508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56231165,   1.3862737 ,   4.34660015,   1.3862737 ,
        42.33436002, -12.04674812,   4.34660015, -12.04674812,
         8.4044157 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003065350232582392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01864453e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01864453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159293, -0.0881857 ,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67707513e-06, 7.64286218e-05, 7.36471330e-06, 7.38230784e-06,
  1.36527089e-05, 7.01566085e-06, 6.96379314e-06,-3.23021215e-06,
  2.43861709e-05,-4.60595210e-05, 4.19537220e-06,-1.78773447e-05,
 -2.03000999e-04,-3.12941937e-05,-7.93494484e-05, 3.24050067e-04,
  8.23787811e-07, 4.98683078e-07,-1.21644258e+00,-4.60034008e-04,
  9.71010067e-06,-5.50964151e-04]


--- Step 626 ---
qpos:
[ 0.0120442 ,-0.00115597, 0.00246969, 0.04195543, 0.0045619 ,-0.00235917,
 -0.01821547, 0.02844735, 0.01317749, 0.00447097,-0.01025516, 0.02642148,
  0.99393176,-0.00126361, 0.79223944, 0.06520499, 0.09358937,-0.0701088 ,
  0.13094612, 0.50339122, 0.49314503, 0.49651542, 0.50683104]

qacc:
[ 9.97040332e+00,-4.89409287e-01, 3.39514041e+00,-8.29583641e+00,
  1.47483213e+00,-8.61881739e-01, 3.58852329e+00,-5.25077783e+00,
 -6.46587799e-01,-1.20969728e+00, 4.43455815e+00,-7.46203141e+00,
 -3.20802549e-01,-2.67616009e-01,-1.26353368e+01, 4.22386205e+01,
  5.10684789e-02, 1.09617845e+00, 6.33517780e-01, 2.51630302e+00,
 -1.29296228e-02,-1.53747445e+01]

qfrc_actuator:
[ 3.04297605e-05, 9.66941850e-05, 6.17276923e-05, 5.12735934e-05,
 -2.66584169e-06,-2.92453302e-04,-2.80877407e-04,-4.08298531e-05,
  5.43878344e-05,-1.52723041e-05,-5.51355295e-05,-4.60103822e-05,
  3.26006981e-02,-1.14000917e-03, 1.60013123e-02,-3.16829816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58744132,  0.94627069,  4.48878487,  0.94627069, 18.97466801,
       -3.03293906,  4.48878487, -3.03293906,  5.22680842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031381440145336614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.95015602e-14, -1.76891663e-13,  1.00000000e+00,  1.76009964e-26,
        1.00000000e+00,  1.76891663e-13, -1.00000000e+00,  0.00000000e+00,
        9.95015602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915954 , -0.0881845 ,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84136215e-05, 4.07846843e-05, 1.59286590e-05,-1.09969093e-05,
  8.62284149e-06, 2.74887759e-05, 2.52031874e-05,-9.73010216e-07,
 -3.85440770e-06,-3.78291276e-05,-6.22887668e-07,-1.05676802e-05,
 -2.00931004e-04,-7.27430312e-05,-4.24431917e-05, 1.92623873e-04,
  5.68500779e-07, 2.24557247e-07,-1.21644146e+00,-4.59257908e-04,
  1.03254566e-05,-5.51180529e-04]


--- Step 627 ---
qpos:
[ 0.01204555,-0.00115561, 0.00247052, 0.04195538, 0.00456194,-0.0023588 ,
 -0.01821636, 0.02844654, 0.01317847, 0.0044713 ,-0.01025474, 0.02642007,
  0.99466225,-0.00126268, 0.79286525, 0.06520447, 0.09358612,-0.07011386,
  0.13094682, 0.50337181, 0.49313391, 0.49650014, 0.5068761 ]

qacc:
[  6.11393562, -1.9403515 ,  5.82721391, -3.6878374 ,  0.85648111,
   0.15548723,  1.8604672 , -8.38611636, -0.56433289,  0.55690503,
  -0.34682643, -6.02601961, -0.7735539 ,  0.69640003,  9.80459165,
 -36.0448568 ,  0.06188845,  1.07315773,  0.45938503,  2.32431484,
   0.06651   ,-15.14654771]

qfrc_actuator:
[ 6.44049531e-05, 7.62840695e-05, 9.65226509e-05, 6.04735468e-05,
  2.19576770e-06,-2.61409719e-04,-2.84723861e-04,-5.92424865e-05,
  5.12943098e-05,-2.25323186e-05,-8.57135425e-05,-6.82962809e-05,
  3.25289190e-02,-1.15567221e-03, 1.58929694e-02,-3.37970834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60020209,  0.866295  ,  4.51789688,  0.866295  , 29.3126379 ,
       -4.73854543,  4.51789688, -4.73854543,  5.50880588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031741987685361683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37206011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.37206011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915973 , -0.08818413,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56494385e-05, 5.21570870e-06, 4.47915296e-05, 1.12809789e-05,
  5.11618475e-06, 5.15951766e-05, 4.91293765e-06,-1.63789396e-05,
 -3.21368460e-06,-2.90176631e-05,-3.88471135e-05,-2.41347530e-05,
 -2.13122614e-04,-6.90712601e-05,-1.14307472e-04,-2.08001457e-04,
  3.43295342e-07, 4.14958314e-08,-1.21644067e+00,-4.58550544e-04,
  1.08020121e-05,-5.51312832e-04]


--- Step 628 ---
qpos:
[ 0.01204626,-0.00115515, 0.00247142, 0.04195581, 0.00456204,-0.00235835,
 -0.01821713, 0.02844555, 0.01317941, 0.00447131,-0.01025467, 0.02641946,
  0.9953914 ,-0.00126164, 0.79349007, 0.06519483, 0.09358316,-0.07011469,
  0.13094876, 0.50336529, 0.49310998, 0.49650194, 0.50690408]

qacc:
[-5.60369122e+00, 9.15542855e-01,-5.04358928e+00, 1.29944846e+01,
  5.13228095e-01,-5.86377918e-01, 3.00116211e+00,-6.37787335e+00,
 -3.96809370e-01, 2.19875922e+00,-1.18433701e+01, 2.64857464e+01,
 -1.38800912e+00, 2.21789706e+00, 2.61616381e+01,-9.34961210e+01,
  7.03161586e-02, 1.05425599e+00, 3.13221554e-01, 2.17134428e+00,
  1.29114483e-01,-1.49558435e+01]

qfrc_actuator:
[ 3.05765906e-05, 8.17372836e-05, 9.88631911e-05, 8.36522383e-05,
  5.03706147e-06,-2.78706632e-04,-2.86607824e-04,-6.97442959e-05,
  4.90830242e-05,-4.47289426e-05,-1.03902343e-04,-2.75930869e-05,
  3.24649477e-02,-1.14753208e-03, 1.57895026e-02,-3.85921011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60251769, -0.7551524 , -4.54014471, -0.7551524 , 25.95518404,
       -3.55154258, -4.54014471, -3.55154258,  5.19323805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031806781920348803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72630739e-14,  8.72630739e-14,  1.00000000e+00, -7.61484407e-27,
        1.00000000e+00, -8.72630739e-14, -1.00000000e+00,  0.00000000e+00,
        8.72630739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159874, -0.08818443,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28165887e-05, 1.80910185e-05, 9.30823883e-06, 2.51671874e-05,
  3.00571851e-06, 1.18683319e-05, 8.81928814e-06,-8.43669540e-06,
 -2.30893491e-06,-4.74939322e-05,-2.98072705e-05, 3.76476013e-05,
 -2.13465265e-04,-4.66995742e-05,-1.85416734e-04,-5.07272492e-04,
  1.42060173e-07,-5.23145818e-08,-1.21644020e+00,-4.57895841e-04,
  1.11563824e-05,-5.51359390e-04]


--- Step 629 ---
qpos:
[ 0.01204622,-0.00115428, 0.00247167, 0.04195618, 0.00456217,-0.00235817,
 -0.01821693, 0.02844477, 0.01317997, 0.00447068,-0.01025415, 0.02641968,
  0.99611926,-0.00126053, 0.7941132 , 0.065184  , 0.0935805 ,-0.07011137,
  0.13095147, 0.50337158, 0.49307325, 0.49652059, 0.50691531]

qacc:
[ -6.66930273,  2.23590353, -6.88028022,  6.49294185,  0.32885956,
  -2.64263694,  8.02711811, -5.74179387, -3.30628335, -0.39526526,
  -3.25893269, 17.20495087, -0.99645482,  1.42706414,  1.12886554,
  -7.45524686,  0.0768779 ,  1.0388233 ,  0.19082508,  2.04951004,
   0.17848984,-14.79773336]

qfrc_actuator:
[-7.37525544e-06, 1.02519411e-04, 6.43610960e-05, 7.93528089e-05,
  6.66727008e-06,-2.89308845e-04,-2.34237257e-04,-5.77865488e-05,
  2.96556001e-05,-7.56044940e-05,-7.91265910e-05, 1.43457391e-05,
  3.24057136e-02,-1.14312310e-03, 1.57742176e-02,-3.88903785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59642507, -0.61085795, -4.55565319, -0.61085795, 38.01338705,
       -4.48081009, -4.55565319, -4.48081009,  5.19724746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003163588771828568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63203383e-13,  2.63203383e-13,  1.00000000e+00, -6.92760210e-26,
        1.00000000e+00, -2.63203383e-13, -1.00000000e+00,  0.00000000e+00,
        2.63203383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09159983, -0.08818527,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88830140e-05, 3.38579777e-05,-2.87642113e-05,-2.71517718e-06,
  1.72008145e-06,-2.50925928e-06, 5.56224154e-05, 1.26101671e-05,
 -1.95099986e-05,-6.19755671e-05, 1.25980426e-05, 3.96063062e-05,
 -2.05269821e-04,-4.63856201e-05,-1.61094662e-04,-8.28999844e-05,
 -3.97534537e-08,-5.85714254e-08,-1.21644004e+00,-4.57281847e-04,
  1.14009512e-05,-5.51319140e-04]


--- Step 630 ---
qpos:
[ 0.01204606,-0.00115325, 0.00247161, 0.04195615, 0.00456232,-0.00235795,
 -0.01821617, 0.02844413, 0.01317994, 0.00446947,-0.01025272, 0.02641966,
  0.99684586,-0.00125962, 0.79473417, 0.0651804 , 0.09357817,-0.07010395,
  0.13095454, 0.50339059, 0.49302369, 0.49655591, 0.50691004]

qacc:
[-9.77080887e-01, 2.79777390e-01, 9.24859429e-01,-7.23399282e+00,
  1.77974167e-01,-1.23530450e+00, 3.87410270e+00,-2.36999362e+00,
 -5.08543439e+00,-3.76941758e+00, 1.33117767e+01,-1.83182109e+01,
 -3.33394073e-01,-1.46321235e-01,-2.50173534e+01, 8.29081340e+01,
  8.19864107e-02, 1.02631598e+00, 8.86050496e-02, 1.95255400e+00,
  2.17469661e-01,-1.46679902e+01]

qfrc_actuator:
[-1.19227843e-05, 9.66335238e-05, 4.39437761e-05, 5.89118382e-05,
  7.57232446e-06,-2.77833639e-04,-2.03482040e-04,-5.04256887e-05,
  2.50414185e-07,-9.34992311e-05,-2.92331833e-05, 3.42673270e-06,
  3.23387147e-02,-1.15872699e-03, 1.57480307e-02,-3.49358260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000312795246333486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43670036e-14, -1.77468014e-13,  1.00000000e+00,  7.87372402e-27,
        1.00000000e+00,  1.77468014e-13, -1.00000000e+00,  0.00000000e+00,
        4.43670036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160064, -0.08818653,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.64374018e-06, 6.94086239e-06,-1.70725941e-05,-2.00402022e-05,
  9.50472363e-07, 2.20947106e-05, 3.75220661e-05, 9.42415752e-06,
 -2.99846987e-05,-4.82410544e-05, 4.00158562e-05,-1.23675257e-05,
 -2.06874445e-04,-6.50521379e-05,-1.12619333e-04, 3.69395506e-04,
 -2.05528375e-07, 2.12027722e-08,-1.21644016e+00,-4.56699658e-04,
  1.15449292e-05,-5.51191413e-04]


--- Step 631 ---
qpos:
[ 0.01204689,-0.00115226, 0.00247167, 0.04195554, 0.00456214,-0.00235747,
 -0.01821566, 0.0284436 , 0.01317957, 0.00446838,-0.01025153, 0.0264195 ,
  0.99757116,-0.00125886, 0.7953533 , 0.06517702, 0.09357619,-0.07009246,
  0.13095762, 0.50342227, 0.49296131, 0.49660773, 0.50688848]

qacc:
[ 8.62659074e+00,-1.61319653e+00, 8.17607433e+00,-1.86237954e+01,
 -2.95164640e+00, 1.33631304e+00,-4.74652743e+00, 7.03009354e+00,
 -3.11450220e+00, 5.20339178e-01,-1.03384541e+00,-1.12315438e+00,
 -7.22145334e-01, 6.65340400e-01,-3.29467259e+00, 7.67449512e+00,
  8.59650415e-02, 1.01627839e+00, 3.48860666e-03, 1.87550293e+00,
  2.48279993e-01,-1.45629598e+01]

qfrc_actuator:
[ 3.87338044e-05, 9.26024800e-05, 4.96586877e-05, 2.91356518e-05,
 -9.70860069e-06,-2.71053944e-04,-2.21175269e-04,-4.58362998e-05,
 -1.70336827e-05,-6.78997569e-05,-3.59195572e-05,-2.98014647e-06,
  3.22670994e-02,-1.16832641e-03, 1.56035651e-02,-3.50774943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030779541811230826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50877011e-14,  9.01754022e-14,  1.00000000e+00,  4.06580158e-27,
        1.00000000e+00, -9.01754022e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50877011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160123, -0.08818811,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04967925e-05,-4.57261886e-06, 4.34171601e-06,-3.04614481e-05,
 -1.72480098e-05, 2.72741446e-05,-8.19145563e-06, 7.01718897e-06,
 -1.81563115e-05, 6.37514016e-06,-1.21516415e-05,-7.32953172e-06,
 -2.15282095e-04,-6.29977538e-05,-1.58441179e-04,-8.83783044e-06,
 -3.57778052e-07, 1.85683133e-07,-1.21644057e+00,-4.56142628e-04,
  1.15951412e-05,-5.50975792e-04]


--- Step 632 ---
qpos:
[ 0.01204798,-0.00115127, 0.00247145, 0.04195528, 0.0045621 ,-0.00235668,
 -0.01821544, 0.02844383, 0.01317899, 0.00446728,-0.01025042, 0.02641961,
  0.99829515,-0.00125822, 0.79597086, 0.06517375, 0.09357456,-0.07007694,
  0.13096043, 0.50346656, 0.49288608, 0.49667594, 0.50685081]

qacc:
[  2.23838731,  1.48550831, -6.82823864, 13.5109485 ,  1.20692422,
   2.69888328,-12.20332904, 25.34896818, -1.8017537 ,  0.81064287,
  -4.04874516,  8.93393166, -0.76966518,  0.79322343, -2.64704345,
   5.95693444,  0.0890669 ,  1.00832821, -0.06715612,  1.81440175,
   0.27266899,-14.47948145]

qfrc_actuator:
[ 5.04552770e-05, 8.98062005e-05, 3.52429991e-05, 4.73803617e-05,
 -2.04952758e-06,-2.49588301e-04,-2.31834988e-04,-7.44047274e-06,
 -2.70416347e-05,-6.99223408e-05,-4.02684159e-05, 1.10763463e-05,
  3.22034158e-02,-1.17429958e-03, 1.55426277e-02,-3.49726680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003017067981239685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74969966e-14, -3.67980779e-13,  1.00000000e+00,  2.11577896e-26,
        1.00000000e+00,  3.67980779e-13, -1.00000000e+00,  0.00000000e+00,
        5.74969966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160165, -0.08818994,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31544849e-05,-5.78174160e-06,-1.58931864e-05, 1.76028651e-05,
  7.17664563e-06, 3.52976863e-05,-5.80209712e-06, 3.94174790e-05,
 -1.05230583e-05,-1.26323788e-06,-4.78279745e-06, 1.37674082e-05,
 -2.13199196e-04,-6.03834153e-05,-1.37649185e-04,-1.10655049e-05,
 -4.98368094e-07, 4.33742771e-07,-1.21644126e+00,-4.55605791e-04,
  1.15566136e-05,-5.50672012e-04]


--- Step 633 ---
qpos:
[ 0.0120485 ,-0.00115048, 0.00247114, 0.0419556 , 0.00456214,-0.00235565,
 -0.01821588, 0.02844455, 0.01317829, 0.00446587,-0.01024921, 0.02641958,
  0.99901797,-0.00125797, 0.79658746, 0.06517504, 0.0935733 ,-0.07005741,
  0.13096273, 0.50352342, 0.49279802, 0.49676043, 0.50679715]

qacc:
[ -4.89675618,  1.23219   , -7.22025952, 17.57517322,  0.78211536,
   3.22033026,-13.08726027, 22.50754793, -1.00707729, -1.00050365,
   3.62154339, -6.18502298, -0.25168827, -0.43377838,-15.16431016,
  51.00401041,  0.0914899 ,  1.00214445, -0.12558361,  1.76610285,
   0.29200903,-14.41482166]

qfrc_actuator:
[ 2.13961292e-05, 6.99791356e-05, 2.68382720e-05, 7.59659618e-05,
  2.48050513e-06,-2.54956636e-04,-2.73661744e-04, 1.50591133e-05,
 -3.26911564e-05,-1.06200000e-04,-4.32672013e-05, 1.54674087e-06,
  3.21498638e-02,-1.19582724e-03, 1.55744569e-02,-3.24120286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029481651002018217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00058668e-13, -1.88290511e-13,  1.00000000e+00,  3.76691487e-26,
        1.00000000e+00,  1.88290511e-13, -1.00000000e+00,  0.00000000e+00,
        2.00058668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160193, -0.08819195,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86899028e-05,-2.56207431e-05,-1.09575862e-05, 2.81287242e-05,
  4.74565123e-06, 1.48316292e-05,-3.38993989e-05, 2.45755770e-05,
 -5.95164553e-06,-3.73609617e-05,-3.37298320e-06,-9.48124392e-06,
 -2.01005045e-04,-7.51836201e-05,-3.66557782e-05, 2.36812668e-04,
 -6.28681691e-07, 7.64439886e-07,-1.21644222e+00,-4.55085424e-04,
  1.14330127e-05,-5.50279901e-04]


--- Step 634 ---
qpos:
[ 0.01204937,-0.00115012, 0.00247114, 0.04195592, 0.0045619 ,-0.00235513,
 -0.01821645, 0.0284449 , 0.01317787, 0.00446445,-0.01024816, 0.02641941,
  0.99973948,-0.00125767, 0.79720349, 0.06517803, 0.09356815,-0.07004553,
  0.13096377, 0.50356954, 0.49271921, 0.49680162, 0.50678758]

qacc:
[  2.98534828, -1.46331806,  4.41119372, -4.68577295, -2.53997419,
  -1.09473866,  4.46150756,-10.2147142 ,  2.47948312,  0.12918471,
   0.06586912, -2.11067027, -0.90399577,  1.20129383, -5.93645606,
  19.66395702, -0.97196498, -1.91359436, -0.31758797,-16.94563034,
   0.28360148, 26.79184962]

qfrc_actuator:
[ 3.95898053e-05, 4.01378097e-05, 3.97383574e-05, 7.48863972e-05,
 -1.26280812e-05,-3.29752160e-04,-2.98175613e-04,-7.52894126e-06,
 -1.79802664e-05,-9.17147712e-05,-4.56106109e-05,-4.06568417e-06,
  3.20864488e-02,-1.19085182e-03, 1.55394540e-02,-3.16182396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000298404398346816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30132926e-14,  9.30132926e-14,  1.00000000e+00, -8.65147260e-27,
        1.00000000e+00, -9.30132926e-14, -1.00000000e+00,  0.00000000e+00,
        9.30132926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10988068, -0.03400968,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73655594e-05,-4.52641315e-05, 7.22592277e-06,-2.00948006e-06,
 -1.49677001e-05,-7.24828986e-05,-2.47845074e-05,-2.26502452e-05,
  1.45260599e-05,-7.47770264e-06,-1.08023970e-05,-7.51410005e-06,
 -2.05054080e-04,-4.91255362e-05,-3.33553901e-05, 8.60103371e-05,
 -7.49743115e-07, 1.17699761e-06,-1.21644344e+00,-4.54578737e-04,
  1.12269735e-05,-5.49799333e-04]


--- Step 635 ---
qpos:
[ 0.01205044,-0.00114996, 0.00247122, 0.04195621, 0.00456148,-0.00235541,
 -0.01821659, 0.02844498, 0.01317798, 0.00446314,-0.01024697, 0.02641948,
  1.00045956,-0.00125672, 0.79781852, 0.06517648, 0.09356251,-0.07004146,
  0.13096375, 0.50359129, 0.49266588, 0.49681024, 0.50680937]

qacc:
[  1.85939506, -0.56542643,  1.73391088, -2.19133773, -1.54168493,
  -2.81819622,  9.67652071,-14.51966863,  4.61514232,  0.26994505,
  -1.78211189,  5.69530409, -1.77725898,  3.41183397, 12.32342122,
 -45.0229232 , -0.12360944, -1.95182713, -0.26490744, -3.62489075,
  -0.88015803, 28.42540627]

qfrc_actuator:
[ 4.99577932e-05, 4.00977838e-05, 4.72900967e-05, 7.41146559e-05,
 -2.14216018e-05,-3.74526542e-04,-2.77080598e-04,-2.10037741e-05,
  8.59532588e-06,-6.46938462e-05,-2.95937781e-05, 1.04673413e-05,
  3.20224964e-02,-1.15251437e-03, 1.54164190e-02,-3.41821155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54885881,  4.12381755,  1.91995971,  4.12381755,  8.28944865,
       -8.03428839,  1.91995971, -8.03428839, 21.80543939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003025353321351354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74915373e-08, -4.58716267e-14,  1.00000000e+00, -2.17851407e-21,
        1.00000000e+00,  4.58716267e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74915373e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0960527 , -0.03268589,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08448150e-05,-2.39559094e-05,-9.84103150e-07,-2.50245474e-06,
 -9.24381227e-06,-9.14148434e-05, 2.28708853e-06,-1.78795505e-05,
  2.69829821e-05, 2.03292076e-05, 1.28853184e-05, 1.36930726e-05,
 -2.02794812e-04,-1.23099995e-05,-1.37754296e-04,-2.57993862e-04,
 -7.39564047e-07, 4.51828625e-07,-1.21644154e+00,-4.55304932e-04,
  1.19394594e-05,-5.49842760e-04]


--- Step 636 ---
qpos:
[ 0.01205129,-0.00114998, 0.00247167, 0.04195612, 0.00456061,-0.00235603,
 -0.01821666, 0.02844486, 0.01317807, 0.00446203,-0.0102462 , 0.02641976,
  1.00117842,-0.00125563, 0.79843184, 0.0651719 , 0.09355968,-0.07004522,
  0.1309617 , 0.50357666, 0.49265322, 0.49679769, 0.5068485 ]

qacc:
[ -1.99777468, -2.04242401,  8.56173464,-15.62120238, -3.91481691,
  -1.01703508,  3.83338016, -7.11767255, -0.25596643,  1.83678643,
  -7.02392653, 11.02412035, -1.06436563,  1.6490415 ,  6.69508546,
 -26.9680523 ,  0.70443052, -1.95810395, -0.50561433,  9.53226819,
  -2.32056533, 28.90225396]

qfrc_actuator:
[ 3.78694966e-05, 4.01345877e-05, 6.94910826e-05, 5.57994697e-05,
 -4.41739458e-05,-3.65293264e-04,-2.64627351e-04,-2.89557585e-05,
  6.42965139e-06,-6.57798038e-05,-5.60432200e-05, 1.90127156e-05,
  3.19636049e-02,-1.14803018e-03, 1.53311626e-02,-3.56870158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56048198,  3.81016004,  2.50612776,  3.81016004,  9.83830417,
       -8.02407104,  2.50612776, -8.02407104, 16.75977814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059953660866921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.07058691e-14,  4.53529345e-14,  1.00000000e+00, -4.11377734e-27,
        1.00000000e+00, -4.53529345e-14, -1.00000000e+00,  0.00000000e+00,
        9.07058691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229946, -0.03137055,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17886225e-05,-1.36768187e-05, 1.70398988e-05,-1.94261039e-05,
 -2.30472652e-05,-4.21710641e-05,-6.76060769e-06,-1.21372756e-05,
 -1.39595324e-06, 1.35737123e-05,-2.01890194e-05, 1.01279048e-05,
 -1.89915323e-04,-3.89957374e-05,-1.82663524e-04,-1.83844282e-04,
 -3.67017878e-07,-4.83734035e-08,-1.21644044e+00,-4.56223790e-04,
  1.14270758e-05,-5.49823980e-04]


--- Step 637 ---
qpos:
[ 0.01205164,-0.00115019, 0.00247208, 0.04195653, 0.00455947,-0.00235681,
 -0.0182167 , 0.02844497, 0.01317743, 0.00446141,-0.01024616, 0.02641977,
  1.00189597,-0.00125414, 0.79904369, 0.06516702, 0.0935596 ,-0.07005673,
  0.13095712, 0.50352597, 0.4926806 , 0.49676455, 0.50690473]

qacc:
[-4.35819079, 0.87874601,-5.60938506,14.47804107,-2.32886375, 0.17336372,
 -1.91611678, 5.99561948,-6.33686314, 2.16905009,-5.66597702, 1.9284708 ,
 -1.2916218 , 2.27420509,-1.19524031, 1.22065157, 0.68649069,-1.9366702 ,
 -0.63497072, 9.49494656,-2.16902343,28.457201  ]

qfrc_actuator:
[ 1.26629352e-05, 2.25160638e-05, 6.46576626e-05, 8.05804388e-05,
 -5.72088203e-05,-3.59307349e-04,-2.57165133e-04,-1.58085071e-05,
 -3.03916623e-05,-3.05979573e-05,-8.97231475e-05, 6.15724311e-06,
  3.18971304e-02,-1.12810689e-03, 1.53059539e-02,-3.56657634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56229915, -2.91327859,  3.51103708, -2.91327859, 13.32442397,
        7.27036203,  3.51103708,  7.27036203, 10.59487288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003065313408364412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.05472685e-14,  4.52736342e-14,  1.00000000e+00, -4.09940391e-27,
        1.00000000e+00, -4.52736342e-14, -1.00000000e+00,  0.00000000e+00,
        9.05472685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229803, -0.03137155,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55469783e-05,-2.25903441e-05,-6.23721782e-06, 2.44060229e-05,
 -1.37062140e-05,-1.94971902e-05,-2.49184137e-06, 1.08726273e-05,
 -3.68585258e-05, 3.90664890e-05,-3.30088546e-05,-1.27750063e-05,
 -1.95322408e-04,-2.50502747e-05,-1.32021129e-04,-3.21743634e-05,
  9.03230822e-08,-5.90579045e-08,-1.21644014e+00,-4.57142586e-04,
  1.09147308e-05,-5.49712236e-04]


--- Step 638 ---
qpos:
[ 0.01205168,-0.00115052, 0.00247214, 0.04195725, 0.00455853,-0.00235746,
 -0.01821657, 0.02844588, 0.01317671, 0.00446126,-0.01024631, 0.02641959,
  1.00261206,-0.00125203, 0.79965472, 0.06516267, 0.09356221,-0.07007591,
  0.13094956, 0.50343952, 0.49274748, 0.49671125, 0.50697782]

qacc:
[-2.68895259, 1.49095267,-6.8115578 ,12.7505281 , 1.73035092, 1.33568792,
 -7.86301736,21.2719066 ,-0.81942816, 0.7585687 ,-1.00110758,-2.32562039,
 -1.56824916, 2.94556583,-2.70940399, 7.93354385, 0.67201172,-1.91873786,
 -0.74380014, 9.46042983,-2.0481098 ,28.09351115]

qfrc_actuator:
[-2.30310563e-06, 1.21465508e-05, 4.38578194e-05, 9.49829421e-05,
 -4.66629303e-05,-3.19793745e-04,-2.34935790e-04, 2.74009428e-05,
 -3.40482647e-05, 8.21659889e-06,-9.17549374e-05,-1.40433527e-06,
  3.18208341e-02,-1.09924056e-03, 1.53061613e-02,-3.52766813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55627969, -3.05218323,  3.38287779, -3.05218323, 17.43808588,
       11.62254015,  3.38287779, 11.62254015, 15.04265383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003047507941105476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10763028e-14,  2.73228909e-13,  1.00000000e+00, -2.48846788e-26,
        1.00000000e+00, -2.73228909e-13, -1.00000000e+00,  0.00000000e+00,
        9.10763028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08229655, -0.03137112,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57013191e-05,-2.32530388e-05,-2.53925089e-05, 1.36935753e-05,
  1.01477770e-05, 2.85860986e-05, 1.82814139e-05, 4.25014445e-05,
 -4.69023175e-06, 5.33019797e-05, 1.53772190e-06,-7.27548819e-06,
 -2.04862051e-04,-1.53474768e-05,-6.84210075e-05, 1.91212396e-05,
  3.21019995e-07, 3.78847155e-07,-1.21644103e+00,-4.57895586e-04,
  1.10614845e-05,-5.49806422e-04]


--- Step 639 ---
qpos:
[ 0.01205086,-0.00115082, 0.00247188, 0.04195812, 0.00455772,-0.00235789,
 -0.01821593, 0.02844727, 0.01317663, 0.00446108,-0.01024574, 0.02641933,
  1.00332696,-0.00125016, 0.80026447, 0.06516147, 0.09356511,-0.0700907 ,
  0.13094549, 0.50336684, 0.49280059, 0.49667612, 0.50703278]

qacc:
[ -7.65564656,  1.26260202, -5.05127426,  8.07628726,  1.18220903,
  -0.15174502, -1.07737162,  8.38588249,  5.75789466, -2.26595807,
   8.37088058,-11.01835117, -0.46453688,  0.12923932,-11.41393707,
  37.21114581,  0.07349573,  1.09925704,  0.87371092,  2.24673219,
   0.17437599,-15.95752353]

qfrc_actuator:
[-4.66228969e-05, 2.38743218e-05, 3.15697034e-05, 1.03153705e-04,
 -4.00779277e-05,-2.95911278e-04,-2.04001679e-04, 5.24850930e-05,
 -3.91813957e-07,-4.22174630e-06,-5.72958728e-05,-5.75686623e-06,
  3.17546812e-02,-1.11863847e-03, 1.52630299e-02,-3.36087667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003056763118836625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24850749e-13,  1.81601089e-13,  1.00000000e+00,  2.26730320e-26,
        1.00000000e+00, -1.81601089e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24850749e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09160978, -0.08819023,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47733171e-05,-5.93004555e-06,-1.97427617e-05, 6.56218491e-06,
  6.88192642e-06, 4.54886762e-05, 4.05647980e-05, 2.77676163e-05,
  3.35413733e-05, 1.73779126e-05, 4.54102962e-05,-2.15557779e-06,
 -1.97989123e-04,-6.44112215e-05,-8.00038230e-05, 1.57303020e-04,
  3.37717131e-07, 1.25102420e-06,-1.21644306e+00,-4.58513401e-04,
  1.18491668e-05,-5.50099578e-04]


--- Step 640 ---
qpos:
[ 0.01204916,-0.00115108, 0.00247142, 0.04195906, 0.004557  ,-0.00235793,
 -0.01821521, 0.02844791, 0.01317662, 0.00446126,-0.01024571, 0.02641905,
  1.00404072,-0.00124853, 0.80087274, 0.06516201, 0.09356833,-0.07010118,
  0.13094407, 0.50330771, 0.49284009, 0.49665874, 0.50707011]

qacc:
[ -7.65076266,  0.75348396, -2.91537265,  4.52153492,  0.7421897 ,
  -1.26072666,  8.39820563,-21.6931125 ,  0.49396919,  1.97127128,
  -6.29094035,  6.69069455, -0.46611625,  0.13940602, -7.37059878,
  22.68625734,  0.07961773,  1.07680234,  0.66148141,  2.11381813,
   0.21429064,-15.62368248]

qfrc_actuator:
[-9.01153102e-05, 3.10168280e-05, 2.44996902e-05, 1.07621644e-04,
 -3.58846982e-05,-2.81533102e-04,-2.03750348e-04, 1.34364836e-05,
  1.68798154e-06, 6.16074179e-06,-9.05444454e-05,-8.20906320e-06,
  3.16999689e-02,-1.13088822e-03, 1.51779895e-02,-3.27997148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58664131, -0.85418963,  4.50639973, -0.85418963, 14.82770829,
        1.9411978 ,  4.50639973,  1.9411978 ,  4.95459602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031358637022665947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76594208e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.76594208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916111 , -0.08818815,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47666710e-05, 2.85261441e-08,-1.04920545e-05, 3.65990018e-06,
  4.40261109e-06, 4.93917972e-05, 1.55990838e-05,-3.51590244e-05,
  3.03703503e-06, 2.93999741e-05,-2.41456861e-05,-1.79886565e-07,
 -1.92539603e-04,-6.39133158e-05,-1.10259793e-04, 7.79842961e-05,
  2.16467243e-07, 8.24391597e-07,-1.21644184e+00,-4.58138291e-04,
  1.19340040e-05,-5.50409124e-04]


--- Step 641 ---
qpos:
[ 0.01204799,-0.00115148, 0.00247129, 0.041959  , 0.00455668,-0.00235772,
 -0.01821466, 0.02844778, 0.01317628, 0.00446182,-0.01024665, 0.02641843,
  1.00475332,-0.00124733, 0.80148007, 0.06516374, 0.09357189,-0.07010743,
  0.13094458, 0.50326192, 0.49286611, 0.49665877, 0.50709024]

qacc:
[  4.63847749, -3.15991211, 15.19846493,-32.91177069,  3.50473417,
  -0.79018507,  6.54671523,-19.88000416, -2.84941741,  2.51826085,
  -6.77395916,  2.05630641, -0.34655902, -0.24599443, -4.99183878,
  15.44121661,  0.08440617,  1.05804362,  0.48289503,  2.00810988,
   0.24484158,-15.34548567]

qfrc_actuator:
[-6.17528780e-05, 1.76291541e-05, 3.83040719e-05, 5.66194569e-05,
 -1.53790094e-05,-2.90885473e-04,-2.21699990e-04,-2.75574037e-05,
 -1.48459971e-05, 1.21043540e-05,-1.45684564e-04,-2.73148156e-05,
  3.16361825e-02,-1.15649015e-03, 1.51530784e-02,-3.21493023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60118429, -1.01593327,  4.48762481, -1.01593327, 21.95953847,
        3.92968   ,  4.48762481,  3.92968   ,  5.49080693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003176949448826516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31048240e-13,  8.73654934e-14,  1.00000000e+00, -1.14490942e-26,
        1.00000000e+00, -8.73654934e-14, -1.00000000e+00,  0.00000000e+00,
        1.31048240e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161209, -0.08818709,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70902403e-05,-1.53798074e-05, 1.26544763e-05,-5.12910570e-05,
  2.06493409e-05, 1.99754995e-05,-7.05239425e-06,-3.90248751e-05,
 -1.64359132e-05, 1.73838114e-05,-5.20494130e-05,-1.86847737e-05,
 -1.98458150e-04,-7.58493470e-05,-7.16363450e-05, 5.40883812e-05,
  1.16081060e-07, 5.03035154e-07,-1.21644097e+00,-4.57803175e-04,
  1.19081562e-05,-5.50624297e-04]


--- Step 642 ---
qpos:
[ 0.01204717,-0.00115219, 0.00247139, 0.04195871, 0.00455696,-0.00235785,
 -0.01821381, 0.02844754, 0.0131761 , 0.00446194,-0.01024681, 0.02641756,
  1.00546467,-0.00124638, 0.80208621, 0.06516822, 0.0935758 ,-0.07010951,
  0.13094643, 0.50322929, 0.49287878, 0.49667591, 0.50709351]

qacc:
[  3.07733759, -1.54844027,  5.92900813,-10.18150411,  5.21784234,
  -1.47993769,  5.07814533, -7.10017899,  1.35067151, -3.22800595,
  11.67406427,-16.71206643, -0.50811893,  0.15716489,-10.0426073 ,
  32.63039858,  0.08816723,  1.04246083,  0.33291849,  1.92428763,
   0.26806111,-15.11468642]

qfrc_actuator:
[-4.45838201e-05,-7.90805826e-06, 4.64474784e-05, 4.43945143e-05,
  1.45642334e-05,-3.32226684e-04,-2.14829474e-04,-3.38812351e-05,
 -6.68814474e-06,-2.02895922e-05,-1.06799011e-04,-3.83219613e-05,
  3.15669927e-02,-1.17208008e-03, 1.51109934e-02,-3.07079646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60492475, -1.2191818 ,  4.44059992, -1.2191818 , 39.74341825,
        9.64739282,  4.44059992,  9.64739282,  7.25364923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003187393278634293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35396156e-14,  1.74158462e-13,  1.00000000e+00, -7.58279250e-27,
        1.00000000e+00, -1.74158462e-13, -1.00000000e+00,  0.00000000e+00,
        4.35396156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161282, -0.08818685,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79374464e-05,-3.36917152e-05, 4.75697611e-06,-1.34439770e-05,
  3.05411277e-05,-3.33064201e-05, 8.76810957e-06,-6.47353443e-06,
  7.70052123e-06,-3.42397376e-05, 3.54250202e-05,-1.24239127e-05,
 -2.09813103e-04,-6.92409656e-05,-7.58473613e-05, 1.36315166e-04,
  3.29254017e-08, 2.81464096e-07,-1.21644043e+00,-4.57499853e-04,
  1.17811624e-05,-5.50745988e-04]


--- Step 643 ---
qpos:
[ 0.01204587,-0.00115301, 0.00247153, 0.04195791, 0.00455724,-0.00235832,
 -0.01821283, 0.02844724, 0.01317636, 0.00446177,-0.01024682, 0.02641695,
  1.00617476,-0.00124564, 0.80269107, 0.06517345, 0.09358007,-0.07010747,
  0.1309491 , 0.50320968, 0.49287821, 0.49670994, 0.50708019]

qacc:
[ -4.19419464, -1.29150235,  6.53628723,-15.23605553,  0.11602962,
  -0.95791982,  2.98544238, -3.94970445,  3.91724713, -0.33994342,
  -0.40202673,  4.61149292, -0.64604343,  0.48963066, -4.09890735,
  11.66210479,  0.09113963,  1.02960774,  0.20726281,  1.85810762,
   0.28554045,-14.92436418]

qfrc_actuator:
[-6.96689417e-05,-5.01091330e-06, 5.11549550e-05, 1.95678633e-05,
  1.43117289e-05,-3.56788292e-04,-2.11222854e-04,-3.75177374e-05,
  1.59431796e-05,-3.95125533e-05,-1.01615503e-04,-2.66856968e-05,
  3.15052642e-02,-1.18165501e-03, 1.50320309e-02,-3.04101869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031733793033457414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37318911e-14,  2.62391347e-13,  1.00000000e+00, -1.14748698e-26,
        1.00000000e+00, -2.62391347e-13, -1.00000000e+00,  0.00000000e+00,
        4.37318911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161334, -0.08818725,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45839978e-05,-1.55027738e-05,-2.12325898e-06,-2.63657406e-05,
  6.06945246e-07,-4.16471491e-05,-2.42604887e-06,-4.88881765e-06,
  2.28372924e-05,-3.15833790e-05, 2.04629543e-06, 1.11545613e-05,
 -2.07945238e-04,-6.46506358e-05,-1.04988344e-04, 2.61211043e-05,
 -3.56881713e-08, 1.55241649e-07,-1.21644020e+00,-4.57222272e-04,
  1.15600232e-05,-5.50775033e-04]


--- Step 644 ---
qpos:
[ 0.01204532,-0.0011537 , 0.00247163, 0.04195645, 0.00455718,-0.00235894,
 -0.0182119 , 0.02844689, 0.01317654, 0.00446172,-0.01024724, 0.0264168 ,
  1.00688341,-0.00124415, 0.80329488, 0.0651737 , 0.09358472,-0.07010135,
  0.13095218, 0.50320297, 0.49286448, 0.49676066, 0.50705051]

qacc:
[  6.53717055, -1.08599378,  6.86320751,-18.26735117, -3.06684176,
  -0.18643508,  0.62722632, -1.42501345, -0.68339218,  2.29244205,
  -9.92218565, 18.68023777, -1.89856592,  3.70241295, 13.57124075,
 -49.46664524,  0.09350915,  1.01910081,  0.10226299,  1.80617941,
   0.29852455,-14.7686882 ]

qfrc_actuator:
[-3.06565419e-05, 1.48688141e-05, 5.38949950e-05,-1.24603270e-05,
 -3.71412128e-06,-3.53371262e-04,-2.09529945e-04,-3.95460118e-05,
  1.13992581e-05,-1.52936158e-05,-1.16349113e-04,-1.85109095e-06,
  3.14480577e-02,-1.13432344e-03, 1.49363185e-02,-3.30972933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003140080193859557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32586943e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32586943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161371, -0.08818818,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83113675e-05, 9.66746399e-06,-1.62400992e-06,-3.32744847e-05,
 -1.80227707e-05,-2.05759465e-05,-7.38272498e-06,-3.99265344e-06,
 -3.90733214e-06, 7.47463062e-06,-2.06166892e-05, 2.37698982e-05,
 -2.01684470e-04,-6.40465889e-06,-1.46429437e-04,-2.82033578e-04,
 -9.17448425e-08, 1.20794852e-07,-1.21644026e+00,-4.56965970e-04,
  1.12498306e-05,-5.50712190e-04]


--- Step 645 ---
qpos:
[ 0.01204662,-0.00115436, 0.00247145, 0.04195534, 0.0045569 ,-0.00235988,
 -0.01821062, 0.02844686, 0.01317667, 0.00446168,-0.01024728, 0.02641727,
  1.00759051,-0.00124148, 0.80389651, 0.06517278, 0.09358975,-0.07009119,
  0.13095532, 0.50320906, 0.49283766, 0.49682791, 0.50700464]

qacc:
[ 1.62624450e+01, 1.49030812e+00,-6.76475777e+00, 1.32155006e+01,
 -1.87219972e+00,-7.03548604e-01, 5.54555212e-01, 4.66060126e+00,
 -4.77507189e-01, 1.65070892e-01,-3.14945906e+00, 1.30125331e+01,
 -2.17903530e+00, 4.58536576e+00, 4.48405175e-01,-5.92438434e+00,
  9.54200584e-02, 1.01061026e+00, 1.47817704e-02, 1.76579049e+00,
  3.07986630e-01,-1.46427313e+01]

qfrc_actuator:
[ 6.35361058e-05, 9.24956580e-06, 3.77743241e-05, 4.80672721e-06,
 -1.42940611e-05,-3.68736734e-04,-1.91111181e-04,-2.28362473e-05,
  8.64519671e-06,-8.23491157e-07,-8.92710224e-05, 3.05751696e-05,
  3.13776491e-02,-1.07145894e-03, 1.48359073e-02,-3.36155707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003091808614661129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12214156e-14,  1.79542650e-13,  1.00000000e+00, -2.01472270e-27,
        1.00000000e+00, -1.79542650e-13, -1.00000000e+00,  0.00000000e+00,
        1.12214156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161394, -0.0881895 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.52897909e-05,-1.93178634e-06,-1.54657959e-05, 1.69804361e-05,
 -1.11007392e-05,-2.85614295e-05, 1.31189845e-05, 1.54956548e-05,
 -2.86321615e-06, 1.54159723e-05, 2.69112062e-05, 3.24973750e-05,
 -1.99363538e-04, 2.04560978e-05,-2.04074891e-04,-8.75439597e-05,
 -1.36705279e-07, 1.75256334e-07,-1.21644061e+00,-4.56727677e-04,
  1.08542349e-05,-5.50558116e-04]


--- Step 646 ---
qpos:
[ 0.012048  ,-0.00115521, 0.00247171, 0.04195477, 0.0045565 ,-0.00236099,
 -0.01820947, 0.02844738, 0.01317711, 0.00446104,-0.01024639, 0.02641781,
  1.00829636,-0.00123888, 0.80449605, 0.06517507, 0.09359517,-0.07007702,
  0.13095823, 0.50322787, 0.49279782, 0.49691157, 0.50694271]

qacc:
[  0.75904103, -0.34926894, -1.38313952, 10.15342329, -1.09520626,
   1.28673769, -7.25588668, 17.23233698,  2.7787684 , -3.18238032,
   9.88553698, -9.56427612, -0.6269438 ,  0.57162838,-12.75280611,
  40.19731847,  0.09698416,  1.00385256, -0.05786872,  1.73476777,
   0.3146868 ,-14.54232102]

qfrc_actuator:
[ 6.51634865e-05, 6.12402440e-06, 6.38428178e-05, 3.31570633e-05,
 -2.04010193e-05,-3.77388288e-04,-1.98524514e-04, 4.76372502e-06,
  2.47277941e-05,-6.31316432e-05,-5.54896208e-05, 3.17301012e-05,
  3.12993801e-02,-1.08877083e-03, 1.47914001e-02,-3.17855313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003032146748653264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48748771e-13, -1.83075411e-13,  1.00000000e+00,  2.72322425e-26,
        1.00000000e+00,  1.83075411e-13, -1.00000000e+00,  0.00000000e+00,
        1.48748771e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161408, -0.08819113,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34004528e-06,-6.61527163e-06, 2.43593078e-05, 2.80631306e-05,
 -6.43473894e-06,-2.12337605e-05,-1.11639891e-05, 2.71312575e-05,
  1.60041008e-05,-4.67355111e-05, 4.14050596e-05, 3.37846878e-06,
 -2.00169574e-04,-5.47264669e-05,-1.49092696e-04, 1.51641921e-04,
 -1.71638297e-07, 3.16332512e-07,-1.21644124e+00,-4.56505007e-04,
  1.03757934e-05,-5.50313372e-04]


--- Step 647 ---
qpos:
[ 0.01204905,-0.00115613, 0.00247226, 0.04195454, 0.00455637,-0.00236191,
 -0.01820858, 0.0284482 , 0.01317739, 0.00445987,-0.01024502, 0.02641838,
  1.00900105,-0.00123673, 0.80509489, 0.06517764, 0.09359667,-0.07007041,
  0.13095952, 0.50323545, 0.4927672 , 0.49695278, 0.50692455]

qacc:
[ -2.93589469, -0.22747289, -0.76596867,  6.22380343,  2.39487355,
   1.54405927, -6.38679073, 11.6902196 , -1.34498841, -1.99619555,
   5.94153191, -5.72601743, -0.38832102, -0.20576014, -1.84669874,
   4.98453129, -0.97946221, -1.89302659, -0.40462171,-16.54234531,
   0.55470965, 26.61016941]

qfrc_actuator:
[ 4.77835052e-05, 4.69672435e-06, 7.91195017e-05, 5.00728445e-05,
 -6.07597006e-06,-3.46533458e-04,-2.03355245e-04, 2.07787699e-05,
  1.62623549e-05,-9.99120191e-05,-3.61242676e-05, 3.21604724e-05,
  3.12324006e-02,-1.11791284e-03, 1.47858319e-02,-3.16035913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002976169883272539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.73037517e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.73037517e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10986043, -0.03399972,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72584495e-05, 1.13335987e-06, 1.78878611e-05, 1.80235711e-05,
  1.41334146e-05, 1.78609969e-05,-9.65447119e-06, 1.52457944e-05,
 -8.02985491e-06,-5.41992619e-05, 1.49240257e-05,-7.63904632e-08,
 -2.04561386e-04,-7.95947282e-05,-5.95557875e-05, 6.91287854e-06,
 -1.97319580e-07, 5.42193701e-07,-1.21644214e+00,-4.56296245e-04,
  9.81623041e-06,-5.49978421e-04]


--- Step 648 ---
qpos:
[ 0.01205057,-0.0011573 , 0.00247285, 0.0419542 , 0.00455641,-0.00236242,
 -0.01820787, 0.02844882, 0.01317722, 0.00445904,-0.01024435, 0.02641892,
  1.00970461,-0.00123525, 0.80569257, 0.06517785, 0.09359428,-0.07007126,
  0.13095862, 0.50323172, 0.49274569, 0.49695241, 0.50694952]

qacc:
[  4.16807393, -0.61396486,  2.1363905 , -3.73107539,  1.49853734,
   0.64386523, -0.70415835, -2.65426592, -3.97942936,  2.32194269,
  -7.48006272,  7.77833801, -0.24265677, -0.64060129,  5.40079939,
 -21.41889085, -0.97331995, -1.86127872, -0.54753868,-16.17960873,
   0.66831174, 26.22554704]

qfrc_actuator:
[ 7.26429824e-05,-3.12474820e-05, 7.01329989e-05, 4.23586616e-05,
  2.40624889e-06,-3.10010184e-04,-2.06458890e-04, 1.21346515e-05,
 -6.58945194e-06,-5.01775003e-05,-6.08493686e-05, 3.21680888e-05,
  3.11722338e-02,-1.15373764e-03, 1.46917350e-02,-3.29265546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5411851 , -0.38744481, -4.5246269 , -0.38744481, 42.44381519,
       -3.24561068, -4.5246269 , -3.24561068,  4.81910747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002201935266846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24507285e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.24507285e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985825, -0.03400047,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43698127e-05,-3.08251604e-05,-5.92124009e-06,-6.69403291e-06,
  8.89134982e-06, 4.51963797e-05,-7.82113359e-08,-7.91838442e-06,
 -2.31016600e-05, 2.25286981e-05,-3.40880631e-05,-1.80149212e-06,
 -2.05271693e-04,-9.16332024e-05,-1.28375979e-04,-1.41381434e-04,
 -1.79223191e-07, 1.76246384e-07,-1.21644047e+00,-4.56903088e-04,
  1.08376574e-05,-5.50007521e-04]


--- Step 649 ---
qpos:
[ 0.01205134,-0.00115883, 0.00247368, 0.04195378, 0.00455655,-0.00236245,
 -0.01820751, 0.02844865, 0.01317679, 0.00445834,-0.01024369, 0.02641979,
  1.01040689,-0.00123389, 0.80628865, 0.06517843, 0.09358802,-0.07007944,
  0.13095505, 0.50321662, 0.49273318, 0.49691117, 0.5070171 ]

qacc:
[-6.56587441e+00,-1.35577302e+00, 4.53244810e+00,-6.22671021e+00,
  8.68836134e-01,-4.92263854e-03, 4.32686014e+00,-1.79362527e+01,
 -2.40169253e+00, 9.03908623e-01,-4.33013765e+00, 9.83772871e+00,
 -7.29755412e-01, 6.93271532e-01,-3.45746083e+00, 8.75684099e+00,
 -9.67952575e-01,-1.83506887e+00,-6.67773377e-01,-1.58851335e+01,
  7.54875634e-01, 2.59066659e+01]

qfrc_actuator:
[ 3.34080440e-05,-5.22023828e-05, 8.22436065e-05, 3.79239315e-05,
  7.37502856e-06,-2.88133468e-04,-2.26248499e-04,-2.86894152e-05,
 -1.99647415e-05,-3.79619553e-05,-5.77898110e-05, 4.97265243e-05,
  3.11108657e-02,-1.15767931e-03, 1.46351269e-02,-3.26418166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54096757,  0.17369155,  4.53764452,  0.17369155, 25.03229491,
       -0.78436517,  4.53764452, -0.78436517,  4.57099143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003001542021319886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.77413164e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.77413164e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10985704, -0.03399997,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85487163e-05,-3.96625352e-05, 4.78750176e-06,-6.08977873e-06,
  5.23850357e-06, 4.68070062e-05,-1.07418227e-05,-3.90461773e-05,
 -1.40241572e-05, 1.77075036e-05, 3.45344108e-06, 1.73094024e-05,
 -2.10317720e-04,-6.15070699e-05,-1.36102163e-04, 2.95832502e-06,
 -3.23001159e-08,-5.50931504e-08,-1.21644004e+00,-4.57541239e-04,
  1.09901124e-05,-5.50266575e-04]


--- Step 650 ---
qpos:
[ 0.01205095,-0.00116026, 0.00247418, 0.04195329, 0.0045571 ,-0.00236237,
 -0.018207  , 0.02844834, 0.0131755 , 0.00445746,-0.01024232, 0.02642084,
  1.01110794,-0.00123289, 0.80688381, 0.06518081, 0.09358197,-0.07008329,
  0.13095358, 0.5032146 , 0.49270787, 0.49688743, 0.50706696]

qacc:
[-1.02601737e+01, 9.52352212e-01,-2.87266439e+00, 2.09916216e+00,
  3.54139467e+00,-5.76493313e-01, 2.78433641e+00,-5.31910942e+00,
 -7.42670574e+00,-1.83385687e+00, 5.43249134e+00,-3.19679218e+00,
 -4.49346757e-01,-2.02535184e-02,-6.76108645e+00, 2.17134309e+01,
  5.54719146e-02, 1.08292622e+00, 5.23301688e-01, 2.40401823e+00,
  3.52206908e-02,-1.52610986e+01]

qfrc_actuator:
[-2.54979061e-05,-2.84395193e-05, 7.12721168e-05, 3.54852115e-05,
  2.79904223e-05,-2.93044476e-04,-2.20299268e-04,-3.48815265e-05,
 -6.31562192e-05,-4.81802116e-05,-2.06960226e-05, 5.97223066e-05,
  3.10488324e-02,-1.17825894e-03, 1.46383728e-02,-3.15879427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5411469 ,   1.35782267,   4.33339737,   1.35782267,
        40.68250147, -11.32449819,   4.33339737, -11.32449819,
         8.08955456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003002086065667653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77839355e-14, -1.84908594e-13,  1.00000000e+00,  1.06847462e-26,
        1.00000000e+00,  1.84908594e-13, -1.00000000e+00,  0.00000000e+00,
        5.77839355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09161862, -0.08819328,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00123431e-05, 2.34205090e-06,-1.87754292e-05,-4.08689031e-06,
  2.07832124e-05, 1.73701984e-05, 1.29394170e-05,-5.31833352e-06,
 -4.35859946e-05, 1.14860494e-06, 4.17745432e-05, 1.12096629e-05,
 -2.07498184e-04,-7.43479746e-05,-6.27656028e-05, 8.71579835e-05,
  2.44231549e-07,-1.59206133e-07,-1.21644080e+00,-4.58229321e-04,
  1.03203991e-05,-5.50757689e-04]


--- Step 651 ---
qpos:
[ 0.01205054,-0.00116139, 0.00247441, 0.04195274, 0.00455789,-0.00236243,
 -0.01820633, 0.02844869, 0.01317371, 0.00445683,-0.01024117, 0.02642168,
  1.01180789,-0.00123273, 0.80747825, 0.06518143, 0.09357619,-0.07008289,
  0.13095358, 0.50322554, 0.49266974, 0.49688091, 0.50709955]

qacc:
[ -0.13219338,  1.04043256, -2.89860767,  2.14435069,  2.1383516 ,
   0.7096949 , -5.55017156, 16.66368687, -4.4816122 ,  0.514412  ,
  -0.43483951, -3.19980578, -0.04936918, -1.16905101,  4.21097666,
 -16.32409577,  0.06482283,  1.06296909,  0.36885927,  2.23193117,
   0.1070705 ,-15.06037661]

qfrc_actuator:
[-2.44790592e-05, 4.08086690e-06, 6.46913536e-05, 3.42600378e-05,
  3.98983083e-05,-3.13837940e-04,-2.17031042e-04,-2.89275466e-06,
 -8.80488005e-05,-3.61054647e-05,-3.49270169e-05, 4.74310881e-05,
  3.09864408e-02,-1.22630329e-03, 1.45816638e-02,-3.25736387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54970382, -0.73187787, -4.49045205, -0.73187787, 22.64476187,
       -2.94922924, -4.49045205, -2.94922924,  5.03038496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030278875444511577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26041393e-13, -1.83332936e-13,  1.00000000e+00, -2.31075386e-26,
        1.00000000e+00,  1.83332936e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26041393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162028, -0.0881931 ,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82605802e-07, 2.98040071e-05,-8.53600413e-06,-1.84825407e-06,
  1.25064704e-05,-8.63633039e-06, 8.25884337e-06, 3.30758776e-05,
 -2.61338375e-05, 2.18204771e-05,-8.46817724e-06,-1.05803046e-05,
 -2.08044037e-04,-1.03744072e-04,-8.29706504e-05,-1.03459308e-04,
  3.27123765e-08,-1.92168986e-07,-1.21644037e+00,-4.57565308e-04,
  1.08735161e-05,-5.50769686e-04]


--- Step 652 ---
qpos:
[ 0.01205015,-0.00116192, 0.00247435, 0.04195249, 0.00455813,-0.00236273,
 -0.01820583, 0.0284498 , 0.01317266, 0.00445634,-0.01024076, 0.02642275,
  1.01250649,-0.00123254, 0.80807129, 0.06517963, 0.0935707 ,-0.0700783 ,
  0.13095453, 0.50324935, 0.49261874, 0.49689134, 0.50711523]

qacc:
[  0.10956516,  2.18870027, -7.9071879 , 13.04416228, -4.84698631,
   1.73025768, -9.85002729, 23.49692674,  6.57613649,  2.72180272,
 -10.42535603, 15.60054994, -1.04604416,  1.41882489,  5.31696089,
 -21.47625594,  0.07206741,  1.04664518,  0.23928754,  2.09439182,
   0.16407376,-14.89364367]

qfrc_actuator:
[-2.36967989e-05, 5.93700773e-05, 6.08148747e-05, 5.15299734e-05,
  1.10755523e-05,-3.43959726e-04,-2.33186368e-04, 3.35247015e-05,
 -4.87043045e-05,-4.64998367e-05,-7.92895061e-05, 5.76072246e-05,
  3.09238666e-02,-1.21918345e-03, 1.44889968e-02,-3.38671378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54967146, -0.60609349, -4.50911976, -0.60609349, 33.2436156 ,
       -3.85689751, -4.50911976, -3.85689751,  5.06809647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030277905427227025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94797485e-13, -1.83338809e-13,  1.00000000e+00,  3.57139389e-26,
        1.00000000e+00,  1.83338809e-13, -1.00000000e+00,  0.00000000e+00,
        1.94797485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162154, -0.0881935 ,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.77115271e-07, 7.01538832e-05, 1.17680403e-06, 1.82188242e-05,
 -2.84707447e-05,-3.18299850e-05,-1.57858601e-05, 3.69741520e-05,
  3.86096987e-05,-4.01787353e-07,-4.12728680e-05, 1.06100692e-05,
 -2.15342879e-04,-5.33646142e-05,-1.49193796e-04,-1.47409468e-04,
 -1.59072478e-07,-1.38111398e-07,-1.21644026e+00,-4.56943664e-04,
  1.13115518e-05,-5.50695754e-04]


--- Step 653 ---
qpos:
[ 0.01204977,-0.00116194, 0.00247453, 0.04195242, 0.00455768,-0.00236316,
 -0.01820556, 0.02845132, 0.0131721 , 0.00445609,-0.01024122, 0.02642394,
  1.01320368,-0.00123199, 0.80866267, 0.06517855, 0.09356551,-0.07006958,
  0.13095601, 0.50328597, 0.49255487, 0.49691854, 0.50711429]

qacc:
[  0.10803948,  0.40791285, -1.2602088 ,  3.70860363, -6.0720378 ,
   1.35780286, -6.80481976, 14.43856829,  4.18656882,  2.97307092,
 -10.6644447 , 13.90204703, -1.27202184,  2.13001555, -4.54875037,
  12.51219919,  0.07766969,  1.03338427,  0.13083112,  1.98442278,
   0.20941442,-14.75647931]

qfrc_actuator:
[-2.30792054e-05, 9.23970884e-05, 7.64324623e-05, 6.18144574e-05,
 -2.37341708e-05,-3.44009564e-04,-2.42977671e-04, 5.44736673e-05,
 -2.51304877e-05,-3.48860587e-05,-1.23387634e-04, 6.31419216e-05,
  3.08612456e-02,-1.19724528e-03, 1.44387513e-02,-3.33787774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54280509, -0.44192697, -4.52125852, -0.44192697, 47.33339973,
       -4.18253405, -4.52125852, -4.18253405,  4.95162369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030071101727011107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42287052e-13, -3.69199318e-13,  1.00000000e+00,  8.94522145e-26,
        1.00000000e+00,  3.69199318e-13, -1.00000000e+00,  0.00000000e+00,
        2.42287052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916225 , -0.08819438,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65167773e-07, 7.33030042e-05, 3.08916684e-05, 1.36872761e-05,
 -3.56338373e-05,-1.95323459e-05,-1.70346981e-05, 1.97565152e-05,
  2.46709634e-05, 3.33868433e-06,-4.89018996e-05, 4.29183208e-06,
 -2.09787380e-04,-3.14556738e-05,-1.39135184e-04, 2.05216908e-05,
 -3.34730636e-07, 1.66775975e-09,-1.21644044e+00,-4.56354593e-04,
  1.16450748e-05,-5.50534895e-04]


--- Step 654 ---
qpos:
[ 0.01204871,-0.00116179, 0.00247563, 0.04195213, 0.0045575 ,-0.00236348,
 -0.01820548, 0.02845236, 0.01317217, 0.00445605,-0.01024197, 0.0264248 ,
  1.01389959,-0.00123147, 0.80925317, 0.06517884, 0.09356318,-0.07006874,
  0.13095557, 0.50328625, 0.49253174, 0.49692443, 0.5071307 ]

qacc:
[ -5.94429384, -2.80173391, 11.31544554,-16.88742657,  2.40811572,
  -0.3020738 ,  3.3127052 ,-11.4242307 ,  5.54939874,  0.4054263 ,
   0.33149664, -5.67844109, -0.79502652,  0.91419822, -5.41079029,
  17.14686302,  0.71406424, -1.96995587, -0.48046162,  9.48620548,
  -2.39129064, 28.95391394]

qfrc_actuator:
[-5.80693490e-05, 9.41660640e-05, 1.21100609e-04, 5.01486222e-05,
 -8.51772916e-06,-3.26045858e-04,-2.48821391e-04, 3.06782989e-05,
  6.70435210e-06,-1.02004379e-05,-1.31385228e-04, 4.81661627e-05,
  3.07986508e-02,-1.20227558e-03, 1.44406623e-02,-3.25531391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53681596,  0.67146307, -4.48685151,  0.67146307, 42.57063605,
        5.69180988, -4.48685151,  5.69180988,  5.3886026 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029889081872107315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85723842e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85723842e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226916, -0.03137784,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49475418e-05, 4.97282229e-05, 6.40866083e-05,-7.19028089e-06,
  1.41930663e-05, 4.36578384e-06,-1.12931148e-05,-2.48389443e-05,
  3.25376940e-05, 1.66539588e-05,-1.31786637e-05,-1.64434028e-05,
 -2.01192238e-04,-5.37868867e-05,-6.33856110e-05, 6.49707583e-05,
 -4.96939454e-07, 2.26009396e-07,-1.21644091e+00,-4.55790784e-04,
  1.18819816e-05,-5.50286448e-04]


--- Step 655 ---
qpos:
[ 0.01204655,-0.00116137, 0.00247701, 0.04195173, 0.0045575 ,-0.00236385,
 -0.01820547, 0.02845347, 0.01317296, 0.00445585,-0.01024238, 0.02642513,
  1.01459426,-0.00123101, 0.80984296, 0.06517908, 0.09356364,-0.07007568,
  0.13095267, 0.50325051, 0.49254872, 0.49690959, 0.50716422]

qacc:
[ -9.67108059, -0.64475748,  3.27004096, -5.74231212,  1.60794919,
   0.20400506, -1.0949888 ,  2.29979714,  6.40527728, -2.2622269 ,
   9.9402737 ,-19.43268483, -0.83610479,  0.9902915 , -0.87503262,
   1.61400516,  0.69462478, -1.94640131, -0.61314213,  9.46185957,
  -2.2245764 , 28.50475825]

qfrc_actuator:
[-1.13737298e-04, 9.50569293e-05, 1.29155476e-04, 4.34037578e-05,
  5.18118046e-07,-3.32956728e-04,-2.52236727e-04, 3.40268155e-05,
  4.31512860e-05,-3.10081717e-05,-1.17958586e-04, 2.12808247e-05,
  3.07361094e-02,-1.20548049e-03, 1.44046206e-02,-3.25997732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54122634, -2.46503266,  3.81396784, -2.46503266, 14.14766949,
        6.20880853,  3.81396784,  6.20880853,  8.5540855 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002327026848106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84893753e-13, -1.84893753e-13,  1.00000000e+00,  3.41857000e-26,
        1.00000000e+00,  1.84893753e-13, -1.00000000e+00,  0.00000000e+00,
        1.84893753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226764, -0.03137916,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.66486687e-05, 4.16021988e-05, 2.59594293e-05,-2.53751011e-06,
  9.44370573e-06,-7.85328652e-06,-4.76413907e-06, 2.65908004e-06,
  3.73776877e-05,-1.49018554e-05, 1.46805744e-05,-2.69491582e-05,
 -1.99796071e-04,-5.42167574e-05,-6.51392486e-05,-1.08802562e-05,
 -6.76878330e-08,-2.58784639e-08,-1.21644004e+00,-4.56643541e-04,
  1.12726581e-05,-5.50107626e-04]


--- Step 656 ---
qpos:
[ 0.01204443,-0.0011606 , 0.00247794, 0.04195095, 0.00455762,-0.00236414,
 -0.01820557, 0.02845493, 0.0131735 , 0.00445566,-0.01024301, 0.02642584,
  1.01528764,-0.0012303 , 0.81043227, 0.06517428, 0.09356443,-0.07007839,
  0.13095166, 0.50322812, 0.49255218, 0.49691213, 0.50718058]

qacc:
[  0.32390429,  0.93582033, -1.05141232, -5.10289485,  0.9442972 ,
   1.18671801, -5.62932037, 12.08401305, -2.28703862,  1.42863701,
  -6.64233896, 13.53662587, -1.33455165,  2.20806311, 14.60024965,
 -51.93349557,  0.08537912,  1.06043828,  0.47189626,  1.97531829,
   0.25991717,-15.3390452 ]

qfrc_actuator:
[-1.10108010e-04, 9.52668712e-05, 9.77586856e-05, 2.18254688e-05,
  5.82749124e-06,-3.19171382e-04,-2.54261424e-04, 5.33096651e-05,
  2.87604474e-05,-2.55557589e-05,-1.27693458e-04, 4.08369274e-05,
  3.06789703e-02,-1.18980997e-03, 1.43458249e-02,-3.52913336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003020156416551484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95289879e-13, -3.67604479e-13,  1.00000000e+00,  7.17894342e-26,
        1.00000000e+00,  3.67604479e-13, -1.00000000e+00,  0.00000000e+00,
        1.95289879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162496, -0.08819454,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02859660e-06, 2.86842434e-05,-1.97097120e-05,-1.89475389e-05,
  5.57608741e-06, 8.53778323e-06,-4.14038716e-06, 1.88311225e-05,
 -1.33345645e-05,-9.76080519e-07,-1.19314855e-05, 1.89002133e-05,
 -1.93735010e-04,-3.50708917e-05,-9.74178724e-05,-2.79891709e-04,
  1.32095518e-07, 1.74857757e-07,-1.21644037e+00,-4.57318127e-04,
  1.13200700e-05,-5.50135516e-04]


--- Step 657 ---
qpos:
[ 0.0120434 ,-0.00115981, 0.00247863, 0.04194995, 0.00455814,-0.00236409,
 -0.01820609, 0.02845626, 0.01317351, 0.00445542,-0.01024346, 0.02642712,
  1.01597976,-0.00122914, 0.81102061, 0.06516494, 0.09356557,-0.07007691,
  0.13095196, 0.50321892, 0.49254223, 0.49693177, 0.50718013]

qacc:
[  9.61022689,  0.22749718,  0.1241054 , -3.55976313,  3.55311554,
   1.33662361, -3.51999505,  1.5210017 , -4.57999476,  0.59202345,
  -4.56749982, 13.97110582, -1.48637126,  2.69822834, 12.3502001 ,
 -45.07997271,  0.08854116,  1.04505584,  0.32568636,  1.89525882,
   0.2825202 ,-15.11952458]

qfrc_actuator:
[-5.38475421e-05, 7.71223560e-05, 7.88182497e-05, 9.42021699e-06,
  2.66554423e-05,-2.93075640e-04,-2.73115224e-04, 4.63203156e-05,
  2.31452334e-06,-2.22259824e-05,-1.15399066e-04, 6.98100230e-05,
  3.06251198e-02,-1.16308052e-03, 1.42946838e-02,-3.75668802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030371374339766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71170556e-14, -1.82774578e-13,  1.00000000e+00,  1.04395457e-26,
        1.00000000e+00,  1.82774578e-13, -1.00000000e+00,  0.00000000e+00,
        5.71170556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162564, -0.08819416,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63265460e-05,-7.01669547e-06,-1.61145081e-05,-1.22288420e-05,
  2.09893666e-05, 3.08324002e-05,-1.69475935e-05,-6.40287229e-06,
 -2.68265063e-05, 1.13872495e-06, 1.12861001e-05, 2.88871351e-05,
 -1.83259210e-04,-1.91846136e-05,-1.34243919e-04,-2.57353778e-04,
  3.49932481e-08, 6.62526683e-08,-1.21644006e+00,-4.56981845e-04,
  1.13311160e-05,-5.50172111e-04]


--- Step 658 ---
qpos:
[ 0.0120434 ,-0.00115923, 0.00247942, 0.0419495 , 0.0045589 ,-0.0023638 ,
 -0.01820706, 0.02845682, 0.01317356, 0.0044548 ,-0.01024331, 0.02642839,
  1.0166706 ,-0.0012276 , 0.81160746, 0.06515617, 0.09356708,-0.0700713 ,
  0.13095306, 0.50322278, 0.49251898, 0.49696828, 0.50716311]

qacc:
[  9.03471599,  0.57397885, -4.79974469, 14.40165954,  2.13524   ,
  -0.02067711,  3.75731168,-16.49494608,  0.27169459, -2.19028124,
   7.08847354, -7.75844388, -1.18940818,  2.03115004, -3.87885993,
  10.51760506,  0.0910036 ,  1.03240108,  0.20308658,  1.83160843,
   0.29986459,-14.93876661]

qfrc_actuator:
[-2.58462584e-06, 6.59133131e-05, 8.50787402e-05, 3.80171501e-05,
  3.86993053e-05,-2.95400381e-04,-3.01718909e-04, 6.17416783e-06,
  4.50661216e-06,-5.55991443e-05,-9.01912965e-05, 6.85981984e-05,
  3.05573098e-02,-1.14778008e-03, 1.42641740e-02,-3.70923697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030299345236384223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72528371e-14, -3.66418157e-13,  1.00000000e+00,  2.09784791e-26,
        1.00000000e+00,  3.66418157e-13, -1.00000000e+00,  0.00000000e+00,
        5.72528371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162614, -0.08819441,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28610911e-05,-1.89966127e-05, 2.38714536e-06, 2.74975499e-05,
  1.26542775e-05, 1.11502368e-05,-2.45426471e-05,-3.95386334e-05,
  1.42765694e-06,-2.91651419e-05, 2.78390864e-05,-2.10478556e-07,
 -1.87517121e-04,-2.55819229e-05,-1.25958150e-04, 1.46685452e-05,
 -4.85351798e-08, 5.13781323e-08,-1.21644005e+00,-4.56668502e-04,
  1.12477389e-05,-5.50116169e-04]


--- Step 659 ---
qpos:
[ 0.01204367,-0.00115873, 0.00247996, 0.0419494 , 0.00455981,-0.00236357,
 -0.0182077 , 0.02845654, 0.01317362, 0.00445424,-0.01024329, 0.02642998,
  1.01736024,-0.00122587, 0.81219302, 0.06514763, 0.09357035,-0.07006774,
  0.13095564, 0.50321354, 0.4925096 , 0.49700283, 0.50714753]

qacc:
[  2.36529752,  1.3033052 , -6.31147592, 12.91351085,  1.22668417,
  -2.75203615, 13.2897502 ,-28.4598784 ,  0.21865059,  1.09923283,
  -5.1509659 , 10.81551333, -1.00504919,  1.55541234, -2.47948774,
   6.06707602,  0.43928637, -0.51018805,  0.36641012,  5.85798101,
  -0.4117284 ,  7.61524461]

qfrc_actuator:
[ 9.80389832e-06, 5.90756967e-05, 7.07061053e-05, 5.50226515e-05,
  4.54715270e-05,-2.97049964e-04,-2.82717622e-04,-3.54296295e-05,
  5.78815232e-06,-3.96482802e-05,-9.32456789e-05, 8.51136941e-05,
  3.04971483e-02,-1.13943659e-03, 1.42141711e-02,-3.69535839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003004634314802257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02072250e-14,  2.50804040e-07,  1.00000000e+00,  5.06805367e-21,
        1.00000000e+00, -2.50804040e-07, -1.00000000e+00,  0.00000000e+00,
       -2.02072250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08705599, -0.06046794,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38819494e-05,-1.58003529e-05,-1.70683554e-05, 1.68052287e-05,
  7.13970259e-06,-2.17404899e-06, 1.69193881e-05,-4.27448911e-05,
  1.30926211e-06, 5.40136749e-06,-5.65454995e-06, 1.62229469e-05,
 -1.83350062e-04,-3.48052743e-05,-1.10406186e-04,-2.44994482e-06,
 -1.20273256e-07, 1.27046531e-07,-1.21644034e+00,-4.56374058e-04,
  1.10749762e-05,-5.49968340e-04]


--- Step 660 ---
qpos:
[ 0.01204409,-0.00115838, 0.00248012, 0.04194884, 0.00456079,-0.00236368,
 -0.01820743, 0.0284561 , 0.01317336, 0.00445396,-0.0102434 , 0.02643138,
  1.01804865,-0.00122374, 0.81277675, 0.06514166, 0.09356977,-0.07007154,
  0.13095556, 0.50319318, 0.49250921, 0.4969963 , 0.5071745 ]

qacc:
[  1.28082905, -0.06584574,  1.9253189 , -9.28074811,  0.68663832,
  -3.31131046, 11.77728902,-15.60701609, -2.91586695,  0.35140924,
   0.08108358, -3.34472533, -1.07500548,  1.84645535,-10.45386736,
  32.78556688, -0.96339126, -1.84162197, -0.66243212,-15.98731251,
   0.63405222, 25.8704124 ]

qfrc_actuator:
[ 1.69669494e-05, 3.70708236e-05, 4.42600763e-05, 2.95454563e-05,
  4.90894912e-05,-3.15854517e-04,-2.35758071e-04,-4.20154208e-05,
 -1.12379004e-05,-1.21358710e-05,-9.50067171e-05, 7.64438524e-05,
  3.04416156e-02,-1.11749355e-03, 1.41365289e-02,-3.55947294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53995795, -3.35655545, -3.05691899, -3.35655545, 12.22703349,
       -8.4405558 , -3.05691899, -8.4405558 , 13.80784947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029984764504976946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10984029, -0.03399324,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55033783e-06,-3.36664228e-05,-3.12432819e-05,-2.64202914e-05,
  3.82195668e-06,-1.83552672e-05, 4.71207103e-05,-6.92416663e-06,
 -1.69888559e-05, 3.00772073e-05,-7.77701046e-07,-8.32068504e-06,
 -1.77971507e-04,-2.19289410e-05,-1.33614538e-04, 1.20409519e-04,
 -8.60935027e-08, 9.97631190e-08,-1.21644025e+00,-4.56632068e-04,
  1.09922910e-05,-5.49823632e-04]


--- Step 661 ---
qpos:
[ 0.01204424,-0.00115825, 0.00247996, 0.04194798, 0.00456112,-0.00236402,
 -0.01820659, 0.02845559, 0.01317359, 0.00445357,-0.01024364, 0.02643237,
  1.01873585,-0.00122132, 0.81335925, 0.06513531, 0.09356937,-0.07007144,
  0.13095674, 0.5031853 , 0.49249633, 0.49700531, 0.50718601]

qacc:
[ -2.31002773, -0.0472198 ,  1.00302436, -5.49167401, -5.71143622,
  -2.00104835,  7.01655086, -8.96027574,  4.29400336, -0.64771348,
   3.82156965,-10.63734196, -1.11385783,  1.84372205, -0.55783794,
  -0.54762146,  0.04748862,  0.97301701,  0.3132847 ,  1.56517071,
   0.16730488,-13.97909671]

qfrc_actuator:
[ 3.25709684e-06, 2.38134033e-05, 2.85657774e-05, 1.47645082e-05,
  1.53184466e-05,-3.26880333e-04,-2.08234610e-04,-4.56992384e-05,
  1.43549752e-05,-4.89384437e-05,-1.13691851e-04, 5.30416955e-05,
  3.03782537e-02,-1.10541568e-03, 1.40743543e-02,-3.58362529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.53335196,   1.35206235,   4.32703217,   1.35206235,
        42.8142015 , -11.96156934,   4.32703217, -11.96156934,
         8.27096862,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002978309619887787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.48040146e-08, -5.48038274e-08,  1.00000000e+00, -3.00346976e-15,
        1.00000000e+00,  5.48038274e-08, -1.00000000e+00,  0.00000000e+00,
       -5.48040146e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09208001, -0.08685078,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35056087e-05,-3.96814347e-05,-2.74159247e-05,-1.78188227e-05,
 -3.36700458e-05,-1.18504590e-05, 2.92959791e-05,-2.97427672e-06,
  2.51203348e-05,-2.04987833e-05,-1.28540807e-05,-2.23036513e-05,
 -1.79645808e-04,-2.84948288e-05,-1.13308638e-04,-3.53420935e-05,
  7.67724363e-08, 3.27856097e-08,-1.21644009e+00,-4.57218738e-04,
  1.11572054e-05,-5.50100580e-04]


--- Step 662 ---
qpos:
[ 0.01204354,-0.00115835, 0.00247958, 0.0419473 , 0.00456103,-0.00236401,
 -0.01820564, 0.02845465, 0.01317377, 0.00445294,-0.01024456, 0.02643278,
  1.019422  ,-0.00121931, 0.81394059, 0.06512929, 0.09357068,-0.07007337,
  0.13095921, 0.50316418, 0.49249743, 0.49701246, 0.50719888]

qacc:
[ -7.51963167,  0.69123281, -3.62119005,  7.10522527, -3.57586542,
  -0.73934747,  5.14007741,-13.03148584, -0.3696681 ,  0.41137092,
   0.52450688, -9.25528983, -0.31245157, -0.24999995, -2.74269174,
   7.13601227,  0.42705442, -0.50337128,  0.32436827,  5.96530476,
  -0.38656645,  7.6264564 ]

qfrc_actuator:
[-4.03788030e-05, 1.59385738e-05, 1.93927309e-05, 2.41698305e-05,
 -4.68199925e-06,-2.79968641e-04,-1.92393366e-04,-6.54176283e-05,
  1.15748610e-05,-8.85506990e-05,-1.60238088e-04, 2.10979980e-05,
  3.03155627e-02,-1.13481713e-03, 1.40374495e-02,-3.55982915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52937761,  0.74617828, -4.46749141,  0.74617828, 37.73576817,
        5.54626411, -4.46749141,  5.54626411,  5.45573682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002966084668696895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08197802e-13, -2.29372791e-08,  1.00000000e+00, -2.48176319e-21,
        1.00000000e+00,  2.29372791e-08, -1.00000000e+00, -3.76158192e-37,
       -1.08197802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08705477, -0.06046834,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40322243e-05,-3.64976736e-05,-2.13602243e-05, 6.41236762e-06,
 -2.09660493e-05, 4.62005766e-05, 1.68959921e-05,-1.92690211e-05,
 -2.07340593e-06,-5.46620374e-05,-5.31311526e-05,-3.37027983e-05,
 -1.81499118e-04,-7.14291685e-05,-9.78630487e-05, 6.10996192e-06,
 -2.57973415e-08, 1.15615811e-08,-1.21644000e+00,-4.56859198e-04,
  1.12091373e-05,-5.50072048e-04]


--- Step 663 ---
qpos:
[ 0.01204233,-0.00115866, 0.00247905, 0.04194672, 0.00456106,-0.00236328,
 -0.01820527, 0.02845383, 0.01317323, 0.0044521 ,-0.01024553, 0.02643311,
  1.0201069 ,-0.00121729, 0.81452045, 0.06512887, 0.09357231,-0.07007119,
  0.13096215, 0.50315593, 0.49248553, 0.4970364 , 0.50719515]

qacc:
[ -4.55054826,  0.38282274, -2.17726817,  4.38943887,  0.89275879,
   2.8125256 , -9.17052973, 11.63730948, -6.3742839 , -0.30352788,
   1.03720527, -2.28415353, -0.63533869,  0.63727689,-19.01302515,
  63.4129033 ,  0.07975938,  1.02509594,  0.11647024,  1.94939112,
   0.22937125,-14.80241039]

qfrc_actuator:
[-6.57670323e-05, 1.13992791e-05, 1.41779973e-05, 2.99846280e-05,
  1.34777777e-06,-2.34287505e-04,-2.18846631e-04,-5.88633922e-05,
 -2.56487516e-05,-7.64225755e-05,-1.51883033e-04, 1.98654174e-05,
  3.02479767e-02,-1.13526128e-03, 1.40157435e-02,-3.25931313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52293438, -1.15458277,  4.37308518, -1.15458277, 37.49791465,
        8.7060605 ,  4.37308518,  8.7060605 ,  6.82151011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002946115901678037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05987081e-13, -1.88421478e-13,  1.00000000e+00,  1.99702425e-26,
        1.00000000e+00,  1.88421478e-13, -1.00000000e+00,  0.00000000e+00,
        1.05987081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162971, -0.08819724,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66521984e-05,-2.90897949e-05,-1.51528842e-05, 3.64152580e-06,
  5.44798248e-06, 7.41635644e-05,-1.55042653e-05, 8.74459215e-06,
 -3.73008924e-05,-3.08260829e-05,-1.06290900e-05,-6.06673797e-06,
 -1.96564495e-04,-5.02025905e-05,-7.13447217e-05, 2.87027130e-04,
  1.59744730e-08, 6.55645505e-08,-1.21644004e+00,-4.57068386e-04,
  1.12418892e-05,-5.50038456e-04]


--- Step 664 ---
qpos:
[ 0.01204081,-0.00115911, 0.00247843, 0.0419462 , 0.00456081,-0.00236239,
 -0.01820532, 0.0284535 , 0.0131726 , 0.0044514 ,-0.01024634, 0.02643336,
  1.02079054,-0.00121526, 0.81509943, 0.06513003, 0.0935702 ,-0.07007608,
  0.13096238, 0.50313713, 0.49248213, 0.49702079, 0.50723241]

qacc:
[ -2.59492484,  0.21125904, -1.30227261,  2.67097077, -2.40471412,
   2.38256427,-10.23183855, 19.21782732, -0.85422599, -0.45714219,
   2.26182307, -4.07295119, -0.82191444,  0.99646928, -6.03604337,
  19.33344891, -0.93726287, -1.76703504, -0.67730816,-15.48372623,
   0.61353797, 24.8386509 ]

qfrc_actuator:
[-8.02021825e-05, 8.91487043e-06, 1.13493801e-05, 3.36413700e-05,
 -1.28595150e-05,-2.60853075e-04,-2.52268408e-04,-3.69217500e-05,
 -2.95799345e-05,-3.31679340e-05,-1.28694510e-04, 1.90457107e-05,
  3.01828368e-02,-1.13634478e-03, 1.39606221e-02,-3.18869965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51451689,  -1.25977136,  -4.33518614,  -1.25977136,
        41.52978752, -10.75634958,  -4.33518614, -10.75634958,
         7.64022837,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029197438470139717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13936538e-06,  1.13936538e-06,  1.00000000e+00,  1.29815347e-12,
        1.00000000e+00, -1.13936538e-06, -1.00000000e+00,  4.03896783e-28,
       -1.13936538e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10937385, -0.03536554,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52014632e-05,-2.17125728e-05,-1.05643358e-05, 1.96158001e-06,
 -1.40257497e-05, 1.20518358e-05,-1.97215615e-05, 2.47528136e-05,
 -5.00465297e-06, 2.35876025e-05, 1.53234094e-05,-2.62179998e-06,
 -1.98228976e-04,-5.08993190e-05,-6.14934548e-05, 7.61461242e-05,
 -6.64257337e-08, 6.60818611e-08,-1.21644009e+00,-4.56752705e-04,
  1.11281628e-05,-5.49965026e-04]


--- Step 665 ---
qpos:
[ 0.01203914,-0.00115968, 0.00247773, 0.04194607, 0.00456074,-0.00236185,
 -0.01820495, 0.02845345, 0.01317192, 0.00445083,-0.01024688, 0.02643359,
  1.02147323,-0.00121442, 0.81567745, 0.06513008, 0.09356836,-0.07007678,
  0.13096367, 0.50313129, 0.49246577, 0.49702222, 0.50725269]

qacc:
[ -1.41899185,  0.84552985, -4.88223694, 11.79741951,  1.5699386 ,
  -1.03644316,  1.85695022,  2.52710272, -0.36864435, -0.59485004,
   2.44399192, -3.25292357,  0.41133437, -2.28305783,  1.87257242,
  -8.73933521,  0.07159429,  1.04614115,  0.26486529,  2.0892684 ,
   0.17203207,-14.97159711]

qfrc_actuator:
[-8.80808614e-05, 7.69466800e-06, 9.96050856e-06, 5.37556214e-05,
 -3.36799574e-06,-2.95001800e-04,-2.36551209e-04,-2.39178305e-05,
 -3.16256601e-05,-2.47756328e-05,-1.14564550e-04, 1.85048316e-05,
  3.01192102e-02,-1.20882118e-03, 1.38907762e-02,-3.25426130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.51499555,   1.34857928,   4.30888834,   1.34857928,
        42.33314412, -11.83617846,   4.30888834, -11.83617846,
         8.21943709,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0002921252281136155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54395465e-13, -5.70075562e-13,  1.00000000e+00,  8.80170814e-26,
        1.00000000e+00,  5.70075562e-13, -1.00000000e+00,  0.00000000e+00,
        1.54395465e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163161, -0.08819829,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.31620591e-06,-1.54358115e-05,-7.09116523e-06, 1.88611900e-05,
  9.09541792e-06,-3.04581991e-05, 1.66250292e-05, 1.33191677e-05,
 -2.18318562e-06, 2.46659503e-05, 2.08155546e-05, 9.52020557e-07,
 -1.98156090e-04,-1.22672033e-04,-9.67572728e-05,-7.08949005e-05,
  1.17922985e-07,-4.66812657e-09,-1.21644018e+00,-4.57331464e-04,
  1.10660712e-05,-5.50287789e-04]


--- Step 666 ---
qpos:
[ 0.01203773,-0.00116032, 0.00247701, 0.04194583, 0.00456147,-0.00236172,
 -0.01820406, 0.02845389, 0.01317156, 0.00445015,-0.01024685, 0.02643416,
  1.02215463,-0.00121383, 0.81625393, 0.06513201, 0.09356684,-0.07007335,
  0.13096557, 0.50313831, 0.49243646, 0.49704046, 0.5072563 ]

qacc:
[  2.31492671, -0.25789017,  1.2723471 , -3.15997535,  7.07145047,
  -0.99179124,  0.60200652,  7.57643551,  2.88653151, -0.99780121,
   1.87563338,  3.32783766, -0.57062927,  0.27796128, -7.94586513,
  24.55272763,  0.07738114,  1.03311113,  0.15388118,  1.98254855,
   0.21399562,-14.81915164]

qfrc_actuator:
[-7.42886923e-05, 7.26626954e-06, 9.45096952e-06, 4.78897298e-05,
  3.77549301e-05,-3.15499145e-04,-2.09759078e-04, 1.49351656e-06,
 -1.48033441e-05,-3.73432392e-05,-8.82757176e-05, 3.58514143e-05,
  3.00565084e-02,-1.21642171e-03, 1.38334376e-02,-3.15093246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51155417e+00, -2.22111639e-02, -4.51149950e+00, -2.22111639e-02,
        4.77796908e+01, -2.13019124e-01, -4.51149950e+00, -2.13019124e-01,
        4.51260292e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0002910383329908506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96046390e-14, -1.90734845e-13,  1.00000000e+00,  1.13686816e-26,
        1.00000000e+00,  1.90734845e-13, -1.00000000e+00,  0.00000000e+00,
        5.96046390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163258, -0.08819881,  0.06199168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35522592e-05,-9.68521387e-06,-3.90151183e-06,-6.40160344e-06,
  4.13705093e-05,-3.35454751e-05, 2.29987511e-05, 2.49382217e-05,
  1.67657029e-05, 5.58977500e-06, 3.39925929e-05, 1.91443145e-05,
 -2.13184671e-04,-6.96128705e-05,-1.15359638e-04, 8.55949540e-05,
 -1.53870166e-08,-2.70484304e-08,-1.21644002e+00,-4.56886437e-04,
  1.12429794e-05,-5.50263185e-04]


--- Step 667 ---
qpos:
[ 0.01203649,-0.00116106, 0.00247659, 0.04194516, 0.00456269,-0.00236169,
 -0.01820346, 0.02845397, 0.01317142, 0.00444919,-0.01024608, 0.02643461,
  1.02283461,-0.00121278, 0.81682909, 0.06513578, 0.09356572,-0.07006614,
  0.13096789, 0.50315679, 0.4923955 , 0.49707449, 0.50724438]

qacc:
[  1.55972029, -1.8804256 ,  8.32908415,-16.2110596 ,  4.26210803,
  -0.10046059,  1.71125719, -7.59361018,  1.82711157, -2.74022996,
   9.78774246,-13.06877662, -1.32489333,  2.28317681, -7.38445767,
  23.18876778,  0.09990347,  0.9475331 ,  0.10299781,  2.10987843,
   0.25353522,-13.59344082]

qfrc_actuator:
[-6.56069241e-05, 7.30309574e-06, 2.72014418e-05, 2.67830866e-05,
  6.16535277e-05,-3.27602457e-04,-2.29859657e-04,-1.92450192e-05,
 -4.76417323e-06,-6.23007170e-05,-5.50938638e-05, 2.80679496e-05,
  2.99997522e-02,-1.18556849e-03, 1.37836901e-02,-3.05533823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028822275892283574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53403773e-07, -8.53403854e-07,  1.00000000e+00, -7.28298069e-13,
        1.00000000e+00,  8.53403854e-07, -1.00000000e+00,  0.00000000e+00,
       -8.53403773e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0913935 , -0.08674807,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.06717979e-06,-6.41802770e-06, 1.50652483e-05,-2.17778854e-05,
  2.50649798e-05,-2.50444190e-05,-2.33482302e-05,-2.09000228e-05,
  1.05132756e-05,-1.39618668e-05, 3.91912008e-05,-5.99574923e-06,
 -2.05061870e-04,-2.55404532e-05,-9.75013326e-05, 8.45297060e-05,
 -1.34144822e-07, 3.77856572e-08,-1.21644014e+00,-4.56468329e-04,
  1.13224526e-05,-5.50149468e-04]


--- Step 668 ---
qpos:
[ 0.01203606,-0.0011617 , 0.00247628, 0.04194457, 0.00456349,-0.00236158,
 -0.01820349, 0.02845379, 0.01317104, 0.00444818,-0.01024496, 0.02643495,
  1.02351337,-0.00121169, 0.81740281, 0.06514133, 0.09356739,-0.07006671,
  0.13096777, 0.50313931, 0.49239465, 0.49708775, 0.50724955]

qacc:
[ 7.06362639e+00,-1.35658070e-02,-1.43860014e-01, 1.39513223e+00,
 -3.63803981e+00, 1.37200036e+00,-3.64654413e+00, 2.35812651e-01,
 -1.95477038e+00,-1.26088411e+00, 4.81616925e+00,-7.05339699e+00,
 -7.96079375e-01, 9.87399992e-01,-7.46189424e+00, 2.31306464e+01,
  6.98725610e-01,-1.94716738e+00,-6.11048725e-01, 9.43373491e+00,
 -2.25489816e+00, 2.85045630e+01]

qfrc_actuator:
[-2.45043201e-05, 2.54335848e-05, 3.78351212e-05, 3.24005357e-05,
  3.97075751e-05,-3.17057565e-04,-2.59736930e-04,-3.14948426e-05,
 -1.65564619e-05,-5.89715316e-05,-3.59420745e-05, 2.33000959e-05,
  2.99412959e-02,-1.18550288e-03, 1.37172298e-02,-2.96507898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50661636,  0.70881832, -4.45052442,  0.70881832, 44.6485159 ,
        6.39324972, -4.45052442,  6.39324972,  5.52484525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894690355384061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224598, -0.03137999,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13615220e-05, 1.67605897e-05, 1.04258490e-05, 5.44376698e-06,
 -2.12379250e-05,-9.17753097e-06,-3.86580043e-05,-1.45403404e-05,
 -1.15019565e-05, 3.38802879e-06, 2.08882144e-05,-4.12785210e-06,
 -1.92018926e-04,-4.72389098e-05,-1.07210657e-04, 8.11789819e-05,
 -2.30937231e-07, 1.74896377e-07,-1.21644051e+00,-4.56099158e-04,
  1.13011134e-05,-5.49951052e-04]


--- Step 669 ---
qpos:
[ 0.01203682,-0.00116182, 0.00247561, 0.04194438, 0.00456437,-0.00236159,
 -0.01820386, 0.02845382, 0.01317053, 0.00444775,-0.01024414, 0.02643486,
  1.02419089,-0.00121058, 0.81797509, 0.06514498, 0.09357179,-0.07007499,
  0.13096475, 0.5030861 , 0.4924334 , 0.49708073, 0.50727159]

qacc:
[ 10.39945638,  2.51376915, -9.66638446, 16.75170365,  0.65796942,
   1.19073402, -5.37074966,  9.59511939, -1.24142594,  0.71849842,
   0.40971402, -7.97379651, -0.93811256,  1.25047805,  3.64305779,
 -15.74438863,  0.68269205, -1.92739005, -0.72126631,  9.41828294,
  -2.11224876, 28.13603679]

qfrc_actuator:
[ 3.53529269e-05, 7.20130357e-05, 2.65197047e-05, 5.37080267e-05,
  4.42176934e-05,-3.28584373e-04,-2.77272524e-04,-2.08715931e-05,
 -2.33488315e-05,-3.28023452e-06,-4.28666437e-05, 2.60765947e-06,
  2.98765276e-02,-1.18592210e-03, 1.36141706e-02,-3.07398917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50515198, -2.48418902,  3.75835061, -2.48418902, 19.23950292,
        9.73908946,  3.75835061,  9.73908946, 10.94248091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002890013948890907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92079181e-13,  3.84158362e-13,  1.00000000e+00, -7.37888235e-26,
        1.00000000e+00, -3.84158362e-13, -1.00000000e+00,  0.00000000e+00,
        1.92079181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08224445, -0.03138017,  0.06199174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10416115e-05, 5.83827197e-05,-6.36977707e-06, 2.24940242e-05,
  3.90328907e-06,-2.52777711e-05,-2.46960510e-05, 8.61044131e-06,
 -7.12062926e-06, 6.17412109e-05,-3.79673771e-06,-1.99054466e-05,
 -1.94944714e-04,-4.85398865e-05,-1.47934858e-04,-1.19273337e-04,
 -1.39752378e-08, 5.89994723e-08,-1.21644004e+00,-4.56864343e-04,
  1.12010295e-05,-5.49851799e-04]


--- Step 670 ---
qpos:
[ 0.01203794,-0.00116183, 0.00247523, 0.04194445, 0.00456565,-0.00236176,
 -0.01820444, 0.02845398, 0.0131696 , 0.00444788,-0.01024292, 0.02643446,
  1.02486717,-0.00120945, 0.81854567, 0.06514695, 0.09357656,-0.07007904,
  0.13096357, 0.50304628, 0.49245852, 0.49709104, 0.5072766 ]

qacc:
[  3.23490235, -0.16389822, -0.3365111 ,  4.35168507,  3.43119581,
   0.63933758, -3.1056841 ,  5.69077425, -3.71600006, -0.99803411,
   5.92243698,-12.1597861 , -0.91288426,  1.19034583,  2.60655334,
 -12.65688203,  0.09144999,  1.05784737,  0.4566637 ,  1.90416172,
   0.29634308,-15.3301425 ]

qfrc_actuator:
[ 5.25015133e-05, 6.41898670e-05, 3.79744235e-05, 6.63324826e-05,
  6.42778782e-05,-3.35418494e-04,-2.87446478e-04,-1.46350761e-05,
 -4.48891725e-05, 4.77142817e-05,-1.16581562e-05,-9.50522880e-06,
  2.98133424e-02,-1.18663174e-03, 1.35318114e-02,-3.15740837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002893317400140816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51816085e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.51816085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163516, -0.08819975,  0.06199173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89059733e-05, 2.45042497e-05, 2.35145225e-05, 1.53426639e-05,
  2.01633386e-05,-2.56953816e-05,-1.81351104e-05, 4.46690654e-06,
 -2.17206741e-05, 8.38854869e-05, 4.28010294e-05,-9.98621897e-06,
 -1.96144533e-04,-4.93709781e-05,-1.67142675e-04,-1.09926467e-04,
 -1.53890172e-08, 3.83551370e-07,-1.21644073e+00,-4.57475661e-04,
  1.17379364e-05,-5.49951578e-04]


--- Step 671 ---
qpos:
[ 0.01203857,-0.00116177, 0.00247507, 0.04194433, 0.00456715,-0.002362  ,
 -0.01820494, 0.02845452, 0.01316841, 0.00444837,-0.01024096, 0.02643428,
  1.02554206,-0.00120773, 0.81911514, 0.06514707, 0.09358171,-0.07007891,
  0.13096364, 0.50301967, 0.49247016, 0.49711841, 0.50726487]

qacc:
[ -4.32234147, -0.87638964,  4.05181355, -7.64416349,  2.02391851,
   0.46059583, -3.42192528, 10.04532009, -2.18968758, -1.13801312,
   3.83970045, -1.63157067, -1.6001496 ,  2.94903813,  4.0646075 ,
 -16.38152453,  0.09362823,  1.04310782,  0.3146785 ,  1.8444014 ,
   0.30825482,-15.11323516]

qfrc_actuator:
[ 2.66164723e-05, 5.94375713e-05, 4.48170088e-05, 5.59681918e-05,
  7.55691404e-05,-3.21605729e-04,-2.75436633e-04, 6.72441337e-06,
 -5.71863244e-05, 6.01603115e-05, 2.40818813e-05, 1.31522111e-06,
  2.97511517e-02,-1.15200961e-03, 1.35045530e-02,-3.24274658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002914541003586485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54750989e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54750989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163567, -0.08819922,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53398097e-05, 1.44728281e-05, 1.53335759e-05,-8.20254904e-06,
  1.18579804e-05,-4.09083282e-06, 4.63066590e-06, 1.97182378e-05,
 -1.28846863e-05, 6.77393870e-05, 5.79788501e-05, 1.57004658e-05,
 -1.96208685e-04,-1.43883348e-05,-1.18756160e-04,-1.13538529e-04,
 -5.45043262e-08, 1.97727694e-07,-1.21644035e+00,-4.57301590e-04,
  1.14877655e-05,-5.50032815e-04]


--- Step 672 ---
qpos:
[ 0.01203922,-0.00116152, 0.00247496, 0.04194409, 0.00456878,-0.00236211,
 -0.01820509, 0.02845492, 0.01316709, 0.00444868,-0.01023886, 0.02643468,
  1.02621562,-0.00120557, 0.81968405, 0.06514367, 0.09358723,-0.07007466,
  0.1309645 , 0.50300612, 0.49246843, 0.49716263, 0.50723664]

qacc:
[  0.26111015, -0.14067679,  1.41323568, -3.83885283,  1.09201475,
  -1.0832829 ,  4.68279227, -7.71162595, -1.20433411,  0.56831024,
  -4.81326631, 14.80190879, -1.49270723,  2.62811293,  9.86003983,
 -35.48083381,  0.09537116,  1.03096029,  0.19558771,  1.79743908,
   0.31670166,-14.93458818]

qfrc_actuator:
[ 2.88819579e-05, 7.42723445e-05, 4.88578683e-05, 4.99053520e-05,
  8.16037648e-05,-2.95426004e-04,-2.50329947e-04, 1.33873509e-06,
 -6.39403557e-05,-3.78208828e-06, 8.80348194e-06, 2.55075444e-05,
  2.96842909e-02,-1.13228475e-03, 1.34890605e-02,-3.41714761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029120247576154557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54884708e-13, -3.81254665e-13,  1.00000000e+00,  5.90505175e-26,
        1.00000000e+00,  3.81254665e-13, -1.00000000e+00,  0.00000000e+00,
        1.54884708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163603, -0.08819933,  0.06199167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54935768e-06, 2.57331132e-05, 8.63689037e-06,-5.07051950e-06,
  6.37042640e-06, 2.57111444e-05, 2.55213636e-05,-5.01707057e-06,
 -7.09596715e-06,-1.34612043e-05, 6.36989373e-06, 2.94022072e-05,
 -1.92925888e-04,-2.36144331e-05,-8.78608084e-05,-1.97200566e-04,
 -8.17119547e-08, 1.07261175e-07,-1.21644028e+00,-4.57146798e-04,
  1.11487456e-05,-5.50020589e-04]


--- Step 673 ---
qpos:
[ 0.01204025,-0.0011614 , 0.00247558, 0.04194412, 0.00457012,-0.002362  ,
 -0.01820497, 0.0284549 , 0.01316639, 0.00444863,-0.01023733, 0.02643545,
  1.02688809,-0.00120402, 0.82025144, 0.06514253, 0.09358886,-0.07007785,
  0.13096311, 0.50298115, 0.49247582, 0.49716541, 0.50725149]

qacc:
[  3.24997908, -1.68538878,  4.60187958, -1.00444617, -2.49550193,
  -1.32721332,  6.96563929,-14.89086276,  5.4395284 ,  1.86908067,
  -8.90525779, 16.39725347, -0.07903545, -0.88534069, -9.05990411,
  28.4003835 , -0.97495509, -1.85857579, -0.56185946,-16.11467975,
   0.71439945, 26.19992986]

qfrc_actuator:
[ 4.77123464e-05, 6.52014520e-05, 8.68031518e-05, 6.41931413e-05,
  6.67464297e-05,-2.79747539e-04,-2.35411922e-04,-1.97237611e-05,
 -3.18759586e-05,-5.99229371e-05,-3.67973295e-05, 3.95124605e-05,
  2.96146727e-02,-1.17483007e-03, 1.34486624e-02,-3.28753988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002916265450094574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90350132e-13,  3.80700263e-13,  1.00000000e+00,  7.24663452e-26,
        1.00000000e+00, -3.80700263e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90350132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10982477, -0.0339817 ,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88826634e-05, 6.87710102e-06, 4.41471517e-05, 1.55904032e-05,
 -1.46674723e-05, 3.51198623e-05, 2.32008892e-05,-1.91757793e-05,
  3.18598221e-05,-6.11360620e-05,-4.66096407e-05, 1.42144230e-05,
 -1.95477894e-04,-8.68337824e-05,-1.09833944e-04, 1.05667385e-04,
 -9.83061755e-08, 1.08597595e-07,-1.21644049e+00,-4.57008585e-04,
  1.07243510e-05,-5.49915808e-04]


--- Step 674 ---
qpos:
[ 0.01204115,-0.00116095, 0.00247622, 0.04194431, 0.00457162,-0.00236207,
 -0.01820476, 0.02845505, 0.01316642, 0.00444809,-0.01023629, 0.02643638,
  1.02755929,-0.00120263, 0.82081755, 0.06514224, 0.09358668,-0.07008815,
  0.1309593 , 0.50294522, 0.49249181, 0.49712853, 0.50730775]

qacc:
[ -1.12574923,  0.7183187 , -2.60646468,  5.1145752 ,  1.38094209,
  -0.16392524, -0.45940876,  3.2436964 ,  6.45897595,  1.04962802,
  -5.44157403,  9.61302437, -0.67877175,  0.55870757, -4.42079351,
  12.80745347, -0.9518542 , -1.77659604, -0.60212496,-15.49159917,
   0.76276233, 25.09917498]

qfrc_actuator:
[ 4.06274605e-05, 9.52976073e-05, 9.11273777e-05, 7.25928870e-05,
  7.52185735e-05,-3.23782738e-04,-2.44427871e-04,-1.43477126e-05,
  5.02471173e-06,-9.33734891e-05,-6.44235305e-05, 4.73917304e-05,
  2.95487514e-02,-1.18286594e-03, 1.33881025e-02,-3.24617521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51379011,  0.33532292,  4.50131755,  0.33532292, 32.8333894 ,
       -2.10965134,  4.50131755, -2.10965134,  4.67094731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002917451447449357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.46456999e-07,  6.46457379e-07,  1.00000000e+00,  4.17906897e-13,
        1.00000000e+00, -6.46457379e-07, -1.00000000e+00,  0.00000000e+00,
       -6.46456999e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10936076, -0.03536138,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.54874309e-06, 4.37205184e-05, 1.17108294e-05, 1.05225891e-05,
  8.06588698e-06,-2.04365435e-05, 4.30430527e-07, 7.31082532e-06,
  3.77873642e-05,-7.66658164e-05,-4.55248261e-05, 3.91675105e-06,
 -2.06681994e-04,-6.37734700e-05,-1.03395480e-04, 3.21645226e-05,
  3.08677201e-08, 8.47554212e-08,-1.21644009e+00,-4.57552249e-04,
  1.11567883e-05,-5.50127692e-04]


--- Step 675 ---
qpos:
[ 0.0120423 ,-0.00116008, 0.00247661, 0.04194426, 0.00457321,-0.00236229,
 -0.01820465, 0.02845561, 0.01316621, 0.00444724,-0.01023569, 0.02643738,
  1.02822912,-0.00120105, 0.82138225, 0.06514376, 0.09358478,-0.07009413,
  0.13095771, 0.50292257, 0.49249456, 0.49710915, 0.50734653]

qacc:
[  2.20902517,  0.78836349, -0.99459341, -3.03699948,  0.7863758 ,
   0.93508953, -5.38910354, 12.88831012, -2.18908933,  0.95198518,
  -4.2570625 ,  6.26257004, -1.03921911,  1.52135387, -7.49843256,
  23.33768786,  0.07260958,  1.07811595,  0.55172856,  2.18499863,
   0.15490391,-15.36269603]

qfrc_actuator:
[ 5.38463551e-05, 1.12979497e-04, 7.57025133e-05, 5.97079776e-05,
  7.96077730e-05,-3.32309153e-04,-2.49973472e-04, 6.47753419e-06,
 -8.79383028e-06,-9.51810984e-05,-8.11254318e-05, 5.16396187e-05,
  2.94851040e-02,-1.17038676e-03, 1.33314551e-02,-3.15074131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029773306895369833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16528774e-14, -3.72892077e-13,  1.00000000e+00,  4.34526566e-27,
        1.00000000e+00,  3.72892077e-13, -1.00000000e+00,  0.00000000e+00,
        1.16528774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163867, -0.08819824,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30448232e-05, 4.49712102e-05,-4.60134542e-06,-1.04045782e-05,
  4.61181714e-06,-1.95495811e-05,-9.46309908e-06, 2.01056477e-05,
 -1.27704888e-05,-5.38969478e-05,-3.80195543e-05,-5.41336200e-07,
 -2.06451995e-04,-4.17701432e-05,-1.05608449e-04, 8.27593138e-05,
  2.81574277e-07, 1.79186364e-07,-1.21644082e+00,-4.58134287e-04,
  1.07883832e-05,-5.50562256e-04]


--- Step 676 ---
qpos:
[ 0.01204326,-0.00115898, 0.0024766 , 0.04194409, 0.0045745 ,-0.00236222,
 -0.0182045 , 0.02845565, 0.01316583, 0.00444682,-0.01023565, 0.0264373 ,
  1.0288978 ,-0.00119967, 0.82194624, 0.06514758, 0.09358321,-0.07009587,
  0.13095769, 0.50291305, 0.49248413, 0.49710697, 0.50736823]

qacc:
[ -1.73332589,  1.14178237, -3.13671666,  1.5360505 , -2.67750714,
  -0.76943635,  5.49740527,-14.68486163, -1.47096506, -0.1130837 ,
   5.83010771,-24.04811328, -0.53463184,  0.30429258, -7.95913262,
  26.36357238,  0.0784449 ,  1.05918506,  0.39309627,  2.0627205 ,
   0.19911945,-15.14016494]

qfrc_actuator:
[ 4.34125851e-05, 1.05232751e-04, 4.86979414e-05, 5.21407571e-05,
  6.37989422e-05,-2.83987472e-04,-2.35532982e-04,-1.70068337e-05,
 -1.68499617e-05,-2.47223728e-05,-9.11196290e-05, 4.93337865e-07,
  2.94335267e-02,-1.18140098e-03, 1.33357975e-02,-3.02416676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54344526,  0.32666964,  4.53168642,  0.32666964, 35.95271924,
       -2.26415846,  4.53168642, -2.26415846,  4.70665863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003009046679015026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96010911e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96010911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163981, -0.08819771,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00494852e-05, 1.59701954e-05,-1.86582404e-05,-6.00574498e-06,
 -1.56845613e-05, 3.63037799e-05, 9.93234329e-06,-2.42595083e-05,
 -8.43811832e-06, 3.24592430e-05,-2.58279096e-05,-5.47832142e-05,
 -1.89393829e-04,-6.15297654e-05,-3.97297848e-05, 1.16499612e-04,
  1.41359352e-07, 3.48138684e-08,-1.21644027e+00,-4.57696944e-04,
  1.10654809e-05,-5.50655464e-04]


--- Step 677 ---
qpos:
[ 0.01204408,-0.00115768, 0.00247571, 0.04194387, 0.00457524,-0.00236211,
 -0.01820377, 0.02845472, 0.0131657 , 0.0044473 ,-0.01023632, 0.02643656,
  1.02956547,-0.00119878, 0.82251019, 0.06515144, 0.09358196,-0.07009344,
  0.13095871, 0.50291653, 0.49246057, 0.49712175, 0.50737316]

qacc:
[ -1.19438604,  2.6427606 , -8.79484002,  9.14006487, -4.7528854 ,
  -3.55816489, 16.87601184,-34.70541755,  2.16872009,  1.84545194,
  -2.08727165, -8.82603048, -0.26985222, -0.37266135, -0.17513778,
   0.55088405,  0.08297136,  1.04362071,  0.25995578,  1.96512561,
   0.23380366,-14.95552329]

qfrc_actuator:
[ 3.68871402e-05, 1.00012945e-04,-2.77361357e-06, 4.77390804e-05,
  3.62301529e-05,-2.90710333e-04,-2.09201277e-04,-6.63126627e-05,
 -3.68043910e-06, 5.29605015e-05,-1.14558933e-04,-2.95101273e-05,
  2.93892224e-02,-1.20619479e-03, 1.33447671e-02,-3.02213605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54503869, -0.13460434, -4.54304505, -0.13460434, 47.12752394,
       -1.261662  , -4.54304505, -1.261662  ,  4.58242004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030138592148819254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95697921e-13, -1.84186278e-13,  1.00000000e+00,  3.60448717e-26,
        1.00000000e+00,  1.84186278e-13, -1.00000000e+00,  0.00000000e+00,
        1.95697921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164067, -0.08819784,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.80819939e-06,-4.46248799e-07,-5.06914164e-05,-4.48175951e-06,
 -2.80028973e-05, 1.45798888e-05, 3.42122950e-05,-4.78784402e-05,
  1.29431523e-05, 8.81619913e-05,-2.18068217e-05,-3.05710040e-05,
 -1.75116469e-04,-7.53071842e-05,-4.11701816e-06, 1.58060220e-06,
  1.84017580e-08,-1.70511571e-08,-1.21644002e+00,-4.57292583e-04,
  1.12367065e-05,-5.50658074e-04]


--- Step 678 ---
qpos:
[ 0.01204482,-0.00115642, 0.00247455, 0.04194359, 0.0045753 ,-0.00236217,
 -0.01820265, 0.02845394, 0.01316573, 0.00444843,-0.01023762, 0.02643686,
  1.03023215,-0.00119848, 0.82307315, 0.0651561 , 0.09358106,-0.07008689,
  0.13096032, 0.50293292, 0.49242392, 0.49715329, 0.50736158]

qacc:
[ -0.7513246 ,  0.55294504, -1.80746278,  1.21915859, -5.95390335,
  -1.0131265 ,  2.6959347 , -0.70974369,  1.36843082,  4.77295043,
 -20.21006991, 38.92465814, -0.10739544, -0.77392227, -3.90203977,
  11.48029959,  0.08648524,  1.03091354,  0.14846178,  1.88733377,
   0.26101258,-14.80357759]

qfrc_actuator:
[ 3.27217801e-05, 9.62337840e-05,-1.50168585e-05, 4.52180313e-05,
  1.96657999e-06,-3.12555769e-04,-1.94035725e-04,-5.94339628e-05,
  4.12243777e-06, 8.10904649e-05,-1.45669306e-04, 2.41920290e-05,
  2.93333316e-02,-1.23888795e-03, 1.32765903e-02,-2.98698262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029972390475284383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04179287e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04179287e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916413 , -0.0881985 ,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36015110e-06,-1.47328452e-05,-1.87385954e-05,-4.38158588e-06,
 -3.50566283e-05,-8.69759423e-06, 2.07282324e-05, 7.75690915e-06,
  8.20421041e-06, 7.16124289e-05,-1.66398118e-05, 5.61323217e-05,
 -1.80664369e-04,-8.25343810e-05,-7.99586566e-05, 3.23378645e-05,
 -9.00906059e-08, 2.09048196e-08,-1.21644008e+00,-4.56914400e-04,
  1.13100001e-05,-5.50570232e-04]


--- Step 679 ---
qpos:
[ 0.01204481,-0.00115543, 0.00247384, 0.04194395, 0.00457529,-0.00236223,
 -0.01820138, 0.02845289, 0.0131655 , 0.00444927,-0.0102383 , 0.0264375 ,
  1.03089767,-0.00119826, 0.82363501, 0.0651569 , 0.09358052,-0.07007625,
  0.13096216, 0.50296212, 0.49237422, 0.49720142, 0.50733369]

qacc:
[ -6.53345791, -0.26118566, -2.23768523, 12.75242783, -0.57901097,
  -0.95986135,  4.55959233, -9.37793748, -2.18295018, -1.43813928,
   3.18407024,  1.74699008, -0.88157222,  1.07390812, 10.08738845,
 -37.53006909,  0.0892179 ,  1.0206337 ,  0.05533008,  1.82545775,
   0.28235855,-14.67989842]

qfrc_actuator:
[-5.52755380e-06, 9.34933186e-05, 1.37638213e-05, 7.93594998e-05,
 -4.54068106e-07,-3.07783711e-04,-1.85620193e-04,-7.28327180e-05,
 -9.05575047e-06, 2.61149397e-05,-1.27933214e-04, 3.79074684e-05,
  2.92758504e-02,-1.24051837e-03, 1.31781915e-02,-3.19901915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029637581673495894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99006109e-13, -3.74599735e-13,  1.00000000e+00,  7.45476358e-26,
        1.00000000e+00,  3.74599735e-13, -1.00000000e+00,  0.00000000e+00,
        1.99006109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164174, -0.08819957,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83803222e-05,-1.50726999e-05, 2.32768809e-05, 3.27771017e-05,
 -3.42480116e-06, 4.50100152e-06, 9.43154807e-06,-1.29024542e-05,
 -1.29194616e-05,-1.59845142e-05, 3.24222840e-05, 1.73003840e-05,
 -1.87872565e-04,-5.36162535e-05,-1.37489627e-04,-2.21928281e-04,
 -1.86189108e-07, 1.46473003e-07,-1.21644042e+00,-4.56557338e-04,
  1.12912619e-05,-5.50392141e-04]


--- Step 680 ---
qpos:
[ 0.01204504,-0.00115441, 0.00247283, 0.04194473, 0.0045756 ,-0.00236215,
 -0.01820032, 0.02845135, 0.01316582, 0.00444994,-0.01023869, 0.02643761,
  1.03156209,-0.00119836, 0.82419594, 0.06515338, 0.09357616,-0.07007285,
  0.13096219, 0.50298056, 0.49233324, 0.49720889, 0.50734786]

qacc:
[  2.02337229,  1.73161841, -7.93020184, 15.71648563,  2.75684828,
  -0.23432579,  3.13042748,-11.29891402,  4.70915543, -2.14301157,
   9.49453234,-18.86077855, -0.66386405,  0.49350084, 11.67707622,
 -42.80028145, -0.95350655, -1.80816637, -0.45123392,-15.924566  ,
   0.59234464, 25.48180205]

qfrc_actuator:
[ 7.47808986e-06, 9.16037168e-05,-4.45826236e-06, 9.93174544e-05,
  1.58889858e-05,-3.04906818e-04,-1.98926614e-04,-9.80474118e-05,
  1.87815870e-05, 1.07200228e-05,-1.17393033e-04, 1.01782844e-05,
  2.92174656e-02,-1.25928157e-03, 1.31415900e-02,-3.41300754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002919858904602186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23218270e-07,  3.23218460e-07,  1.00000000e+00,  1.04470111e-13,
        1.00000000e+00, -3.23218460e-07, -1.00000000e+00, -1.26217745e-29,
       -3.23218270e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10935274, -0.03535945,  0.06199165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19036772e-05,-4.14806959e-06,-1.73372792e-05, 2.07557360e-05,
  1.62470921e-05, 6.77710193e-06,-1.16732306e-05,-2.49468105e-05,
  2.74647577e-05,-1.69239980e-05, 1.18275019e-05,-2.69569376e-05,
 -1.87927809e-04,-6.69434953e-05,-1.28889664e-04,-2.45073766e-04,
 -2.71428662e-07, 3.57852487e-07,-1.21644104e+00,-4.56217639e-04,
  1.11848462e-05,-5.50124018e-04]


--- Step 681 ---
qpos:
[ 0.01204542,-0.00115339, 0.00247163, 0.04194539, 0.00457645,-0.00236213,
 -0.0181997 , 0.02845061, 0.01316612, 0.00445096,-0.01023949, 0.02643807,
  1.03222523,-0.00119833, 0.82475529, 0.06515091, 0.09356794,-0.0700768 ,
  0.13095963, 0.50298768, 0.4923013 , 0.49717529, 0.50740472]

qacc:
[  1.34480095,  0.28523255, -0.52648118, -1.19676446,  4.70840382,
   2.73706586,-13.21260944, 27.57074038, -0.14404004,  2.32439219,
  -9.02757093, 15.27521573, -0.93280697,  1.28581797, -5.45066645,
  15.79311245, -0.96617967, -1.84013725, -0.64704005,-15.97618339,
   0.70610436, 25.96840877]

qfrc_actuator:
[ 1.50527532e-05, 9.00533311e-05,-1.48068292e-05, 9.29738075e-05,
  4.31347191e-05,-3.21041813e-04,-2.24957344e-04,-5.90122471e-05,
  1.72860129e-05, 5.45801242e-05,-1.28845459e-04, 2.93134724e-05,
  2.91532496e-02,-1.25256389e-03, 1.31048118e-02,-3.34212379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51713563, -0.28275321,  4.50827738, -0.28275321, 44.67404954,
        2.51858866,  4.50827738,  2.51858866,  4.67509819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002927983407134266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109814  , -0.03397857,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90936387e-06,-6.58526168e-06,-1.26250641e-05,-6.71949190e-06,
  2.77130416e-05,-1.58316327e-05,-2.69425700e-05, 3.84364016e-05,
 -7.18785520e-07, 3.56747506e-05,-1.44285435e-05, 1.82925717e-05,
 -1.96623452e-04,-4.37939209e-05,-1.28168333e-04, 3.95119336e-05,
 -2.16294503e-07,-1.02615508e-08,-1.21644028e+00,-4.56665927e-04,
  1.14047826e-05,-5.50257508e-04]


--- Step 682 ---
qpos:
[ 0.01204485,-0.00115271, 0.00247101, 0.04194596, 0.00457692,-0.00236225,
 -0.01819936, 0.02845033, 0.0131657 , 0.00445197,-0.01024002, 0.02643875,
  1.03288695,-0.00119763, 0.82531258, 0.065151  , 0.09355997,-0.07007649,
  0.13095869, 0.50300784, 0.49225642, 0.49715895, 0.50744429]

qacc:
[ -8.29625726, -2.22938525,  7.72536738,-10.02028703, -3.24678585,
   1.61288944, -7.98629252, 16.71180939, -6.235842  , -0.29167145,
   0.08164284,  3.38339046, -1.46544037,  2.72406289,-10.67563302,
  33.15061003,  0.06347354,  1.0675872 ,  0.40556736,  2.21464734,
   0.12061028,-15.12334995]

qfrc_actuator:
[-3.39039846e-05, 7.09643514e-05, 1.50827656e-05, 8.89727775e-05,
  2.33149502e-05,-3.30692358e-04,-2.40565634e-04,-3.57632333e-05,
 -1.92274509e-05, 4.47665480e-05,-1.17397514e-04, 4.04104991e-05,
  2.90909161e-02,-1.21310865e-03, 1.30094358e-02,-3.21047214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52291775,   1.32842636,   4.32343247,   1.32842636,
        41.23887639, -11.28141763,   4.32343247, -11.28141763,
         7.98926831,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029460641283911293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00201339e-13, -1.88424789e-13,  1.00000000e+00,  3.77228950e-26,
        1.00000000e+00,  1.88424789e-13, -1.00000000e+00,  0.00000000e+00,
        2.00201339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164471, -0.08820101,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87353520e-05,-2.56898797e-05, 2.67418986e-05,-4.85224069e-06,
 -1.90353193e-05,-2.24179936e-05,-2.08742174e-05, 2.23854223e-05,
 -3.65190985e-05, 7.91140530e-06, 1.76694579e-05, 1.24811799e-05,
 -1.94617357e-04,-9.24830616e-06,-1.53522452e-04, 1.16532089e-04,
 -3.07419061e-08,-2.62682404e-07,-1.21644067e+00,-4.57170778e-04,
  1.08067746e-05,-5.50627200e-04]


--- Step 683 ---
qpos:
[ 0.01204404,-0.00115235, 0.00247051, 0.04194651, 0.00457682,-0.00236271,
 -0.01819882, 0.02844998, 0.0131652 , 0.00445289,-0.01024004, 0.0264392 ,
  1.03354757,-0.00119706, 0.82586823, 0.06515227, 0.09355236,-0.07007228,
  0.130959  , 0.50303958, 0.49219991, 0.49715873, 0.50746786]

qacc:
[ -2.07551012, -0.81818237,  2.38742184, -2.72269745, -5.12224277,
  -1.1582433 ,  3.77196571, -5.06765381, -0.76896627, -1.98976079,
   7.87000127,-12.4914789 , -0.55959709,  0.4316716 , -5.95002628,
  17.35373098,  0.08882937,  0.97399332,  0.31173389,  2.29188513,
   0.18953748,-13.82189875]

qfrc_actuator:
[-4.47300250e-05, 4.16845556e-05, 1.51652214e-05, 8.63985737e-05,
 -6.29865630e-06,-3.54111250e-04,-2.32139063e-04,-3.97395785e-05,
 -2.27926193e-05, 3.84827862e-05,-9.27256977e-05, 2.89091538e-05,
  2.90350960e-02,-1.22563164e-03, 1.29375848e-02,-3.15080740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52611881, -0.3941511 , -4.50892409, -0.3941511 , 33.63470843,
       -2.54454997, -4.50892409, -2.54454997,  4.74855263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002956008378249292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71940994e-07, -4.71941304e-07,  1.00000000e+00, -2.22728448e-13,
        1.00000000e+00,  4.71941304e-07, -1.00000000e+00,  2.52435490e-29,
       -4.71940994e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0914054 , -0.0867503 ,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22240084e-05,-3.83637445e-05,-2.09783366e-06,-2.84328768e-06,
 -3.01644843e-05,-3.93130879e-05, 1.99808759e-06,-5.22277525e-06,
 -4.59841205e-06, 2.27912956e-06, 2.89081769e-05,-1.03091697e-05,
 -1.79441850e-04,-5.48524372e-05,-1.31498314e-04, 4.59467162e-05,
 -2.32028197e-07,-1.88066524e-07,-1.21644052e+00,-4.56543595e-04,
  1.14022136e-05,-5.50553152e-04]


--- Step 684 ---
qpos:
[ 0.0120438 ,-0.0011524 , 0.00247034, 0.04194737, 0.00457704,-0.00236353,
 -0.01819787, 0.02844923, 0.01316466, 0.00445349,-0.01023994, 0.02644026,
  1.03420708,-0.00119662, 0.82642258, 0.06515286, 0.09354755,-0.07007591,
  0.13095722, 0.50303489, 0.49218399, 0.49713754, 0.50750871]

qacc:
[  4.99096965, -0.8108247 ,  0.81322784,  4.28327207,  2.95987522,
  -2.46207971,  9.79957382,-17.19244234, -0.33226964,  0.48617734,
  -4.8952351 , 15.40887734, -0.67296536,  0.65501808,  0.1828671 ,
  -3.34947403,  0.70159598, -1.95887524, -0.52222324,  9.56040515,
  -2.26309098, 28.8387546 ]

qfrc_actuator:
[-1.52558223e-05, 2.41704495e-05, 3.30920497e-05, 1.02399530e-04,
  1.18333266e-05,-3.67766640e-04,-2.09665982e-04,-5.96974205e-05,
 -2.46778826e-05,-1.10610011e-06,-9.59683805e-05, 5.74662499e-05,
  2.89778811e-02,-1.23328866e-03, 1.28745595e-02,-3.18723332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53613283,  0.62428091, -4.49296944,  0.62428091, 38.79657807,
        4.76035775, -4.49296944,  4.76035775,  5.19756632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029868222005537126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222502, -0.03139441,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91125277e-05,-3.95324948e-05, 9.64739050e-06, 1.42292020e-05,
  1.72579871e-05,-3.54494482e-05, 1.44193932e-05,-2.16732521e-05,
 -2.01287843e-06,-3.28220240e-05, 4.20261798e-07, 2.94514652e-05,
 -1.81196495e-04,-5.45578289e-05,-1.21554279e-04,-5.15321735e-05,
 -3.99233326e-07,-4.11702335e-08,-1.21644064e+00,-4.55979150e-04,
  1.18541657e-05,-5.50398440e-04]


--- Step 685 ---
qpos:
[ 0.01204357,-0.00115256, 0.00247029, 0.04194804, 0.00457748,-0.00236437,
 -0.01819709, 0.02844859, 0.01316411, 0.00445342,-0.01023969, 0.02644204,
  1.03486552,-0.00119655, 0.82697534, 0.06515399, 0.09354548,-0.07008728,
  0.13095285, 0.50299411, 0.49220804, 0.4970959 , 0.50756658]

qacc:
[ 0.09228681,-0.89138782, 3.73472393,-7.04041148, 1.88035653, 0.65834101,
 -2.86717026, 5.06503269,-0.14235708, 0.16877587,-4.93949965,17.70262611,
 -0.35042843,-0.14721673,-3.98953839,10.55376354, 0.68468891,-1.93731781,
 -0.64812527, 9.51413984,-2.12928589,28.41094051]

qfrc_actuator:
[-1.55677074e-05, 3.16729405e-05, 4.37243857e-05, 9.37211845e-05,
  2.24203582e-05,-3.57667755e-04,-2.14563958e-04,-5.33763684e-05,
 -2.55699570e-05,-6.04160211e-05,-9.80269157e-05, 9.15658946e-05,
  2.89198702e-02,-1.25573531e-03, 1.28062061e-02,-3.15565449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53822838, -2.95483483,  3.4444837 , -2.95483483, 14.6867707 ,
        8.70588132,  3.4444837 ,  8.70588132, 12.00652946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029932146667419057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08222377, -0.03139535,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01720264e-07,-1.19892612e-05, 4.14671027e-06,-9.76381870e-06,
  1.10672481e-05,-7.64851621e-06,-1.11944645e-05, 4.87965357e-06,
 -9.59747455e-07,-7.63429983e-05,-7.77857427e-06, 3.32768419e-05,
 -1.83079985e-04,-6.96673405e-05,-1.34176572e-04, 1.20827943e-05,
  5.28590515e-08,-1.05034853e-07,-1.21644025e+00,-4.56624121e-04,
  1.11601482e-05,-5.50316137e-04]


--- Step 686 ---
qpos:
[ 0.01204369,-0.00115248, 0.00246997, 0.0419479 , 0.00457805,-0.00236512,
 -0.01819672, 0.02844803, 0.01316389, 0.00445308,-0.01023953, 0.02644315,
  1.03552298,-0.00119731, 0.82752652, 0.06515741, 0.09354374,-0.07009435,
  0.13095094, 0.50296686, 0.49221841, 0.49707185, 0.50760709]

qacc:
[  3.00126025, -0.5992881 ,  6.0218255 ,-19.86886921,  1.0681564 ,
   1.4608074 , -5.3770142 ,  7.40289202,  2.97809577, -1.48335099,
   7.6020662 ,-18.90470284,  0.20701897, -1.56982154, -9.27817474,
  29.00464482,  0.08192528,  1.07611306,  0.61418481,  2.00486152,
   0.25949321,-15.53175137]

qfrc_actuator:
[ 2.08377954e-06, 5.40593952e-05, 3.22919944e-05, 5.28504578e-05,
  2.84666726e-05,-3.51255673e-04,-2.35467895e-04,-4.93933827e-05,
 -8.11870680e-06,-6.00684170e-05,-9.94573664e-05, 5.76203848e-05,
  2.88614171e-02,-1.30451612e-03, 1.27560324e-02,-3.03097024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030460754065420037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41696756e-14, -1.82238270e-13,  1.00000000e+00, -6.22702257e-27,
        1.00000000e+00,  1.82238270e-13, -1.00000000e+00,  0.00000000e+00,
       -3.41696756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164903, -0.08819941,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76622358e-05, 1.61259344e-05,-1.37348951e-05,-4.14319725e-05,
  6.35957631e-06, 5.86883794e-08,-2.36921784e-05, 3.36394049e-06,
  1.73966596e-05,-4.25311685e-05,-1.70134874e-05,-3.68431305e-05,
 -1.87954069e-04,-9.90214998e-05,-1.13656939e-04, 1.07355810e-04,
  2.79913868e-07, 2.78806582e-07,-1.21644105e+00,-4.57113620e-04,
  1.11278154e-05,-5.50438978e-04]


--- Step 687 ---
qpos:
[ 0.01204436,-0.00115229, 0.00246978, 0.04194759, 0.00457868,-0.002366  ,
 -0.01819657, 0.02844823, 0.01316388, 0.00445281,-0.01023984, 0.02644348,
  1.03617914,-0.00119801, 0.82807689, 0.06516085, 0.09354234,-0.07009719,
  0.1309508 , 0.50295296, 0.49221522, 0.49706506, 0.50763061]

qacc:
[  4.88515755, -0.54896163,  2.82055797, -5.80617408,  0.5948689 ,
   1.99070324,-10.5529749 , 24.11870695,  1.83664594, -0.21080042,
   4.16843281,-16.95419921, -0.97217654,  1.29034289, -1.18968974,
   2.54488906,  0.08515858,  1.05775297,  0.44446518,  1.91300334,
   0.28557101,-15.27588018]

qfrc_actuator:
[ 3.01761494e-05, 6.73206343e-05, 4.34822356e-05, 4.66285628e-05,
  3.17940577e-05,-3.64919034e-04,-2.47905586e-04,-1.13242901e-05,
  2.23674879e-06,-4.18073693e-05,-1.18072885e-04, 1.94613664e-05,
  2.87974037e-02,-1.29747913e-03, 1.27274740e-02,-3.02991578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56876125, -0.79549557,  4.4989739 , -0.79549557, 25.17157619,
        3.64293024,  4.4989739 ,  3.64293024,  5.21289365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003084266720996126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01239696e-13,  1.79981682e-13,  1.00000000e+00, -1.82212908e-26,
        1.00000000e+00, -1.79981682e-13, -1.00000000e+00,  0.00000000e+00,
        1.01239696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09164982, -0.0881985 ,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86028780e-05, 1.76740388e-05, 1.13985179e-05,-6.81260375e-06,
  3.50962257e-06,-1.83536963e-05,-1.52221295e-05, 3.73191416e-05,
  1.08363968e-05,-1.06024893e-05,-3.07725408e-05,-4.12902100e-05,
 -2.02546962e-04,-4.94986537e-05,-7.24807485e-05,-8.44451584e-06,
  1.57138907e-07, 9.26368584e-08,-1.21644039e+00,-4.56742065e-04,
  1.13901640e-05,-5.50569890e-04]


--- Step 688 ---
qpos:
[ 0.01204501,-0.00115183, 0.00246962, 0.04194755, 0.00457935,-0.00236714,
 -0.01819683, 0.02844961, 0.013164  , 0.0044526 ,-0.01024045, 0.02644369,
  1.03683389,-0.00119807, 0.8286265 , 0.06516096, 0.09354129,-0.07009586,
  0.13095187, 0.50295223, 0.4921986 , 0.49707527, 0.50763744]

qacc:
[-1.21350321e-01, 7.88223903e-01,-3.38469679e+00, 7.60737080e+00,
  3.00568892e-01, 3.20233273e+00,-1.68710409e+01, 3.80334868e+01,
  1.08321412e+00, 6.55171147e-01,-1.70871135e+00,-3.74260265e-03,
 -1.71551896e+00, 3.17294686e+00, 9.01497524e+00,-3.29403638e+01,
  8.76300430e-02, 1.04256514e+00, 3.01946341e-01, 1.83938167e+00,
  3.05869545e-01,-1.50638559e+01]

qfrc_actuator:
[ 2.86779445e-05, 9.28855857e-05, 5.01945285e-05, 6.08624896e-05,
  3.34958761e-05,-3.90439450e-04,-2.73050042e-04, 4.64877337e-05,
  8.32712269e-06,-3.07837839e-05,-1.28837837e-04, 1.46542792e-05,
  2.87407708e-02,-1.25750553e-03, 1.26639403e-02,-3.20819380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030934132959974103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60779731e-14, -1.79449514e-13,  1.00000000e+00,  1.00631650e-26,
        1.00000000e+00,  1.79449514e-13, -1.00000000e+00,  0.00000000e+00,
        5.60779731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916504 , -0.08819835,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78827266e-07, 3.75149198e-05, 1.15300661e-05, 1.52522447e-05,
  1.79458186e-06,-3.72976218e-05,-2.95112837e-05, 5.72261031e-05,
  6.39640205e-06,-3.01486456e-06,-1.81684151e-05,-7.12967742e-06,
 -1.93292129e-04,-1.13446313e-05,-1.04522611e-04,-1.89647171e-04,
  4.91878942e-08, 3.33451504e-09,-1.21644006e+00,-4.56395353e-04,
  1.15520187e-05,-5.50607852e-04]


--- Step 689 ---
qpos:
[ 0.0120453 ,-0.00115111, 0.00246899, 0.04194772, 0.00458004,-0.00236813,
 -0.0181978 , 0.02845094, 0.01316418, 0.00445212,-0.01024108, 0.02644386,
  1.03748738,-0.00119767, 0.829175  , 0.06515824, 0.0935406 ,-0.07009041,
  0.13095367, 0.50296454, 0.49216863, 0.49710227, 0.50762785]

qacc:
[ -3.25061072,  2.11880386, -7.90113977, 12.02918021,  0.10594798,
   2.11137425, -7.09260061,  7.47175672,  0.64110344, -0.3875806 ,
   1.03574068, -1.47884853, -1.42063172,  2.51443547,  6.99212551,
 -26.62605784,  0.08952156,  1.03009346,  0.18253892,  1.78048393,
   0.32166177,-14.88938615]

qfrc_actuator:
[ 9.77222273e-06, 9.01260868e-05, 1.87570945e-05, 6.92643294e-05,
  3.42282047e-05,-3.69638796e-04,-3.05545680e-04, 4.44152241e-05,
  1.18605048e-05,-5.96211018e-05,-1.34871587e-04, 1.17627703e-05,
  2.86832951e-02,-1.23388294e-03, 1.26114016e-02,-3.34871350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030793811701197715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63335092e-14, -5.40801689e-13,  1.00000000e+00,  3.04652569e-26,
        1.00000000e+00,  5.40801689e-13, -1.00000000e+00,  0.00000000e+00,
        5.63335092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165081, -0.08819881,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89143313e-05, 2.12371168e-05,-2.17446637e-05, 1.07041898e-05,
  7.69308449e-07,-3.65749619e-06,-4.18415808e-05,-3.57836050e-06,
  3.71382095e-06,-3.45645843e-05,-9.13196141e-06,-3.78696330e-06,
 -1.80682563e-04,-1.88434113e-05,-1.27762311e-04,-1.65943483e-04,
 -4.61060135e-08, 7.09894418e-09,-1.21644002e+00,-4.56068635e-04,
  1.16200390e-05,-5.50553562e-04]


--- Step 690 ---
qpos:
[ 0.01204536,-0.00115042, 0.00246812, 0.04194801, 0.00458038,-0.00236894,
 -0.018199  , 0.0284529 , 0.01316372, 0.00445149,-0.01024183, 0.02644432,
  1.03813968,-0.00119696, 0.82972224, 0.06515706, 0.09354028,-0.07008088,
  0.1309558 , 0.50298979, 0.49212541, 0.49714588, 0.50760203]

qacc:
[ -2.01582941,  0.86920408, -3.69784471,  6.24631505, -3.00336299,
   2.13592694, -9.87489459, 20.77182178, -5.71330958,  0.80811507,
  -4.4156873 ,  9.94255855, -1.03775674,  1.67553648, -6.44045578,
  19.95587756,  0.09097399,  1.01994832,  0.08274975,  1.73350084,
   0.33394133,-14.74715315]

qfrc_actuator:
[-1.46575391e-06, 7.02659198e-05, 4.33574823e-07, 7.41155563e-05,
  1.66323628e-05,-3.39095381e-04,-3.06472427e-04, 7.81653893e-05,
 -2.16433924e-05,-5.88205674e-05,-1.38232623e-04, 2.77367644e-05,
  2.86253523e-02,-1.22014712e-03, 1.25974721e-02,-3.25271614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030470757858068465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84653812e-13, -1.82178440e-13,  1.00000000e+00,  5.18577873e-26,
        1.00000000e+00,  1.82178440e-13, -1.00000000e+00,  0.00000000e+00,
        2.84653812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165109, -0.08819974,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17699233e-05,-1.20440771e-05,-1.62455213e-05, 5.21723452e-06,
 -1.75733368e-05, 1.97469963e-05,-6.94014527e-06, 3.20773824e-05,
 -3.34120479e-05,-2.05505581e-05,-1.17440277e-05, 1.41050547e-05,
 -1.75097725e-04,-2.72089764e-05,-9.56971344e-05, 6.92586147e-05,
 -1.30361546e-07, 1.00891117e-07,-1.21644028e+00,-4.55758285e-04,
  1.15992115e-05,-5.50407644e-04]


--- Step 691 ---
qpos:
[ 0.01204528,-0.0011497 , 0.00246701, 0.04194799, 0.00458051,-0.00236961,
 -0.01819994, 0.02845521, 0.01316321, 0.004451  ,-0.01024251, 0.02644528,
  1.03879097,-0.00119664, 0.83026838, 0.06515796, 0.09354039,-0.0700676 ,
  0.13095812, 0.50302657, 0.49207029, 0.49720511, 0.50756101]

qacc:
[ -1.19808859,  0.07879442,  1.05997315, -5.91311071, -1.86663996,
   0.23515794, -2.05304931,  7.72712277, -0.46836832,  0.95221688,
  -5.16777136, 13.27874091, -0.23654544, -0.3603148 , -7.88946063,
  25.25607395,  0.10987633,  0.93784013,  0.0473155 ,  1.91073514,
   0.34173334,-13.54826757]

qfrc_actuator:
[-8.09506615e-06, 7.58548790e-05,-1.00687323e-05, 5.90839689e-05,
  6.14277030e-06,-3.20548129e-04,-2.88662042e-04, 9.72641205e-05,
 -2.34192140e-05,-2.24984427e-05,-1.22115394e-04, 5.47047456e-05,
  2.85671688e-02,-1.24787801e-03, 1.25641566e-02,-3.14230737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003000352543286185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07943811e-06, -1.07943869e-06,  1.00000000e+00, -1.16518726e-12,
        1.00000000e+00,  1.07943869e-06, -1.00000000e+00, -2.01948392e-28,
       -1.07943811e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09141032, -0.0867506 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96925601e-06,-4.29784492e-06,-1.48084809e-05,-1.60078522e-05,
 -1.09850210e-05, 2.95640919e-05, 2.21641585e-05, 2.03299996e-05,
 -2.73505577e-06, 2.30260204e-05, 1.09297421e-05, 2.59587918e-05,
 -1.72978659e-04,-6.92579344e-05,-7.45564671e-05, 1.00807339e-04,
 -2.04788073e-07, 2.82292021e-07,-1.21644083e+00,-4.55461585e-04,
  1.14932441e-05,-5.50170630e-04]


--- Step 692 ---
qpos:
[ 0.01204513,-0.00114905, 0.00246554, 0.04194783, 0.00458051,-0.00237003,
 -0.01820063, 0.02845668, 0.01316302, 0.00445025,-0.01024251, 0.02644586,
  1.03944098,-0.00119601, 0.83081393, 0.06515844, 0.09354334,-0.07006227,
  0.13095872, 0.50302667, 0.49205599, 0.4972433 , 0.50753736]

qacc:
[ -0.70401152,  0.64341316, -1.75542396, -0.30881845, -1.10971372,
  -2.0934101 , 11.47123993,-26.54126467,  2.90827742, -3.01237871,
  11.77814257,-19.00833621, -1.21459797,  1.98746633,  0.4588472 ,
  -2.69659721,  0.7092211 , -1.98983094, -0.43258592,  9.63088818,
  -2.26041117, 29.00104959]

qfrc_actuator:
[-1.19609405e-05, 6.11449255e-05,-3.35433317e-05, 5.02496451e-05,
 -7.44023904e-08,-3.09245070e-04,-2.77749777e-04, 5.43262507e-05,
 -6.49437867e-06,-5.38488404e-05,-9.44682870e-05, 3.47108474e-05,
  2.85035407e-02,-1.22889926e-03, 1.25352171e-02,-3.16643149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030421686628984146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12361499e-14, -9.12361499e-14,  1.00000000e+00,  8.32403505e-27,
        1.00000000e+00,  9.12361499e-14, -1.00000000e+00,  0.00000000e+00,
        9.12361499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221432, -0.03140091,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06553497e-06,-2.08733780e-05,-2.67352082e-05,-9.84122701e-06,
 -6.52193490e-06, 3.33107623e-05, 2.04666267e-05,-4.05094482e-05,
  1.68515838e-05,-1.50830629e-05, 3.46589774e-05,-1.81232566e-05,
 -1.85986980e-04,-2.94845454e-05,-5.76680777e-05,-2.94297322e-05,
 -2.63132192e-07, 5.25608561e-07,-1.21644158e+00,-4.55197202e-04,
  1.12965370e-05,-5.49847713e-04]


--- Step 693 ---
qpos:
[ 0.01204458,-0.00114899, 0.00246457, 0.04194756, 0.00458044,-0.00237001,
 -0.01820155, 0.02845764, 0.01316269, 0.00444935,-0.01024242, 0.02644588,
  1.04008949,-0.00119424, 0.83135859, 0.06515799, 0.09354905,-0.0700648 ,
  0.13095701, 0.50299049, 0.49208186, 0.49726098, 0.50753081]

qacc:
[ -3.39932993, -2.42053751,  7.89712234, -9.96015063, -0.66983995,
   0.14373198,  2.51261251,-11.43375455, -1.23352541, -1.59295481,
   7.76760581,-17.51890966, -2.1449166 ,  4.35027956,  1.62308907,
  -7.26786099,  0.69151426, -1.96195928, -0.57361814,  9.57776479,
  -2.11916575, 28.54231973]

qfrc_actuator:
[-3.19237514e-05, 1.65903319e-05,-1.13061204e-05, 4.51102901e-05,
 -3.72931850e-06,-2.84688745e-04,-2.88826863e-04, 2.84762570e-05,
 -1.42139535e-05,-7.22027488e-05,-9.60440371e-05, 4.94796984e-06,
  2.84367065e-02,-1.16469797e-03, 1.24822678e-02,-3.21635449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56073884,  2.31876235, -3.92729932,  2.31876235, 26.41925254,
       12.90573867, -3.92729932, 12.90573867, 12.18056574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003060712082051664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06833929e-14, -1.36025089e-13,  1.00000000e+00,  1.23352166e-26,
        1.00000000e+00,  1.36025089e-13, -1.00000000e+00,  0.00000000e+00,
        9.06833929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221324, -0.03140221,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00848019e-05,-6.21781854e-05, 1.43026730e-05,-7.14777892e-06,
 -3.82846291e-06, 4.56928786e-05,-3.06715529e-06,-2.45031956e-05,
 -7.24896180e-06,-2.03747559e-05,-1.04288179e-06,-2.95631072e-05,
 -1.88669228e-04, 1.97734803e-05,-9.02567038e-05,-6.07344716e-05,
 -7.15334467e-08, 1.03298134e-07,-1.21644037e+00,-4.55935924e-04,
  1.10822743e-05,-5.49653165e-04]


--- Step 694 ---
qpos:
[ 0.01204346,-0.00114962, 0.0024645 , 0.04194757, 0.00458067,-0.00236965,
 -0.01820259, 0.02845828, 0.01316262, 0.00444842,-0.01024296, 0.02644593,
  1.04073678,-0.00119226, 0.83190198, 0.06515664, 0.09355748,-0.07007508,
  0.13095254, 0.50291832, 0.49214736, 0.49725861, 0.50754115]

qacc:
[-5.05672501,-2.83119703, 7.6651706 ,-3.93930704, 2.63463661, 0.11564532,
  1.55497051,-7.03296813, 2.22531632, 1.78322187,-6.53045066, 8.0015226 ,
 -1.06036566, 1.62761157, 0.92459308,-5.81785199, 0.67726573,-1.9387743 ,
 -0.69219568, 9.53118467,-2.00448935,28.1647046 ]

qfrc_actuator:
[-6.12022247e-05,-9.80386845e-06, 3.76200673e-05, 5.99433913e-05,
  1.19042975e-05,-2.70223289e-04,-2.94969738e-04, 1.28942750e-05,
 -8.77622877e-07,-8.27652833e-05,-1.32582870e-04, 5.17067242e-06,
  2.83680153e-02,-1.16307628e-03, 1.24149616e-02,-3.26332438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55828836, -2.53917492,  3.78557572, -2.53917492, 22.67708497,
       12.15318283,  3.78557572, 12.15318283, 12.71003575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003053465874469641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81797189e-13, -2.27246486e-13,  1.00000000e+00,  4.13127724e-26,
        1.00000000e+00,  2.27246486e-13, -1.00000000e+00,  0.00000000e+00,
        1.81797189e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221203, -0.03140203,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98709857e-05,-5.85118534e-05, 3.76094645e-05, 1.25285540e-05,
  1.55415027e-05, 3.83399109e-05, 2.07809917e-06,-1.42067599e-05,
  1.31217857e-05,-2.34106400e-05,-4.18895029e-05,-1.25988365e-06,
 -1.81800067e-04,-3.47293816e-05,-1.21784619e-04,-6.34022598e-05,
 -1.05519884e-07, 1.39919175e-07,-1.21644037e+00,-4.56512997e-04,
  1.15244292e-05,-5.49659707e-04]


--- Step 695 ---
qpos:
[ 0.01204233,-0.0011503 , 0.00246451, 0.04194772, 0.00458108,-0.00236951,
 -0.01820289, 0.02845874, 0.01316236, 0.00444736,-0.01024395, 0.02644632,
  1.041383  ,-0.00119052, 0.83244391, 0.06515634, 0.09356857,-0.07009304,
  0.1309449 , 0.50281043, 0.49225204, 0.49723651, 0.50756817]

qacc:
[ 2.34042456e-02, 4.62731531e-03,-7.76810837e-01, 3.33799566e+00,
  1.65585738e+00,-2.69180456e+00, 9.94527810e+00,-1.40517198e+01,
 -1.63652791e+00, 1.79466835e+00,-8.10365310e+00, 1.49096810e+01,
 -4.62275241e-01, 1.61233059e-01,-5.32097185e+00, 1.55381360e+01,
  6.65857286e-01,-1.91958245e+00,-7.91850910e-01, 9.49160037e+00,
 -1.91073396e+00, 2.78561542e+01]

qfrc_actuator:
[-6.02187545e-05, 1.05245766e-05, 4.87167397e-05, 6.86794696e-05,
  2.10118786e-05,-2.97397191e-04,-2.62670078e-04, 3.47544942e-06,
 -1.07525667e-05,-8.87106073e-05,-1.53905487e-04, 2.30234202e-05,
  2.83088889e-02,-1.18077255e-03, 1.23657359e-02,-3.20165683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54899768, -2.76860729,  3.60945891, -2.76860729, 29.37484082,
       19.04246924,  3.60945891, 19.04246924, 19.15537511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030257700144729893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83461238e-13,  3.66922476e-13,  1.00000000e+00, -6.73160516e-26,
        1.00000000e+00, -3.66922476e-13, -1.00000000e+00,  0.00000000e+00,
        1.83461238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08221073, -0.03140067,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13263328e-07,-4.06967070e-06, 4.08646134e-06, 7.77744986e-06,
  9.56477884e-06,-5.91081818e-06, 3.99891515e-05,-7.98091865e-06,
 -9.51206535e-06,-2.76991119e-05,-3.13450138e-05, 1.53781975e-05,
 -1.80098833e-04,-6.18592128e-05,-1.16506357e-04, 4.14852168e-05,
 -3.52878166e-07, 6.18340965e-07,-1.21644154e+00,-4.56958150e-04,
  1.26049947e-05,-5.49861309e-04]


--- Step 696 ---
qpos:
[ 0.01204123,-0.00115077, 0.00246396, 0.04194799, 0.00458126,-0.00236943,
 -0.01820284, 0.02845979, 0.0131613 , 0.00444679,-0.01024552, 0.02644686,
  1.04202841,-0.00118992, 0.83298374, 0.06515623, 0.0935801 ,-0.0701066 ,
  0.13094074, 0.50271655, 0.49234219, 0.49723232, 0.50757783]

qacc:
[  0.15568163,  2.07882965, -7.47151982, 10.14827281, -2.08154621,
   0.14386128, -3.08948376, 12.65037996, -7.12543049,  2.54222159,
  -8.68302816, 11.60844944,  0.5381779 , -2.35398934, -3.73499806,
   8.41033719,  0.11218384,  1.09801503,  0.86936299,  1.75377238,
   0.42850171,-15.94033989]

qfrc_actuator:
[-5.91809737e-05, 2.30317302e-05, 1.98155248e-05, 7.37660207e-05,
  8.44631279e-06,-2.95881385e-04,-2.43608635e-04, 3.32511575e-05,
 -5.19691868e-05,-2.07666701e-05,-1.66034674e-04, 3.33691753e-05,
  2.82608595e-02,-1.24519493e-03, 1.22368825e-02,-3.20067784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031338003008998805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74973717e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.74973717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165211, -0.08819758,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04122989e-06, 1.14366408e-05,-2.89607676e-05, 5.20634558e-06,
 -1.22960821e-05, 6.12884071e-06, 2.24907127e-05, 3.07496563e-05,
 -4.15002114e-05, 4.66837109e-05,-2.11562852e-05, 8.37749174e-06,
 -1.73604188e-04,-1.13044087e-04,-1.81614784e-04,-1.25878652e-05,
 -8.04723031e-07, 1.52640185e-06,-1.21644383e+00,-4.57293550e-04,
  1.43101427e-05,-5.50253242e-04]


--- Step 697 ---
qpos:
[ 0.01204015,-0.00115126, 0.00246314, 0.04194833, 0.00458094,-0.00236888,
 -0.01820333, 0.02846118, 0.01315975, 0.00444687,-0.01024707, 0.0264471 ,
  1.04267298,-0.00119038, 0.83352122, 0.06515681, 0.09359208,-0.07011587,
  0.1309392 , 0.5026364 , 0.49241814, 0.49724565, 0.50757047]

qacc:
[  0.17789247,  0.89228701, -3.49632546,  5.13568069, -4.38188987,
   2.83279582,-10.63191815, 17.04105522, -4.28833885,  0.25657631,
   1.53838961, -6.98480847,  0.48492907, -2.23503178, -5.60359769,
  14.42517612,  0.11042822,  1.07564107,  0.65668334,  1.73446468,
   0.40935478,-15.60720342]

qfrc_actuator:
[-5.81293963e-05, 1.28418234e-05, 3.02942531e-06, 7.66424222e-05,
 -1.67726918e-05,-2.59460293e-04,-2.67904453e-04, 5.03486585e-05,
 -7.57895836e-05, 3.76841710e-05,-1.54593009e-04, 2.15274212e-05,
  2.82141758e-02,-1.30116874e-03, 1.21242730e-02,-3.16465527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032079252291351834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59565672e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.59565672e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165221, -0.08819562,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08814410e-06,-9.52688146e-06,-1.77980523e-05, 2.46753836e-06,
 -2.55697905e-05, 4.58014749e-05,-1.91988239e-05, 1.87346782e-05,
 -2.49859749e-05, 8.05653111e-05, 1.87931005e-05,-1.04050579e-05,
 -1.80039421e-04,-1.11726308e-04,-1.97842979e-04, 1.18663376e-05,
 -7.26688954e-07, 1.01667553e-06,-1.21644275e+00,-4.57460030e-04,
  1.36763959e-05,-5.50571771e-04]


--- Step 698 ---
qpos:
[ 0.01203978,-0.00115194, 0.00246223, 0.04194802, 0.00458032,-0.00236814,
 -0.01820373, 0.02846241, 0.01315827, 0.00444742,-0.01024789, 0.02644718,
  1.04331625,-0.00119062, 0.83405734, 0.06515662, 0.0936045 ,-0.0701209 ,
  0.13093958, 0.50256972, 0.49248017, 0.49727622, 0.50754637]

qacc:
[  6.2495592 , -1.38668877,  7.27017158,-18.1753397 , -2.62741865,
  -0.34720635,  2.28103368, -5.3458263 ,  0.64094235, -1.79125682,
   8.04716311,-12.6124759 , -1.13576262,  1.74831382,  0.39200924,
  -4.12656646,  0.10912392,  1.05696009,  0.47774318,  1.71973457,
   0.39235444,-15.32978036]

qfrc_actuator:
[-2.15733954e-05,-1.08241379e-05,-6.54837192e-06, 4.26860053e-05,
 -3.14773431e-05,-2.55860235e-04,-2.64209184e-04, 4.20945121e-05,
 -7.14175921e-05, 7.23400563e-05,-1.11601932e-04, 1.44952518e-05,
  2.81576813e-02,-1.28066173e-03, 1.20854173e-02,-3.19694446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032442584669745145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71105822e-13,  8.55529111e-14,  1.00000000e+00, -1.46386012e-26,
        1.00000000e+00, -8.55529111e-14, -1.00000000e+00,  0.00000000e+00,
        1.71105822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165225, -0.08819467,  0.06199073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65865566e-05,-3.25339574e-05,-1.36367533e-05,-3.49300108e-05,
 -1.54180315e-05, 2.60232098e-05, 1.14362589e-05,-6.59318005e-06,
  3.68858222e-06, 8.31458607e-05, 6.16038685e-05,-3.12833770e-06,
 -1.93638997e-04,-3.63868931e-05,-1.27883815e-04,-5.69478859e-05,
 -6.42501261e-07, 6.17851339e-07,-1.21644201e+00,-4.57633787e-04,
  1.29672302e-05,-5.50793329e-04]


--- Step 699 ---
qpos:
[ 0.01203985,-0.00115288, 0.00246122, 0.04194767, 0.00457987,-0.00236718,
 -0.01820379, 0.02846316, 0.0131572 , 0.00444831,-0.01024808, 0.02644719,
  1.04395823,-0.0011906 , 0.8345928 , 0.06515454, 0.09361735,-0.07012178,
  0.13094127, 0.50251631, 0.49252851, 0.49732377, 0.50750576]

qacc:
[  3.87739979, -0.14222585,  0.21680933, -0.70377752,  1.52432903,
  -1.60973405,  8.17717751,-17.09633156,  3.61113979, -1.43891224,
   6.00463377, -8.24933088, -1.22263352,  1.93238883,  4.80468855,
 -18.0583684 ,  0.10820061,  1.0414532 ,  0.32750035,  1.70907467,
   0.37708086,-15.09982905]

qfrc_actuator:
[ 8.16138969e-08,-2.46298443e-05,-1.18853298e-05, 4.05767734e-05,
 -2.21192848e-05,-2.36355138e-04,-2.44140182e-04, 1.89937518e-05,
 -5.04929567e-05, 7.48702025e-05,-8.59231175e-05, 1.03523964e-05,
  2.80953710e-02,-1.26840309e-03, 1.20748314e-02,-3.28678961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032501755401485866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26985793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.26985793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165222, -0.08819454,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26896718e-05,-3.62622222e-05,-1.49271011e-05,-4.65201451e-06,
  8.92716533e-06, 3.61065591e-05, 2.66186350e-05,-2.17210122e-05,
  2.10570281e-05, 6.16026962e-05, 5.03345561e-05, 1.49096120e-06,
 -1.90939175e-04,-3.48089458e-05,-7.96050059e-05,-1.10368866e-04,
 -5.52002021e-07, 3.22748354e-07,-1.21644160e+00,-4.57815798e-04,
  1.21830826e-05,-5.50919696e-04]


--- Step 700 ---
qpos:
[ 0.01203949,-0.0011539 , 0.00246004, 0.04194761, 0.00458023,-0.0023658 ,
 -0.01820367, 0.02846327, 0.01315605, 0.00444921,-0.01024805, 0.02644757,
  1.04459904,-0.00119071, 0.83512779, 0.06515487, 0.09363062,-0.07011853,
  0.13094376, 0.50247598, 0.49256336, 0.4973881 , 0.50744882]

qacc:
[ -3.78813997,  0.99769868, -4.98373183, 10.56443095,  7.05579828,
  -1.30141356,  8.10713743,-19.77102166, -0.74449628,  0.1220843 ,
  -1.96611679,  7.93002814, -0.62235557,  0.52397215, -7.93717377,
  26.83283431,  0.1075999 ,  1.02867483,  0.20165559,  1.70203361,
   0.36319338,-14.910428  ]

qfrc_actuator:
[-2.27236954e-05,-1.46330600e-05,-1.46173790e-05, 5.72370675e-05,
  1.90759836e-05,-2.07421165e-04,-2.32273688e-04,-1.26353680e-05,
 -5.55081003e-05, 4.03272560e-05,-8.85680805e-05, 2.56489919e-05,
  2.80349430e-02,-1.27895754e-03, 1.21131482e-02,-3.14345046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032318610542241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28821638e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28821638e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165215, -0.08819506,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21675890e-05,-1.35096236e-05,-1.21991699e-05, 1.45039216e-05,
  4.14623398e-05, 5.36590886e-05, 2.18391406e-05,-2.95875338e-05,
 -4.39485662e-06, 1.03407510e-05, 1.63211381e-05, 1.97045063e-05,
 -1.86679695e-04,-5.69567523e-05,-1.72322838e-05, 1.25402841e-04,
 -4.55031019e-07, 1.25664725e-07,-1.21644149e+00,-4.58006919e-04,
  1.13240263e-05,-5.50952359e-04]


--- Step 701 ---
qpos:
[ 0.01203955,-0.00115468, 0.00245841, 0.04194739, 0.00458142,-0.00236423,
 -0.01820334, 0.02846337, 0.01315519, 0.00445004,-0.01024824, 0.02644852,
  1.04523859,-0.00119063, 0.83566262, 0.06515586, 0.09364433,-0.07011121,
  0.13094664, 0.50244861, 0.49258488, 0.49746903, 0.5073757 ]

qacc:
[  3.66778811,  1.21712086, -3.20705687,  0.89395003,  7.33185032,
  -0.36331168,  1.69464777, -2.32407122,  2.58323231,  1.72717817,
  -8.68241085, 18.93232641, -1.04933747,  1.55738139, -2.19485089,
   7.47107383,  0.10727315,  1.01824175,  0.09653309,  1.6982095 ,
   0.35041478,-14.75574172]

qfrc_actuator:
[-4.99354136e-07, 9.57368001e-06,-3.34361747e-05, 4.93194968e-05,
  6.09196556e-05,-2.08606897e-04,-2.25310913e-04,-1.35201312e-05,
 -4.02511329e-05, 1.92390669e-05,-1.08060857e-04, 5.22079737e-05,
  2.79756806e-02,-1.26742149e-03, 1.21062524e-02,-3.11228247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031944861603956654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41189563e-13, -1.73771769e-13,  1.00000000e+00,  2.45347601e-26,
        1.00000000e+00,  1.73771769e-13, -1.00000000e+00,  0.00000000e+00,
        1.41189563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165203, -0.08819608,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15933087e-05, 1.47978050e-05,-2.25828920e-05,-8.63008842e-06,
  4.30454302e-05, 3.20262017e-05, 1.96932162e-05, 1.58932966e-06,
  1.51371798e-05,-1.11287419e-05,-1.46774331e-05, 2.79473629e-05,
 -1.86715513e-04,-3.82866904e-05,-9.46575149e-06, 3.39336196e-05,
 -3.51422147e-07, 2.20716468e-08,-1.21644169e+00,-4.58207934e-04,
  1.03898377e-05,-5.50892550e-04]


--- Step 702 ---
qpos:
[ 0.01204057,-0.00115541, 0.00245715, 0.04194704, 0.00458276,-0.00236288,
 -0.01820274, 0.02846421, 0.01315451, 0.00445074,-0.01024861, 0.02644978,
  1.04587698,-0.00119044, 0.83619662, 0.0651557 , 0.09365847,-0.07009986,
  0.13094955, 0.50243406, 0.49259319, 0.49756643, 0.50728652]

qacc:
[ 8.40900104e+00,-1.23773074e+00, 5.03800916e+00,-7.86113836e+00,
  1.31013216e+00, 4.73671755e-01,-5.19223796e+00, 1.75659683e+01,
  1.66540475e+00, 9.71658875e-01,-5.07617809e+00, 1.09716221e+01,
 -9.59411262e-01, 1.36819551e+00, 2.31844918e+00,-9.77898768e+00,
  1.07179723e-01, 1.00982428e+00, 8.98486886e-03, 1.69724471e+00,
  3.38518864e-01,-1.46308360e+01]

qfrc_actuator:
[ 4.80649410e-05, 2.42741825e-05,-8.29885453e-06, 4.47567739e-05,
  6.72940876e-05,-2.45571665e-04,-2.21393259e-04, 2.14194430e-05,
 -3.09290275e-05, 6.28939168e-06,-1.19541032e-04, 6.74237339e-05,
  2.79224931e-02,-1.26064262e-03, 1.20296119e-02,-3.18314362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031423601783441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10408952e-14, -3.53308648e-13,  1.00000000e+00,  3.90084376e-27,
        1.00000000e+00,  3.53308648e-13, -1.00000000e+00,  0.00000000e+00,
        1.10408952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165189, -0.0881975 ,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91892513e-05, 1.79964969e-05, 2.51418848e-05,-4.87311137e-06,
  7.61258423e-06,-1.49662030e-05, 1.29893033e-05, 3.70181204e-05,
  9.75034571e-06,-2.10345910e-05,-1.46309123e-05, 1.47705491e-05,
 -1.76663121e-04,-3.97819214e-05,-8.67921065e-05,-7.24207814e-05,
 -2.41001604e-07, 8.37151131e-09,-1.21644216e+00,-4.58419591e-04,
  9.38005055e-06,-5.50741290e-04]


--- Step 703 ---
qpos:
[ 0.01204216,-0.0011564 , 0.00245663, 0.04194666, 0.00458382,-0.00236197,
 -0.01820197, 0.02846618, 0.01315361, 0.00445154,-0.01024894, 0.02645083,
  1.04651428,-0.00119044, 0.83672914, 0.06515803, 0.09366858,-0.07009608,
  0.13095109, 0.5024072 , 0.49261091, 0.49762186, 0.50724155]

qacc:
[  5.07780022, -2.51771244,  8.6088291 ,-10.22331748, -2.42564005,
   1.2678543 ,-10.18272494, 29.94429226, -2.00746669, -0.44564832,
   2.7248822 , -6.69460058, -0.46745669,  0.21533655, -9.67864848,
  30.74406387, -1.00589097, -1.89534066, -0.3447761 ,-16.24472983,
   1.02010924, 26.90836879]

qfrc_actuator:
[ 7.62239279e-05,-2.15434536e-06, 2.48188263e-05, 4.22355357e-05,
  5.27406083e-05,-2.85914240e-04,-2.19439488e-04, 7.71178963e-05,
 -4.29335461e-05, 3.38288912e-05,-1.08419569e-04, 5.81037723e-05,
  2.78623353e-02,-1.27446704e-03, 1.19804262e-02,-3.04737335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003117533283414353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78061134e-13, -1.78061134e-13,  1.00000000e+00,  3.17057675e-26,
        1.00000000e+00,  1.78061134e-13, -1.00000000e+00,  0.00000000e+00,
        1.78061134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109786  , -0.03397986,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95675187e-05,-1.13243576e-05, 3.97839746e-05,-9.72230593e-07,
 -1.43436259e-05,-4.44976452e-05, 1.71831577e-06, 5.62204037e-05,
 -1.17327940e-05, 1.33652068e-05, 5.47775899e-06,-1.04442533e-05,
 -1.78602769e-04,-5.80233702e-05,-1.03103025e-04, 1.19180410e-04,
 -1.23587290e-07, 8.17053993e-08,-1.21644292e+00,-4.58642626e-04,
  8.29399935e-06,-5.50499414e-04]


--- Step 704 ---
qpos:
[ 0.01204338,-0.0011573 , 0.00245586, 0.04194627, 0.00458505,-0.00236131,
 -0.0182012 , 0.02846844, 0.01315327, 0.00445282,-0.01024934, 0.02645206,
  1.04715023,-0.00118996, 0.83726123, 0.06516144, 0.09367472,-0.07009976,
  0.13095062, 0.50236812, 0.4926379 , 0.4976361 , 0.50724005]

qacc:
[ -3.21180771,  0.82607561, -2.73912156,  2.99800601,  1.42548072,
   0.28627736, -2.71829748,  7.96190491,  4.85446177,  1.23302077,
  -4.28545446,  7.30065093, -1.35218149,  2.33686691, -3.822487  ,
  12.65023639, -0.99207624, -1.86403258, -0.49913453,-15.92963836,
   1.05506881, 26.46778852]

qfrc_actuator:
[ 5.66332415e-05, 2.96339995e-07, 8.94364861e-06, 4.08990514e-05,
  6.15028096e-05,-2.92461190e-04,-2.18680687e-04, 9.13121976e-05,
 -1.41342889e-05, 8.54750325e-05,-1.01645755e-04, 6.99784107e-05,
  2.77980314e-02,-1.24714841e-03, 1.19904074e-02,-2.98609112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5902728 , -1.35353076,  4.38617816, -1.35353076, 31.85146013,
        8.41253007,  4.38617816,  8.41253007,  7.18629554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031461956604604546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76438967e-13, -2.64658451e-13,  1.00000000e+00,  4.66960636e-26,
        1.00000000e+00,  2.64658451e-13, -1.00000000e+00,  0.00000000e+00,
        1.76438967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978477, -0.03398115,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87512876e-05, 4.34230768e-06,-1.33324564e-05,-4.61394363e-07,
  8.33512170e-06,-2.87170683e-05,-6.29889310e-06, 1.34333646e-05,
  2.84731961e-05, 5.97694797e-05, 9.83954662e-06, 1.24305862e-05,
 -1.87724221e-04,-2.05920945e-05,-2.81954244e-05, 5.37133938e-05,
 -1.81592186e-07, 6.38005172e-08,-1.21644103e+00,-4.59020654e-04,
  9.99456177e-06,-5.50365545e-04]


--- Step 705 ---
qpos:
[ 0.01204402,-0.00115783, 0.00245477, 0.04194584, 0.00458637,-0.00236117,
 -0.01819998, 0.02847052, 0.01315361, 0.00445396,-0.01024942, 0.02645347,
  1.04778493,-0.0011889 , 0.8377932 , 0.06516091, 0.09367695,-0.0701108 ,
  0.13094765, 0.50231693, 0.49267403, 0.49760982, 0.50728145]

qacc:
[ -5.19390268,  1.31340061, -3.7789107 ,  3.262598  ,  0.86043765,
  -2.33278757,  8.07206056,-11.59564808,  6.11286383, -0.73901601,
   1.60689031,  1.10839706, -1.59957153,  2.93154893, 11.82742531,
 -41.41720766, -0.98049279, -1.83809586, -0.62895595,-15.67053895,
   1.08134758, 26.10362181]

qfrc_actuator:
[ 2.68545634e-05, 3.75751603e-05,-1.23439687e-07, 4.02548572e-05,
  6.61726349e-05,-3.32018423e-04,-2.00780095e-04, 8.09952675e-05,
  2.07048643e-05, 4.46564871e-05,-9.73687409e-05, 7.64993717e-05,
  2.77472787e-02,-1.21348743e-03, 1.19506351e-02,-3.19987480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59022827, -1.65138531,  4.28288713, -1.65138531, 36.7612044 ,
       12.40440757,  4.28288713, 12.40440757,  9.3730899 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000314606926519273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82230278e-14, -4.41115139e-14,  1.00000000e+00,  3.89165131e-27,
        1.00000000e+00,  4.41115139e-14, -1.00000000e+00,  0.00000000e+00,
        8.82230278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978434, -0.03398099,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03063611e-05, 3.69653014e-05,-9.80828322e-06,-9.23305093e-07,
  4.89724926e-06,-5.63765750e-05, 1.16356123e-05,-1.15127599e-05,
  3.56719292e-05,-4.86529105e-06, 1.82508310e-05, 9.65878014e-06,
 -1.71064902e-04,-1.00251183e-05,-5.53291043e-05,-2.16417388e-04,
 -9.32847804e-08, 1.75411257e-07,-1.21644039e+00,-4.59498729e-04,
  1.08231103e-05,-5.50483241e-04]


--- Step 706 ---
qpos:
[ 0.01204498,-0.0011581 , 0.00245384, 0.04194573, 0.00458774,-0.00236127,
 -0.01819894, 0.02847246, 0.01315369, 0.00445475,-0.01024978, 0.02645433,
  1.04841871,-0.00118806, 0.83832341, 0.06515933, 0.09367936,-0.07011781,
  0.13094699, 0.50227835, 0.4926977 , 0.49759949, 0.5073068 ]

qacc:
[  2.88259537,  0.56480181, -2.86569876,  7.96819152,  0.39827606,
  -0.10709364,  0.52008499, -2.44161383, -2.41814059, -0.7986046 ,
   4.47759157,-13.25422683, -0.45256102,  0.23598582,  0.56940299,
  -5.72396409,  0.0471152 ,  1.0036585 ,  0.58036705,  1.8042717 ,
   0.07412554,-14.25635554]

qfrc_actuator:
[ 4.45914969e-05, 5.99345254e-05, 1.28201942e-05, 5.78195517e-05,
  6.83887825e-05,-3.37731913e-04,-2.08545274e-04, 7.40851828e-05,
  5.54856569e-06,-1.57235373e-05,-1.30478342e-04, 4.42333330e-05,
  2.76993709e-02,-1.22956543e-03, 1.18437182e-02,-3.25455220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003119989898450133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58945106e-07,  3.58945106e-07,  1.00000000e+00, -1.28841589e-13,
        1.00000000e+00, -3.58945106e-07, -1.00000000e+00,  0.00000000e+00,
        3.58945106e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210423, -0.08685449,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68909589e-05, 4.09853920e-05, 1.93597773e-05, 1.87967564e-05,
  2.33617112e-06,-3.53511502e-05,-1.83956655e-05,-9.15544553e-06,
 -1.41418024e-05,-5.89472127e-05,-3.15492098e-05,-3.16620355e-05,
 -1.56308363e-04,-5.39384658e-05,-1.64866091e-04,-7.58191864e-05,
  1.36949057e-07, 4.10251360e-07,-1.21644093e+00,-4.60078919e-04,
  1.08269173e-05,-5.50849332e-04]


--- Step 707 ---
qpos:
[ 0.01204615,-0.00115833, 0.00245345, 0.04194583, 0.00458912,-0.00236123,
 -0.01819873, 0.0284743 , 0.01315358, 0.00445551,-0.01025066, 0.02645443,
  1.0490515 ,-0.00118738, 0.83885207, 0.06515865, 0.0936821 ,-0.0701206 ,
  0.13094789, 0.50225281, 0.49270836, 0.49760638, 0.50731497]

qacc:
[  1.81793247, -1.04604222,  2.90283394, -0.12117611,  0.10964582,
   2.31572865, -7.5940269 ,  7.1466424 , -1.618544  , -0.16069167,
   3.76412136,-16.17248064, -0.47480147,  0.30227272, -4.95310716,
  14.05312129,  0.08317101,  1.05884434,  0.38885911,  2.16319767,
   0.14654081,-15.10328868]

qfrc_actuator:
[ 5.46510901e-05, 5.55449087e-05, 3.86186042e-05, 6.82110199e-05,
  6.91444352e-05,-3.23232474e-04,-2.49025384e-04, 6.92444179e-05,
 -3.40936453e-06, 1.20871759e-06,-1.50026708e-04, 7.10489078e-06,
  2.76478604e-02,-1.23941501e-03, 1.18031816e-02,-3.19733960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58937094,  0.38689979,  4.57303336,  0.38689979, 24.77383703,
       -1.70769926,  4.57303336, -1.70769926,  4.7338502 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031436343176040327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20056188e-13, -1.76582724e-13,  1.00000000e+00,  5.65163936e-26,
        1.00000000e+00,  1.76582724e-13, -1.00000000e+00,  0.00000000e+00,
        3.20056188e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165579, -0.08819878,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05546862e-05, 2.33575640e-05, 3.73117181e-05, 1.31851156e-05,
  8.11075604e-07,-9.47319984e-06,-5.03803873e-05,-7.17701298e-06,
 -9.37540909e-06,-2.39360116e-05,-3.67124485e-05,-4.13646874e-05,
 -1.61105197e-04,-5.17875445e-05,-1.26360911e-04, 3.14047112e-05,
  6.48053541e-08, 2.10680579e-07,-1.21644039e+00,-4.59832517e-04,
  1.08249678e-05,-5.50986691e-04]


--- Step 708 ---
qpos:
[ 0.01204709,-0.00115864, 0.00245351, 0.04194573, 0.00459016,-0.00236112,
 -0.01819906, 0.02847606, 0.0131537 , 0.00445652,-0.01025169, 0.02645402,
  1.0496831 ,-0.0011862 , 0.83938002, 0.06515944, 0.0936852 ,-0.07011921,
  0.13094981, 0.5022402 , 0.49270607, 0.49763025, 0.50730627]

qacc:
[ -2.03370305, -1.75871735,  6.94308903,-11.01129214, -3.05581077,
   1.40896095, -4.50769209,  3.79311054,  2.08580241, -0.31164871,
   3.69674532,-12.38037234, -1.23689083,  2.19378679, -5.41861916,
  17.6265423 ,  0.08810616,  1.04284095,  0.25458964,  2.06560252,
   0.1805705 ,-14.9191267 ]

qfrc_actuator:
[ 4.23434531e-05, 3.52245709e-05, 5.39228485e-05, 5.65252452e-05,
  5.12827498e-05,-3.14625364e-04,-2.72891932e-04, 6.56610989e-05,
  9.12177157e-06, 4.65822792e-05,-1.43342099e-04,-1.47522254e-05,
  2.75942268e-02,-1.20999632e-03, 1.18131694e-02,-3.11001432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58831984, -0.31196362, -4.57770222, -0.31196362, 44.66969255,
       -2.73148616, -4.57770222, -2.73148616,  4.77446657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031406453598370465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43610008e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43610008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165665, -0.08819915,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20001807e-05, 1.02579237e-06, 2.51858449e-05,-9.13701556e-06,
 -1.78395244e-05,-7.41161937e-06,-3.22845341e-05,-5.87689748e-06,
  1.22611560e-05, 2.26111102e-05,-4.21149587e-06,-2.49577826e-05,
 -1.65172723e-04,-1.34788448e-05,-4.77123187e-05, 7.20947465e-05,
  1.68245165e-09, 9.01919667e-08,-1.21644011e+00,-4.59602544e-04,
  1.07314551e-05,-5.51027387e-04]


--- Step 709 ---
qpos:
[ 0.01204753,-0.00115905, 0.00245381, 0.04194551, 0.00459097,-0.0023609 ,
 -0.01819946, 0.02847772, 0.01315364, 0.00445779,-0.0102533 , 0.02645407,
  1.05031372,-0.00118525, 0.83990663, 0.06516366, 0.09368866,-0.0701137 ,
  0.1309523 , 0.5022404 , 0.49269087, 0.49767089, 0.50728096]

qacc:
[-4.38089868e+00,-1.05030588e+00, 4.08026769e+00,-6.52371973e+00,
 -1.95227378e+00, 1.78905702e-01,-1.30776301e-02,-1.58467924e+00,
 -1.74554376e+00, 2.92724962e+00,-1.18488050e+01, 2.04900936e+01,
 -2.96239069e-01,-8.82704124e-02,-1.23420933e+01, 4.03066687e+01,
  9.20005931e-02, 1.02978441e+00, 1.42248531e-01, 1.98844587e+00,
  2.06786628e-01,-1.47674790e+01]

qfrc_actuator:
[ 1.69716280e-05, 2.32097664e-05, 6.28160697e-05, 4.96709042e-05,
  4.03593530e-05,-2.91795758e-04,-2.69009860e-04, 6.28601612e-05,
 -1.30623682e-06, 5.55103900e-05,-1.74335397e-04, 8.10544592e-06,
  2.75393740e-02,-1.22862171e-03, 1.17522618e-02,-2.93455242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031164620104405516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66989696e-13,  3.56244684e-13,  1.00000000e+00,  5.94891914e-26,
        1.00000000e+00, -3.56244684e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66989696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165728, -0.08820004,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57125508e-05,-6.62650846e-06, 1.18936186e-05,-6.11573942e-06,
 -1.14332899e-05, 1.17544440e-05,-1.82969694e-06,-4.35272831e-06,
 -1.00685081e-05, 1.96142325e-05,-2.77041234e-05, 2.31956979e-05,
 -1.59735383e-04,-5.61172347e-05,-8.20710261e-05, 1.71652268e-04,
 -4.61207101e-08, 5.96693694e-08,-1.21644012e+00,-4.59402378e-04,
  1.05393201e-05,-5.50977199e-04]


--- Step 710 ---
qpos:
[ 0.01204731,-0.00115932, 0.00245386, 0.04194487, 0.00459165,-0.00236066,
 -0.01819978, 0.028479  , 0.01315344, 0.00445913,-0.01025493, 0.02645438,
  1.05094355,-0.00118535, 0.84043167, 0.06516284, 0.09368824,-0.0701156 ,
  0.13095244, 0.50222879, 0.49268484, 0.49767049, 0.5072987 ]

qacc:
[-5.74613987e+00, 3.16947891e-02, 1.99162829e+00,-9.07470848e+00,
 -1.20161839e+00,-1.02538179e+00, 5.33702986e+00,-1.22539243e+01,
 -1.09501107e+00, 7.12771006e-01,-3.48349678e+00, 7.95230401e+00,
  2.17872664e-01,-1.66388984e+00, 1.28730395e+01,-4.84927360e+01,
 -9.69895699e-01,-1.85190903e+00,-5.85049440e-01,-1.59110179e+01,
  9.07940599e-01, 2.61984403e+01]

qfrc_actuator:
[-1.58790419e-05, 3.39807925e-05, 5.01361350e-05, 2.79667989e-05,
  3.36132043e-05,-2.96009000e-04,-2.66472496e-04, 4.28182564e-05,
 -7.41846683e-06, 6.01991276e-05,-1.74184610e-04, 2.15259506e-05,
  2.74784864e-02,-1.29329810e-03, 1.15849909e-02,-3.22358205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030907861860120234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.59204085e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.59204085e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978198, -0.03397694,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35836583e-05, 9.26186076e-06,-1.27930281e-05,-2.16937985e-05,
 -7.06791408e-06, 1.78424879e-06, 4.58814005e-06,-1.96890316e-05,
 -6.38891224e-06, 1.08975617e-05, 1.59681041e-06, 1.37549569e-05,
 -1.71851907e-04,-1.08396741e-04,-1.90575393e-04,-2.91127290e-04,
 -8.06877910e-08, 1.16718084e-07,-1.21644042e+00,-4.59227114e-04,
  1.02540334e-05,-5.50836527e-04]


--- Step 711 ---
qpos:
[ 0.0120467 ,-0.00115925, 0.00245335, 0.04194431, 0.00459224,-0.00236044,
 -0.01820005, 0.02848002, 0.01315318, 0.00446063,-0.01025685, 0.02645451,
  1.05157217,-0.00118557, 0.84095489, 0.06515491, 0.09368805,-0.0701136 ,
  0.13095381, 0.50222953, 0.49266654, 0.49768559, 0.50730093]

qacc:
[-3.47123977e+00, 2.19143778e+00,-7.54539595e+00, 9.72779792e+00,
 -7.53927381e-01,-6.46711068e-01, 3.31929044e+00,-7.61479880e+00,
 -6.43399132e-01, 6.06459592e-01,-1.12474391e+00,-1.62840948e+00,
 -1.01097730e+00, 1.25876794e+00, 1.88346358e+01,-6.96777815e+01,
  5.39700120e-02, 9.74607472e-01, 3.04736267e-01, 1.67445581e+00,
  1.11342069e-01,-1.38957223e+01]

qfrc_actuator:
[-3.51114714e-05, 5.82087119e-05, 2.49040309e-05, 3.32091361e-05,
  2.93774174e-05,-2.98640022e-04,-2.64875249e-04, 3.05187233e-05,
 -1.09344919e-05, 6.24270465e-05,-1.91175849e-04, 1.15465713e-05,
  2.74139974e-02,-1.29592360e-03, 1.14711371e-02,-3.58892408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.5668694 ,   1.30778621,   4.37561325,   1.30778621,
        44.0793457 , -11.80951528,   4.37561325, -11.80951528,
         8.0965052 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003078735053974321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02418935e-09,  7.02400341e-09,  1.00000000e+00, -4.93379299e-17,
        1.00000000e+00, -7.02400341e-09, -1.00000000e+00,  0.00000000e+00,
        7.02418935e-09])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09210817, -0.08685706,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01823016e-05, 2.58345519e-05,-2.56396736e-05, 4.77758140e-06,
 -4.43613426e-06,-1.53957215e-06, 1.84807364e-06,-1.24498710e-05,
 -3.69172675e-06, 9.20805216e-06,-1.40648167e-05,-9.18923734e-06,
 -1.96144083e-04,-5.73213654e-05,-2.34999340e-04,-4.06358353e-04,
  2.08490371e-08, 3.75289420e-09,-1.21644001e+00,-4.59685105e-04,
  1.05404828e-05,-5.51023957e-04]


--- Step 712 ---
qpos:
[ 0.01204587,-0.00115909, 0.00245313, 0.04194414, 0.00459277,-0.00236018,
 -0.01820008, 0.02848157, 0.01315322, 0.00446178,-0.01025849, 0.02645489,
  1.05219958,-0.00118582, 0.84147669, 0.06514632, 0.09368399,-0.07011895,
  0.13095253, 0.50221853, 0.49265735, 0.49766   , 0.50734584]

qacc:
[ -1.97820494,  0.09183547, -1.75561447,  7.83241514, -0.47909724,
   0.43906705, -3.67827637, 12.19998405,  2.70023677, -0.70459703,
   0.8076349 ,  3.32067585, -0.83381057,  0.97831874, -0.09809697,
  -2.63987583, -0.96285219, -1.836967  , -0.66056509,-15.77086953,
   0.91027668, 25.98268342]

qfrc_actuator:
[-4.61721914e-05, 7.25204057e-05, 4.58096321e-05, 5.42753327e-05,
  2.66516270e-05,-2.82550354e-04,-2.46084798e-04, 5.83794950e-05,
  4.85713109e-06, 2.75726645e-05,-1.82684632e-04, 2.33664723e-05,
  2.73580639e-02,-1.29734379e-03, 1.14906023e-02,-3.58765715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56586886,  -1.3288759 ,  -4.36820871,  -1.3288759 ,
        43.97204668, -11.98796203,  -4.36820871, -11.98796203,
         8.21279028,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030758038368694507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10978049, -0.03397555,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16246224e-05, 2.36666749e-05, 2.32573236e-05, 2.13820698e-05,
 -2.85241993e-06, 1.50680034e-05, 1.82676984e-05, 2.76144217e-05,
  1.56936968e-05,-3.30383650e-05, 8.34743536e-06, 1.15497654e-05,
 -1.92004292e-04,-5.22004435e-05,-1.33592932e-04,-5.15357679e-05,
 -6.24283385e-08, 2.46867769e-08,-1.21644005e+00,-4.59387949e-04,
  1.05612876e-05,-5.50951908e-04]


--- Step 713 ---
qpos:
[ 0.0120456 ,-0.00115901, 0.00245355, 0.04194422, 0.00459361,-0.00235982,
 -0.01819993, 0.02848377, 0.01315345, 0.0044626 ,-0.01025944, 0.02645573,
  1.05282592,-0.0011864 , 0.84199766, 0.06513727, 0.09368024,-0.07012005,
  0.13095283, 0.50222052, 0.49263531, 0.49765167, 0.50737345]

qacc:
[  4.97552002, -1.36059889,  3.59630402, -0.13096017,  2.70423424,
   0.96406276, -6.05017075, 17.13851244,  1.69004468, -1.44758697,
   2.57628037,  4.46588717, -0.47151733,  0.10669973,  0.18762332,
  -2.36856545,  0.07553473,  1.06221405,  0.3919712 ,  2.25981226,
   0.09489714,-15.08346563]

qfrc_actuator:
[-1.68340311e-05, 6.32332451e-05, 7.60141311e-05, 6.67538462e-05,
  4.25882408e-05,-2.73020934e-04,-2.34941616e-04, 9.19213680e-05,
  1.41324158e-05, 2.41508647e-05,-1.41593205e-04, 4.79098663e-05,
  2.73073086e-02,-1.31583110e-03, 1.14835744e-02,-3.60082053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.56957211,   1.32546244,   4.37311543,   1.32546244,
        45.27913946, -12.33880134,   4.37311543, -12.33880134,
         8.30938141,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003086633315698972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62011518e-14, -1.79843686e-13,  1.00000000e+00,  1.01074223e-26,
        1.00000000e+00,  1.79843686e-13, -1.00000000e+00,  0.00000000e+00,
        5.62011518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166108, -0.08820213,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90136213e-05, 9.66306716e-06, 3.86996057e-05, 1.47144752e-05,
  1.58586228e-05, 2.28985259e-05, 1.74552269e-05, 3.53532679e-05,
  9.71088051e-06,-1.96957909e-05, 3.56989351e-05, 2.36407484e-05,
 -1.81589306e-04,-6.82400112e-05,-7.74686161e-05,-3.39558977e-05,
  1.11583785e-07,-7.42258769e-08,-1.21644033e+00,-4.59875041e-04,
  1.02855134e-05,-5.51279896e-04]


--- Step 714 ---
qpos:
[ 0.01204568,-0.0011589 , 0.00245404, 0.04194448, 0.00459464,-0.00235949,
 -0.01819955, 0.02848638, 0.01315379, 0.00446334,-0.01026023, 0.0264565 ,
  1.05345103,-0.00118689, 0.84251754, 0.06512847, 0.09367682,-0.07011697,
  0.13095415, 0.50223538, 0.49260044, 0.49766033, 0.50738411]

qacc:
[  3.10924141,  0.16380483, -1.24433016,  4.05395402,  1.62501796,
   0.17088117, -2.35469825,  8.94003853,  0.96902614, -0.66775865,
   2.47374194, -3.64527301, -0.91690682,  1.23456057, -2.28366032,
   5.74979366,  0.08161641,  1.04570995,  0.25793886,  2.13664973,
   0.14345247,-14.90636668]

qfrc_actuator:
[ 5.38849396e-07, 5.76834951e-05, 7.58412862e-05, 7.40559850e-05,
  5.16283629e-05,-2.85259412e-04,-2.28430457e-04, 1.10767247e-04,
  1.94921339e-05, 2.19759759e-05,-1.34725663e-04, 4.42757263e-05,
  2.72490399e-02,-1.30873762e-03, 1.14340177e-02,-3.58707484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56972699, -0.53728353, -4.53803164, -0.53728353, 36.36344509,
       -3.76424022, -4.53803164, -3.76424022,  5.01539693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030870850645846326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01147270e-13, -1.79817368e-13,  1.00000000e+00,  1.81880359e-26,
        1.00000000e+00,  1.79817368e-13, -1.00000000e+00,  0.00000000e+00,
        1.01147270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166218, -0.08820248,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81988169e-05, 8.48134121e-06, 7.09175595e-06, 9.33908431e-06,
  9.49828746e-06, 5.67250794e-06, 1.46027173e-05, 2.11124475e-05,
  5.62809799e-06,-4.81790633e-06, 8.01375657e-06,-2.78481157e-06,
 -1.85626796e-04,-4.34850757e-05,-9.49190411e-05, 5.20721023e-07,
 -3.22113520e-08,-8.01816388e-08,-1.21644011e+00,-4.59415778e-04,
  1.06149880e-05,-5.51255104e-04]


--- Step 715 ---
qpos:
[ 0.01204563,-0.00115854, 0.00245419, 0.04194482, 0.00459542,-0.00235929,
 -0.01819893, 0.02848782, 0.01315454, 0.00446419,-0.01026155, 0.02645726,
  1.05407471,-0.00118666, 0.8430356 , 0.06512457, 0.09367374,-0.07010976,
  0.13095606, 0.50226303, 0.49255273, 0.49768578, 0.50737808]

qacc:
[ -1.22140817,  1.50438882, -5.27211543,  7.21203282, -2.13206575,
  -3.25340936, 16.25281254,-36.67488784,  3.55944574,  1.58157606,
  -5.34484129,  5.7203208 , -1.41749361,  2.5962982 ,-17.41385442,
  57.24603785,  0.08632549,  1.03227131,  0.14574744,  2.03823995,
   0.18189646,-14.76049581]

qfrc_actuator:
[-7.03540145e-06, 7.20389804e-05, 5.77363069e-05, 7.82334281e-05,
  3.87782268e-05,-3.10470539e-04,-2.24804320e-04, 4.97828967e-05,
  4.02590736e-05, 2.04175986e-05,-1.65892821e-04, 4.18172005e-05,
  2.71809886e-02,-1.26883411e-03, 1.13749758e-02,-3.32690875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003066209094020611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13151023e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13151023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166299, -0.08820333,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05513802e-06, 2.09589265e-05,-1.51650292e-05, 4.96525756e-06,
 -1.25786964e-05,-1.81370128e-05, 7.31261616e-06,-5.98329103e-05,
  2.09266560e-05,-2.73298355e-06,-3.12727505e-05,-2.44371631e-06,
 -1.92562094e-04,-7.17016404e-06,-1.07646496e-04, 2.46844945e-04,
 -1.59603822e-07, 8.53697564e-10,-1.21644020e+00,-4.58990215e-04,
  1.08389249e-05,-5.51141980e-04]


--- Step 716 ---
qpos:
[ 0.01204583,-0.00115801, 0.00245411, 0.04194521, 0.00459605,-0.00235929,
 -0.01819823, 0.02848854, 0.01315484, 0.00446506,-0.01026322, 0.02645798,
  1.05469703,-0.00118566, 0.84355302, 0.06512266, 0.09366682,-0.07010996,
  0.13095557, 0.50227914, 0.49251417, 0.49767005, 0.50741499]

qacc:
[  2.22902172,  0.92875775, -3.16231262,  4.16634665, -1.39661026,
  -1.95514102,  9.67468415,-22.19442691, -3.94215332,  0.93069217,
  -3.13239027,  3.05510836, -1.57334941,  2.95950929, -6.84225813,
  22.81169379, -0.96159344, -1.85192948, -0.59886615,-15.99473597,
   0.78673393, 26.12884358]

qfrc_actuator:
[ 6.27672093e-06, 8.03641652e-05, 4.70303802e-05, 8.05487440e-05,
  3.09016052e-05,-3.25590976e-04,-2.23022930e-04, 1.33132749e-05,
  1.66714579e-05, 1.90781377e-05,-1.83742697e-04, 4.00543508e-05,
  2.71231087e-02,-1.22766540e-03, 1.13636050e-02,-3.22545607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304269587129688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.64881366e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.64881366e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10977679, -0.03397237,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31177921e-05, 1.71081835e-05,-8.07882343e-06, 2.78362354e-06,
 -8.23954853e-06,-2.63381988e-05,-3.14662253e-06,-3.81628338e-05,
 -2.29911581e-05,-9.43962058e-06,-2.23471303e-05,-3.01095247e-06,
 -1.78380930e-04,-1.19779710e-06,-3.67284992e-05, 1.00616161e-04,
 -2.73075341e-07, 1.67238257e-07,-1.21644057e+00,-4.58591889e-04,
  1.09646385e-05,-5.50940285e-04]


--- Step 717 ---
qpos:
[ 0.01204584,-0.00115725, 0.00245362, 0.04194529, 0.00459657,-0.00235944,
 -0.01819734, 0.02849018, 0.01315416, 0.00446567,-0.01026471, 0.02645832,
  1.05531825,-0.00118449, 0.84407082, 0.06511819, 0.09366009,-0.07010624,
  0.13095632, 0.50230757, 0.4924634 , 0.49766983, 0.50743634]

qacc:
[ -1.66083088,  0.81025855, -1.16221819, -3.71077348, -0.86166998,
   1.13708498, -8.27160323, 24.10405916, -8.56588899, -1.61417334,
   6.89063012,-13.54129118, -1.0886627 ,  1.68663833,  8.36872049,
 -28.30678908,  0.04740598,  0.97756755,  0.31132455,  1.71185582,
   0.09408604,-13.89557177]

qfrc_actuator:
[-3.72171057e-06, 8.50353771e-05, 2.30119391e-05, 6.40025616e-05,
  2.60224439e-05,-3.16801175e-04,-2.04529048e-04, 6.25889375e-05,
 -3.28381972e-05, 1.69780771e-07,-1.75819993e-04, 2.09774328e-05,
  2.70713765e-02,-1.22157233e-03, 1.13807963e-02,-3.36029401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55214763,   1.31710554,   4.35743973,   1.31710554,
        40.22391228, -10.78235882,   4.35743973, -10.78235882,
         7.81128725,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000303519996176627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03808672e-07, -5.03808706e-07,  1.00000000e+00, -2.53823195e-13,
        1.00000000e+00,  5.03808706e-07, -1.00000000e+00, -5.04870979e-29,
       -5.03808672e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211386, -0.08686034,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62076324e-06, 1.26731746e-05,-2.13902824e-05,-1.60410572e-05,
 -5.12166098e-06,-8.23678250e-06, 1.13360056e-05, 4.72924987e-05,
 -5.01639740e-05,-2.89525011e-05, 3.12522429e-06,-2.03120557e-05,
 -1.61768910e-04,-3.23293127e-05, 3.78141043e-06,-1.35737174e-04,
 -1.65141889e-07,-1.60077837e-07,-1.21644040e+00,-4.59011627e-04,
  1.07169123e-05,-5.51183662e-04]


--- Step 718 ---
qpos:
[ 0.01204573,-0.00115671, 0.00245301, 0.0419452 , 0.00459669,-0.00235968,
 -0.01819648, 0.02849172, 0.01315359, 0.00446586,-0.01026604, 0.02645915,
  1.05593842,-0.00118324, 0.84458757, 0.06511495, 0.0936496 ,-0.07010965,
  0.13095468, 0.50232503, 0.49242128, 0.49762991, 0.50749909]

qacc:
[-1.05075797e+00,-2.76859847e-01, 1.29146704e+00,-3.80599028e+00,
 -3.57247116e+00,-1.92130067e-01, 9.92182586e-01,-2.72041209e+00,
  9.07885881e-01, 1.03140036e-02,-2.88169405e+00, 1.13133116e+01,
 -7.51114313e-01, 9.90438852e-01,-5.21947085e+00, 1.60914317e+01,
 -9.39299102e-01,-1.77893281e+00,-5.99861326e-01,-1.55048045e+01,
  7.60995128e-01, 2.51153291e+01]

qfrc_actuator:
[-9.61392123e-06, 5.19040702e-05, 9.04643918e-06, 5.42300723e-05,
  5.19256788e-06,-3.29122409e-04,-2.11665006e-04, 5.54351326e-05,
 -2.61839895e-05,-2.90224133e-05,-1.70585302e-04, 4.51243873e-05,
  2.70180324e-02,-1.21849174e-03, 1.13245172e-02,-3.29584859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54962862, -1.34323035, -4.346821  , -1.34323035, 35.51396629,
       -9.56842672, -4.346821  , -9.56842672,  7.50641041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030276621391903846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02448956e-06,  1.02448993e-06,  1.00000000e+00,  1.04957924e-12,
        1.00000000e+00, -1.02448993e-06, -1.00000000e+00, -2.01948392e-28,
       -1.02448956e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10931249, -0.03535517,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.16185330e-06,-3.11750622e-05,-1.45400391e-05,-1.02822310e-05,
 -2.09812674e-05,-1.25694330e-05,-5.81674835e-06,-6.19930587e-06,
  5.22007430e-06,-4.56326987e-05,-1.05292021e-06, 2.26221830e-05,
 -1.59986072e-04,-3.71950596e-05,-8.04023585e-05, 5.48672055e-05,
 -3.23336855e-07,-3.45374873e-08,-1.21644051e+00,-4.58500622e-04,
  1.11292681e-05,-5.51049387e-04]


--- Step 719 ---
qpos:
[ 0.01204556,-0.00115669, 0.00245266, 0.04194536, 0.00459655,-0.0023598 ,
 -0.01819628, 0.0284918 , 0.01315379, 0.00446585,-0.01026737, 0.02646024,
  1.05655747,-0.00118163, 0.84510297, 0.06511156, 0.09363938,-0.07010879,
  0.13095457, 0.50235544, 0.49236636, 0.49760722, 0.50754452]

qacc:
[ -0.59505474, -0.90588429,  1.18090992,  3.04353037, -2.22015716,
  -1.05083768, 10.12908004,-34.46473778,  6.81014437,  0.26107552,
  -2.46847245,  7.24549587, -1.08593169,  1.80236151, -1.50389273,
   2.51914618,  0.06830322,  1.06369076,  0.38298648,  2.27674146,
   0.08455917,-15.06503831]

qfrc_actuator:
[-1.30351018e-05, 1.41781413e-05, 1.87345925e-05, 6.62529191e-05,
 -7.10717028e-06,-3.36372276e-04,-2.51765641e-04,-2.04188328e-05,
  1.34820116e-05,-2.86125137e-05,-1.67004765e-04, 5.89914844e-05,
  2.69637567e-02,-1.19944466e-03, 1.12402491e-02,-3.30987721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55606874,   1.3301206 ,   4.35758437,   1.3301206 ,
        41.39521986, -11.24488015,   4.35758437, -11.24488015,
         7.98848577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000304688129355718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69343965e-14, -3.64380137e-13,  1.00000000e+00,  2.07457632e-26,
        1.00000000e+00,  3.64380137e-13, -1.00000000e+00,  0.00000000e+00,
        5.69343965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166746, -0.08820534,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60743334e-06,-5.86173574e-05, 1.10338677e-06, 9.98463894e-06,
 -1.29020991e-05,-1.57580355e-05,-4.36377645e-05,-7.67185032e-05,
  3.97968985e-05,-2.43495115e-05,-5.18178451e-06, 1.23157308e-05,
 -1.61301077e-04,-2.14835996e-05,-1.20444526e-04,-2.25447316e-05,
 -1.55692341e-07,-3.38690295e-07,-1.21644100e+00,-4.58913712e-04,
  1.03611638e-05,-5.51413709e-04]


--- Step 720 ---
qpos:
[ 0.012045  ,-0.00115715, 0.00245241, 0.04194601, 0.00459696,-0.00235983,
 -0.01819663, 0.02849131, 0.01315412, 0.0044659 ,-0.01026875, 0.02646112,
  1.05717558,-0.00118037, 0.84561734, 0.06510891, 0.09362946,-0.07010375,
  0.13095546, 0.50239872, 0.49229861, 0.4976015 , 0.507573  ]

qacc:
[ -3.36851463,  0.09107926, -3.29765177, 11.96594103,  4.74195951,
   0.52400243,  0.71547314, -9.72559228,  1.1294291 , -0.2275182 ,
   1.83210224, -5.54959717, -0.30784775, -0.13887163, -3.73163758,
  10.87197974,  0.07489179,  1.04711821,  0.25082759,  2.1374215 ,
   0.1428891 ,-14.8953481 ]

qfrc_actuator:
[-3.27283387e-05,-8.14562546e-06, 2.45362569e-05, 9.10087786e-05,
  2.12225618e-05,-3.22982678e-04,-2.75520232e-04,-4.73329957e-05,
  1.89847562e-05,-1.04876903e-05,-1.64325310e-04, 4.89621151e-05,
  2.69089663e-02,-1.22436880e-03, 1.12191389e-02,-3.26359852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55643625, -0.63179074, -4.51242194, -0.63179074, 33.41211708,
       -4.04012572, -4.51242194, -4.04012572,  5.12210011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003047972912697122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84570028e-13, -5.46374454e-13,  1.00000000e+00,  1.55481794e-25,
        1.00000000e+00,  5.46374454e-13, -1.00000000e+00,  0.00000000e+00,
        2.84570028e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166869, -0.08820572,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98165012e-05,-5.44447225e-05,-5.82107947e-06, 2.24776892e-05,
  2.79611712e-05,-7.72600727e-06,-3.50399637e-05,-3.05922758e-05,
  6.62345392e-06, 3.99384042e-06,-2.55054690e-06,-1.10135321e-05,
 -1.59666101e-04,-6.27342788e-05,-8.26764151e-05, 2.86826464e-05,
 -3.73229032e-07,-2.26468562e-07,-1.21644087e+00,-4.58244416e-04,
  1.10998169e-05,-5.51319045e-04]


--- Step 721 ---
qpos:
[ 0.01204455,-0.00115773, 0.00245183, 0.04194659, 0.00459805,-0.00235989,
 -0.01819702, 0.02849082, 0.01315417, 0.00446592,-0.01026951, 0.02646149,
  1.05779271,-0.00117939, 0.84613052, 0.06510848, 0.09361986,-0.07009458,
  0.13095691, 0.50245479, 0.49221802, 0.49761255, 0.50758482]

qacc:
[  0.98485146,  0.63640954, -2.20711335,  1.63717607,  5.97016996,
   0.050699  , -0.28694955,  0.49291617, -2.45494395, -2.84435188,
  12.24565179,-22.05945172, -0.30985557, -0.10714209, -8.42789842,
  26.9412621 ,  0.07991338,  1.03365283,  0.14018829,  2.02522465,
   0.18980975,-14.7557191 ]

qfrc_actuator:
[-2.63366917e-05,-3.31832261e-06, 1.02988856e-05, 8.75548759e-05,
  5.54836694e-05,-3.15000383e-04,-2.71541444e-04,-4.51907217e-05,
  4.32498076e-06, 3.35862743e-07,-1.26626901e-04, 2.49721080e-05,
  2.68592165e-02,-1.23962746e-03, 1.11773592e-02,-3.14645165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54974447, -0.46293605, -4.52613135, -0.46293605, 47.87499888,
       -4.43133894, -4.52613135, -4.43133894,  5.00298508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003028009401345594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40614795e-13,  3.66651115e-13,  1.00000000e+00, -8.82216828e-26,
        1.00000000e+00, -3.66651115e-13, -1.00000000e+00,  0.00000000e+00,
        2.40614795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09166961, -0.08820658,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80976337e-06,-2.58449723e-05,-2.54145386e-05,-5.54923472e-06,
  3.50586604e-05,-4.87077316e-06,-2.98741824e-06, 4.16279925e-09,
 -1.44707362e-05, 1.20740273e-05, 3.78419122e-05,-2.41206276e-05,
 -1.62213779e-04,-6.02495516e-05,-8.17706223e-05, 1.06905931e-04,
 -5.74921909e-07,-2.99303566e-08,-1.21644104e+00,-4.57608717e-04,
  1.17295643e-05,-5.51138763e-04]


--- Step 722 ---
qpos:
[ 0.01204453,-0.00115814, 0.00245066, 0.04194676, 0.0045992 ,-0.00235993,
 -0.01819739, 0.02849036, 0.01315404, 0.00446602,-0.01026981, 0.02646122,
  1.05840868,-0.001178  , 0.84664294, 0.06510643, 0.09361048,-0.07008159,
  0.13095873, 0.50252307, 0.49212512, 0.49763872, 0.50758164]

qacc:
[ 3.71013959e+00, 1.03365392e+00,-1.63828567e+00,-4.62820313e+00,
  5.03960262e-01, 1.25990605e-02,-1.19991135e-01, 4.52788197e-01,
 -1.53725885e+00,-2.44192181e+00, 1.15655963e+01,-2.33819446e+01,
 -1.26289391e+00, 2.16062862e+00, 3.83817693e+00,-1.48643969e+01,
  5.59885708e-02, 9.52840151e-01, 9.10465550e-02, 1.47199410e+00,
  1.94020860e-01,-1.36461225e+01]

qfrc_actuator:
[-4.63795560e-06, 1.76327302e-05,-1.55624719e-05, 6.75390832e-05,
  5.74430974e-05,-3.10170021e-04,-2.68979837e-04,-4.37149970e-05,
 -4.32120929e-06, 6.84085425e-06,-1.04084959e-04,-7.01529160e-06,
  2.68072022e-02,-1.21350103e-03, 1.11232301e-02,-3.23708912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029915367367788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.87578098e-08,  7.87577431e-08,  1.00000000e+00, -6.20278735e-15,
        1.00000000e+00, -7.87577431e-08, -1.00000000e+00,  0.00000000e+00,
        7.87578098e-08])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09211892, -0.08686337,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18585694e-05, 1.04089429e-06,-3.45094997e-05,-2.21092434e-05,
  2.95785734e-06, 1.50966739e-06, 1.19256180e-06, 1.16432055e-06,
 -9.05427895e-06, 2.00424054e-05, 2.88708797e-05,-3.06285987e-05,
 -1.65343061e-04,-1.90711698e-05,-8.46762662e-05,-9.63305450e-05,
 -7.63355256e-07, 2.49950854e-07,-1.21644150e+00,-4.56999244e-04,
  1.22589507e-05,-5.50871989e-04]


--- Step 723 ---
qpos:
[ 0.01204511,-0.0011585 , 0.00244943, 0.04194701, 0.00459967,-0.00236011,
 -0.01819767, 0.02848993, 0.01315381, 0.00446644,-0.01027024, 0.02646092,
  1.05902351,-0.00117604, 0.84715431, 0.06510069, 0.09359726,-0.07007608,
  0.13095843, 0.50258012, 0.49204139, 0.49762309, 0.50762166]

qacc:
[  5.3168057 ,  0.37539883, -1.60862366,  3.09722971, -5.9097226 ,
  -0.35441125,  0.89190751, -0.38737675, -0.91441315,  0.69001842,
  -1.72695013,  1.19603023, -1.46483873,  2.69205393,  9.66030638,
 -35.85628645, -0.96272819, -1.867943  , -0.52915409,-16.29095919,
   0.59484796, 26.27173328]

qfrc_actuator:
[ 2.58881802e-05, 3.02639836e-05,-1.24998328e-05, 7.34605385e-05,
  2.26201475e-05,-3.25009325e-04,-2.67301756e-04,-4.26561065e-05,
 -9.35192480e-06, 2.84061373e-05,-1.08455963e-04,-7.96379113e-06,
  2.67592078e-02,-1.18087032e-03, 1.10457171e-02,-3.43170324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.54758108,  -1.35808522,  -4.3400574 ,  -1.35808522,
        45.02060954, -12.66476834,  -4.3400574 , -12.66476834,
         8.51062421,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003021515667126218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.59298886e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.59298886e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976735, -0.03396797,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11531316e-05, 5.17364718e-06,-1.72026395e-06, 4.34393806e-06,
 -3.47381501e-05,-1.36906441e-05, 2.18297591e-06, 1.18937558e-06,
 -5.28090560e-06, 3.74212031e-05, 2.26858902e-06, 3.14703167e-07,
 -1.54583309e-04,-5.78802972e-06,-1.33119565e-04,-2.12254480e-04,
 -9.35715435e-07, 5.85675027e-07,-1.21644219e+00,-4.56435578e-04,
  1.26853567e-05,-5.50530891e-04]


--- Step 724 ---
qpos:
[ 0.0120464 ,-0.00115889, 0.0024485 , 0.04194801, 0.00459972,-0.00236041,
 -0.0181979 , 0.02848917, 0.01315317, 0.00446723,-0.01027045, 0.02646023,
  1.05963746,-0.00117428, 0.84766384, 0.06509302, 0.0935802 ,-0.07007792,
  0.13095552, 0.50262586, 0.49196671, 0.49756639, 0.50770433]

qacc:
[  6.21932679,  0.64284643, -5.5088973 , 17.95015009, -3.68662155,
  -0.97015317,  4.62659846,-10.30529703, -3.55181445, -0.87061931,
   5.45440235,-12.72128971, -0.48530442,  0.33730124,  3.12338166,
 -14.80506614, -0.95932709, -1.84063146, -0.65265941,-15.98051033,
   0.68685491, 25.93998428]

qfrc_actuator:
[ 6.13602610e-05, 3.79569003e-05, 7.61522506e-06, 1.12368661e-04,
  1.94235857e-06,-3.33762885e-04,-2.66239454e-04,-5.96210378e-05,
 -2.99687606e-05, 5.87375390e-05,-9.30876263e-05,-2.61494274e-05,
  2.67083384e-02,-1.19792108e-03, 1.09542284e-02,-3.52620990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54815171,  0.19130172,  4.54412671,  0.19130172, 21.48224122,
       -0.71290276,  4.54412671, -0.71290276,  4.57816397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030232303838469143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18076762e-14, -4.59038381e-14,  1.00000000e+00,  4.21432470e-27,
        1.00000000e+00,  4.59038381e-14, -1.00000000e+00,  0.00000000e+00,
        9.18076762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976584, -0.03396757,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63624002e-05, 1.04526516e-05, 2.11383210e-05, 3.91563790e-05,
 -2.16735716e-05,-1.59088187e-05,-1.44773295e-06,-1.74495256e-05,
 -2.07530775e-05, 5.17274461e-05, 2.33891616e-05,-1.64965070e-05,
 -1.48545212e-04,-5.04368889e-05,-1.80266405e-04,-1.24363857e-04,
 -8.90558624e-07,-6.85508950e-08,-1.21644177e+00,-4.56769892e-04,
  1.21693862e-05,-5.50713740e-04]


--- Step 725 ---
qpos:
[ 0.0120481 ,-0.00115935, 0.0024479 , 0.04194877, 0.00459987,-0.00236058,
 -0.01819849, 0.02848786, 0.0131523 , 0.00446783,-0.01026996, 0.02645972,
  1.06025061,-0.00117326, 0.84817214, 0.06508311, 0.09355931,-0.07008704,
  0.13094958, 0.50266026, 0.49190098, 0.49746921, 0.50782918]

qacc:
[  3.66282152, -1.51389335,  6.20470926,-10.6276012 ,  0.82927126,
   0.06470336,  2.33558334,-11.31516183, -2.10155337, -1.86889669,
   5.5693895 , -3.58567177,  0.03574919, -1.04976687,  4.93497441,
 -19.99219499, -0.95641711, -1.81810694, -0.75653977,-15.73144617,
   0.75366481, 25.66607656]

qfrc_actuator:
[ 8.17039239e-05, 2.49924316e-05, 1.98759393e-05, 9.93631076e-05,
  7.52040137e-06,-3.21071498e-04,-2.83295250e-04,-8.70525714e-05,
 -4.18427377e-05, 2.31365815e-05,-6.61525706e-05,-1.88045204e-05,
  2.66557625e-02,-1.24424507e-03, 1.09183710e-02,-3.63195360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54143937e+00, -2.04016172e-02,  4.54139354e+00, -2.04016172e-02,
        3.06695641e+01,  1.17377187e-01,  4.54139354e+00,  1.17377187e-01,
        4.54196667e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.0003002973064764325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24269882e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.24269882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10976517, -0.03396614,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13812882e-05,-1.04411363e-06, 1.83884086e-05,-1.10652366e-05,
  4.95506131e-06, 2.75603112e-06,-2.11151769e-05,-2.84992195e-05,
 -1.24436443e-05,-2.58427428e-06, 3.99250655e-05, 1.00508634e-05,
 -1.56596656e-04,-8.61841457e-05,-1.33295656e-04,-1.36016255e-04,
 -7.16069855e-07,-5.91650612e-07,-1.21644253e+00,-4.57140055e-04,
  1.08307313e-05,-5.51130233e-04]


--- Step 726 ---
qpos:
[ 0.0120497 ,-0.0011601 , 0.00244789, 0.04194905, 0.00460008,-0.0023608 ,
 -0.01819923, 0.02848625, 0.01315163, 0.00446794,-0.01026926, 0.02646006,
  1.06086261,-0.00117214, 0.8486789 , 0.06507458, 0.09353859,-0.07009174,
  0.1309464 , 0.5027079 , 0.49182236, 0.49738977, 0.50793597]

qacc:
[-9.77664099e-01,-3.02542184e+00, 1.23318494e+01,-2.16382576e+01,
  5.71266824e-01,-2.80397043e-01, 2.18724826e+00,-7.22527120e+00,
  1.86073832e+00, 4.96477523e-01,-6.31399454e+00, 2.11116107e+01,
 -8.10182666e-01, 1.05942444e+00,-6.38354602e+00, 1.91703097e+01,
  4.23171831e-02, 1.10459599e+00, 6.87479474e-01, 2.50773008e+00,
 -5.11960469e-03,-1.54703600e+01]

qfrc_actuator:
[ 7.52263522e-05,-3.08018190e-07, 4.50224880e-05, 7.36373887e-05,
  1.07504899e-05,-3.31225822e-04,-2.93075895e-04,-1.02661345e-04,
 -3.07187992e-05,-3.38507001e-05,-6.83618877e-05, 2.12092351e-05,
  2.65968609e-02,-1.23649766e-03, 1.08786252e-02,-3.54806220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55991696,   1.35302785,   4.35455604,   1.35302785,
        42.81312339, -11.88586231,   4.35455604, -11.88586231,
         8.25303803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003058284430663971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13444221e-14, -1.81510754e-13,  1.00000000e+00,  2.05913461e-27,
        1.00000000e+00,  1.81510754e-13, -1.00000000e+00,  0.00000000e+00,
        1.13444221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167653, -0.08820802,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86801545e-06,-2.25359699e-05, 2.68208283e-05,-2.53501899e-05,
  3.37442713e-06,-1.41784298e-05,-1.27869437e-05,-1.67715128e-05,
  1.07697559e-05,-4.97880054e-05, 2.51032477e-06, 4.14791231e-05,
 -1.75306449e-04,-4.04705168e-05,-1.19273050e-04, 5.84560427e-05,
 -4.11393684e-07,-9.89157415e-07,-1.21644443e+00,-4.57560697e-04,
  8.70518007e-06,-5.51780245e-04]


--- Step 727 ---
qpos:
[ 0.01205051,-0.00116111, 0.00244818, 0.04194937, 0.00460033,-0.00236139,
 -0.01819973, 0.02848551, 0.01315144, 0.00446783,-0.01026884, 0.02645985,
  1.06147345,-0.00117093, 0.84918387, 0.06506814, 0.09351808,-0.07009212,
  0.13094523, 0.50276865, 0.4917308 , 0.49732772, 0.50802523]

qacc:
[ -6.83711785, -1.09468657,  3.22845533, -2.70637388,  0.34161766,
   0.63028405, -6.66433432, 21.70368019,  4.24640035, -0.61784612,
   4.1014277 ,-13.05829531, -0.76358726,  0.97277416, -8.9075044 ,
  27.3904268 ,  0.05236022,  1.08075042,  0.50511841,  2.29352204,
   0.08765437,-15.23527646]

qfrc_actuator:
[ 3.52665553e-05,-1.50152135e-05, 5.97675933e-05, 7.61439380e-05,
  1.25638963e-05,-3.54948201e-04,-2.80801929e-04,-5.79386503e-05,
 -6.15081713e-06,-5.00447085e-05,-8.78565268e-05,-8.69023259e-06,
  2.65395504e-02,-1.23235505e-03, 1.07940101e-02,-3.44188905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57662856,  0.88050688,  4.49112865,  0.88050688, 25.70593945,
       -4.1425007 ,  4.49112865, -4.1425007 ,  5.38878529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031071204170818323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.5830584e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.5830584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167851, -0.08820732,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01322931e-05,-2.28356945e-05, 1.25232107e-05, 1.97662812e-06,
  1.90592467e-06,-3.49893258e-05, 7.20472128e-06, 4.33518616e-05,
  2.48559087e-05,-4.17511412e-05,-2.80460801e-05,-3.11421683e-05,
 -1.74701601e-04,-4.03146471e-05,-1.36177370e-04, 9.33665747e-05,
 -7.77636590e-07,-8.68538084e-07,-1.21644379e+00,-4.56499846e-04,
  1.03184086e-05,-5.51750057e-04]


--- Step 728 ---
qpos:
[ 0.01205083,-0.00116184, 0.00244788, 0.04194971, 0.00460026,-0.00236205,
 -0.01820047, 0.02848531, 0.01315156, 0.0044678 ,-0.01026883, 0.02645925,
  1.06208321,-0.00116968, 0.84968746, 0.06506195, 0.09349788,-0.07008856,
  0.13094564, 0.50284106, 0.49162756, 0.49728189, 0.50809835]

qacc:
[ -4.29033953,  2.09212672, -7.01235014,  8.14059752, -2.85697871,
   1.6684262 , -8.32696054, 17.99408614,  2.58782159,  0.42701861,
   0.26438159, -6.39636135, -0.76182731,  0.9469806 , -2.76614909,
   6.83284479,  0.07896572,  0.98418944,  0.39440371,  2.3332722 ,
   0.17742956,-13.90533294]

qfrc_actuator:
[ 1.14340090e-05, 1.22206450e-05, 3.28026067e-05, 7.74897523e-05,
 -4.22327278e-06,-3.50965440e-04,-2.91133781e-04,-3.13348786e-05,
  8.37351793e-06,-2.40753850e-05,-9.95393428e-05,-2.62116014e-05,
  2.64885613e-02,-1.23041354e-03, 1.07304856e-02,-3.43011449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58261831, -0.53052301, -4.55180578, -0.53052301, 25.78102416,
       -2.47072098, -4.55180578, -2.47072098,  4.87058629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003124360504435247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56750659e-07, -2.56750968e-07,  1.00000000e+00, -6.59209804e-14,
        1.00000000e+00,  2.56750968e-07, -1.00000000e+00, -1.26217745e-29,
       -2.56750659e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143754, -0.08675856,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49800201e-05, 1.71531248e-05,-3.00628302e-05, 8.41629566e-07,
 -1.67471119e-05,-1.22072974e-05,-1.51570263e-05, 2.62013205e-05,
  1.52184067e-05,-4.49816812e-06,-2.48433075e-05,-2.08883501e-05,
 -1.68049551e-04,-4.23248915e-05,-1.17887617e-04,-1.01251296e-06,
 -1.12385861e-06,-6.65609305e-07,-1.21644348e+00,-4.55487386e-04,
  1.17965219e-05,-5.51641933e-04]


--- Step 729 ---
qpos:
[ 0.01205156,-0.00116236, 0.0024472 , 0.04195075, 0.00459964,-0.00236279,
 -0.01820102, 0.0284847 , 0.0131515 , 0.0044678 ,-0.01026875, 0.02645876,
  1.06269196,-0.00116869, 0.85018967, 0.06506148, 0.09348056,-0.07009292,
  0.13094444, 0.50287681, 0.49156548, 0.49721452, 0.50818896]

qacc:
[ 3.51246367e+00, 2.78233603e+00,-1.24712015e+01, 2.50086831e+01,
 -4.77511519e+00,-1.43293548e+00, 6.67388614e+00,-1.38471366e+01,
 -1.50784531e+00, 6.03739890e-02,-6.25716689e-01, 2.41906584e+00,
 -1.99248444e-01,-3.15076660e-01,-1.92773346e+01, 6.44874556e+01,
  7.17011112e-01,-1.97875508e+00,-4.03140002e-01, 9.53502482e+00,
 -2.46040338e+00, 2.92392373e+01]

qfrc_actuator:
[ 3.28008229e-05, 2.86895231e-05, 1.71030327e-05, 1.13651578e-04,
 -3.18231032e-05,-3.48270123e-04,-2.79145812e-04,-5.11173888e-05,
 -8.86739305e-07,-8.52951556e-06,-8.85584832e-05,-1.84982075e-05,
  2.64360753e-02,-1.24752202e-03, 1.07275735e-02,-3.11893668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59989219,  0.62500038, -4.55723411,  0.62500038, 34.74054581,
        4.13363007, -4.55723411,  4.13363007,  5.16679753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031733301603044384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.74930273e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.74930273e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217516, -0.03142982,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06658715e-05, 1.99067276e-05,-1.58178991e-05, 3.58754484e-05,
 -2.80822637e-05,-6.11148901e-06, 8.52359167e-06,-2.03159004e-05,
 -8.82778594e-06, 7.01166069e-06, 6.27005800e-06, 6.25528437e-06,
 -1.65878081e-04,-6.02895124e-05,-6.07287749e-05, 2.95161279e-04,
 -1.41871800e-06,-4.03810799e-07,-1.21644344e+00,-4.54548801e-04,
  1.30610542e-05,-5.51462642e-04]


--- Step 730 ---
qpos:
[ 0.01205219,-0.00116301, 0.00244702, 0.0419522 , 0.00459903,-0.00236372,
 -0.01820138, 0.02848423, 0.01315167, 0.0044678 ,-0.01026881, 0.02645839,
  1.06329959,-0.0011676 , 0.85069088, 0.06506342, 0.09346601,-0.07010509,
  0.13094104, 0.50287632, 0.49154384, 0.49712619, 0.50829677]

qacc:
[-0.8126546 ,-0.74013952, 0.67995234, 5.64111252, 0.1747966 ,-0.50287331,
  0.87751266, 1.20534563, 2.06013306, 0.64678245,-2.78576634, 5.00353761,
 -0.75808397, 0.97358228,-8.70205888,28.41737798, 0.6958835 ,-1.95360884,
 -0.55074404, 9.4782302 ,-2.30896287,28.73601135]

qfrc_actuator:
[ 2.73366023e-05, 2.09005441e-05, 4.36932099e-05, 1.34513852e-04,
 -3.00548506e-05,-3.64068829e-04,-2.71847448e-04,-4.47538191e-05,
  1.14365186e-05,-1.69724961e-05,-9.98029036e-05,-1.37420486e-05,
  2.63827234e-02,-1.24027608e-03, 1.06652152e-02,-3.00647899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60610836,  2.8134648 , -3.64700563,  2.8134648 , 22.61777606,
       13.89501366, -3.64700563, 13.89501366, 15.32534924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003190687754984073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73978639e-13,  1.73978639e-13,  1.00000000e+00, -3.02685667e-26,
        1.00000000e+00, -1.73978639e-13, -1.00000000e+00,  0.00000000e+00,
        1.73978639e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08217378, -0.03143149,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86805708e-06, 1.64205628e-06, 3.00054278e-05, 2.18655225e-05,
  9.65604463e-07,-1.83016314e-05, 6.40054005e-06, 6.00659660e-06,
  1.20743695e-05,-2.96193141e-06,-8.80693982e-06, 5.39658536e-06,
 -1.68295215e-04,-3.91942923e-05,-6.23237948e-05, 1.19959457e-04,
 -4.55413322e-07,-6.15323749e-07,-1.21644257e+00,-4.55072370e-04,
  1.10115844e-05,-5.51287906e-04]


--- Step 731 ---
qpos:
[ 0.01205206,-0.0011641 , 0.00244763, 0.04195391, 0.00459846,-0.00236468,
 -0.01820228, 0.02848421, 0.01315165, 0.00446784,-0.01026929, 0.02645809,
  1.06390602,-0.00116612, 0.85119144, 0.06506077, 0.09345328,-0.07011288,
  0.13094023, 0.50288341, 0.49151387, 0.49706157, 0.50838193]

qacc:
[ -6.644519  , -2.26302778,  6.13149467, -2.59144704,  0.20827213,
   2.3871759 ,-10.49886421, 19.25563879, -1.76224032,  1.38025961,
  -5.17652427,  7.13899289, -1.40578221,  2.39043582, 12.95794727,
 -46.55778679,  0.45119483,  1.09575764,  0.64928454,  7.69521842,
   0.62960358,-15.52186798]

qfrc_actuator:
[-1.16434483e-05,-1.89416221e-05, 7.71696601e-05, 1.46208240e-04,
 -2.87646346e-05,-3.73061262e-04,-3.02938547e-04,-2.30711097e-05,
  8.67030704e-07,-2.20433503e-05,-1.24190569e-04,-1.08073163e-05,
  2.63235722e-02,-1.21866810e-03, 1.05778553e-02,-3.26077498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003224784198605085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60695597e-14,  1.72139119e-13,  1.00000000e+00, -1.48159382e-26,
        1.00000000e+00, -1.72139119e-13, -1.00000000e+00,  0.00000000e+00,
        8.60695597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619847, -0.08832052,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91181354e-05,-3.17705407e-05, 3.82736832e-05, 1.32272150e-05,
  1.31086343e-06,-1.76078150e-05,-3.38589207e-05, 2.12406655e-05,
 -1.02274610e-05,-8.30895138e-06,-2.58963512e-05, 2.60858997e-06,
 -1.71250777e-04,-2.14618798e-05,-1.08491338e-04,-2.56985901e-04,
  2.66798209e-07,-3.71346846e-07,-1.21644292e+00,-4.55409297e-04,
  9.65768971e-06,-5.51332551e-04]


--- Step 732 ---
qpos:
[ 0.01205147,-0.00116549, 0.00244838, 0.04195577, 0.00459825,-0.00236571,
 -0.01820353, 0.0284841 , 0.01315081, 0.00446761,-0.01026967, 0.02645783,
  1.06451131,-0.00116438, 0.85169127, 0.0650527 , 0.09344233,-0.07011637,
  0.13094128, 0.502898  , 0.49147556, 0.49702021, 0.50844496]

qacc:
[ -4.08761047, -0.43704344,  0.36510126,  2.27054041,  3.18839868,
   0.67616687, -2.17503336,  1.19558506, -7.17374394, -0.54811984,
   1.30154337, -0.61369384, -1.29208907,  2.10356971, 15.35850439,
 -55.10617563,  0.44836647,  1.07404874,  0.46402544,  7.47186062,
   0.66830746,-15.25536492]

qfrc_actuator:
[-3.45246280e-05,-4.21380847e-05, 7.87819153e-05, 1.52385772e-04,
 -1.00228519e-05,-3.78052126e-04,-3.20912125e-04,-2.80798189e-05,
 -4.08512515e-05,-4.28717925e-05,-1.20624856e-04,-8.97294540e-06,
  2.62663147e-02,-1.20652660e-03, 1.05394098e-02,-3.53380739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63408466,  0.32371361,  4.62276434,  0.32371361, 20.05357889,
       -1.07976522,  4.62276434, -1.07976522,  4.70969628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003267154501813696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.49533611e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.49533611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619981, -0.08831969,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40047227e-05,-3.24746758e-05, 2.24772852e-07, 6.39704922e-06,
  1.87735110e-05,-2.08745160e-05,-2.50245568e-05,-6.51732364e-06,
 -4.20112607e-05,-3.07109349e-05,-1.24378467e-06, 6.35107535e-07,
 -1.68346551e-04,-2.78991988e-05,-1.22338534e-04,-3.02559590e-04,
  6.78673036e-08,-3.77583566e-07,-1.21644174e+00,-4.54729815e-04,
  1.09815471e-05,-5.51388852e-04]


--- Step 733 ---
qpos:
[ 0.01205095,-0.00116647, 0.00244834, 0.04195662, 0.00459895,-0.00236661,
 -0.01820483, 0.02848388, 0.01314948, 0.00446729,-0.01027007, 0.02645758,
  1.06511555,-0.00116276, 0.85218994, 0.0650456 , 0.09343317,-0.07011564,
  0.13094356, 0.50292002, 0.49142892, 0.49700175, 0.50848632]

qacc:
[ 6.23065291e-01, 6.61511439e-01, 2.66151252e+00,-1.90712201e+01,
  8.02317658e+00, 1.23116007e-01, 2.63607633e-01,-2.10417063e+00,
 -4.34359546e+00,-1.61074645e-02,-1.36742500e-01, 3.96658650e-01,
 -5.67241215e-01, 4.72900468e-01,-4.63447360e+00, 1.37601461e+01,
  4.45674057e-01, 1.05613127e+00, 3.08432669e-01, 7.28910149e+00,
  6.98792974e-01,-1.50336046e+01]

qfrc_actuator:
[-2.99835543e-05,-2.06625177e-06, 4.38653244e-05, 1.01998252e-04,
  3.65929720e-05,-3.45081730e-04,-3.13235911e-04,-3.09851206e-05,
 -6.50566265e-05,-3.73647253e-05,-1.18397311e-04,-7.79267984e-06,
  2.62102318e-02,-1.21785254e-03, 1.05409936e-02,-3.46036572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63797352,  0.11463544,  4.6365566 ,  0.11463544, 34.56326585,
       -0.73988075,  4.6365566 , -0.73988075,  4.65626652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003277577051674918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46832132e-14,  1.69366426e-13,  1.00000000e+00, -1.43424932e-26,
        1.00000000e+00, -1.69366426e-13, -1.00000000e+00,  0.00000000e+00,
        8.46832132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620063, -0.08831966,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84983054e-06, 2.22632849e-05,-4.13705981e-05,-5.16481007e-05,
  4.71453167e-05, 1.59083239e-05, 8.27316731e-08,-4.78801965e-06,
 -2.54108394e-05,-1.19003649e-05,-4.23890651e-06,-1.62989132e-07,
 -1.66992950e-04,-5.17937117e-05,-9.31668834e-05, 3.97414759e-05,
 -1.04105532e-07,-3.20442211e-07,-1.21644098e+00,-4.54085179e-04,
  1.19840297e-05,-5.51355257e-04]


--- Step 734 ---
qpos:
[ 0.01205118,-0.00116709, 0.00244783, 0.04195651, 0.00460021,-0.0023671 ,
 -0.01820563, 0.02848321, 0.01314855, 0.00446767,-0.01027106, 0.0264566 ,
  1.06571856,-0.00116066, 0.85268727, 0.06504237, 0.09342578,-0.07011074,
  0.13094656, 0.5029494 , 0.49137396, 0.49700586, 0.50850635]

qacc:
[  6.55322118, -0.21338404,  5.53585162,-21.83302651,  4.8567202 ,
  -1.85071242,  9.26714439,-18.21123698,  3.56962897,  1.04633374,
   0.71347704,-13.03888676, -1.10107557,  1.86589599,-13.54927281,
  44.7294193 ,  0.44319575,  1.04143644,  0.17806   ,  7.13988155,
   0.72286559,-14.8503346 ]

qfrc_actuator:
[ 8.40920666e-06, 2.21217332e-05, 2.33986213e-05, 5.42721274e-05,
  6.37309892e-05,-2.89523378e-04,-2.72565122e-04,-5.03290108e-05,
 -4.32449788e-05, 3.71291121e-05,-1.34637464e-04,-4.24962951e-05,
  2.61548858e-02,-1.18971978e-03, 1.05080780e-02,-3.25427121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003262507246615809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620105, -0.08832027,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85168493e-05, 2.59164560e-05,-2.27398813e-05,-4.92087542e-05,
  2.84885417e-05, 6.43308836e-05, 4.38256400e-05,-1.87489987e-05,
  2.10842437e-05, 6.69601496e-05,-1.92174529e-05,-3.53604814e-05,
 -1.69792395e-04,-1.67576381e-05,-7.58054814e-05, 1.95303658e-04,
 -2.51923424e-07,-2.00938086e-07,-1.21644059e+00,-4.53468807e-04,
  1.26851409e-05,-5.51230739e-04]


--- Step 735 ---
qpos:
[ 0.01205187,-0.00116776, 0.00244775, 0.04195616, 0.00460144,-0.00236723,
 -0.01820592, 0.02848232, 0.01314824, 0.00446851,-0.01027195, 0.02645519,
  1.06632043,-0.00115824, 0.85318337, 0.06504067, 0.09342016,-0.07010172,
  0.13094983, 0.50298609, 0.4913107 , 0.4970323 , 0.50850534]

qacc:
[  4.04458844, -1.73396476,  7.05611049,-11.72719413, -0.2443645 ,
  -1.38457518,  6.55726063,-11.44804157,  5.39303298, -0.58316164,
   4.72221366,-12.56280917, -1.00826145,  1.61386112, -6.37844302,
  19.811052  ,  0.44097892,  1.02948248,  0.06910698,  7.01845719,
   0.74192364,-14.70023536]

qfrc_actuator:
[ 3.09042796e-05, 1.89093079e-05, 4.71098393e-05, 4.40175788e-05,
  6.14261388e-05,-2.73985908e-04,-2.48155187e-04,-6.13948268e-05,
 -1.22811601e-05, 6.34997369e-05,-1.25878869e-04,-6.24815055e-05,
  2.61000364e-02,-1.17396095e-03, 1.04332156e-02,-3.18489942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032273441019792237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72002580e-13, -1.72002580e-13,  1.00000000e+00,  2.95848876e-26,
        1.00000000e+00,  1.72002580e-13, -1.00000000e+00,  0.00000000e+00,
        1.72002580e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620114, -0.08832139,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36053468e-05, 4.51601726e-06, 2.45728785e-05,-1.08877638e-05,
 -1.47077619e-06, 5.97985474e-05, 4.24628799e-05,-7.15417377e-06,
  3.15884750e-05, 5.83345031e-05, 1.90070458e-05,-1.84662922e-05,
 -1.62850226e-04,-2.37062050e-05,-9.27808406e-05, 6.94084634e-05,
 -3.77730986e-07,-1.99878709e-08,-1.21644057e+00,-4.52875716e-04,
  1.31002966e-05,-5.51014626e-04]


--- Step 736 ---
qpos:
[ 0.01205213,-0.00116862, 0.00244801, 0.04195606, 0.00460229,-0.00236705,
 -0.01820641, 0.02848136, 0.0131483 , 0.00446886,-0.01027202, 0.02645362,
  1.06692157,-0.00115682, 0.85367897, 0.0650351 , 0.09341706,-0.07009473,
  0.13095442, 0.50300744, 0.49126396, 0.49705921, 0.50850308]

qacc:
[ -3.72136346, -0.71479904,  1.1498215 ,  2.70125263, -3.35703153,
   0.8346737 , -2.07165895,  0.93604547,  3.32848628, -3.23237344,
  11.25938178,-14.91523986,  0.21290011, -1.54622931, 10.91633147,
 -39.35914918,  0.63215176, -0.5061438 ,  0.33115299,  8.35325825,
  -0.57956855,  7.57426077]

qfrc_actuator:
[ 8.34572968e-06,-4.72236046e-07, 6.11196598e-05, 5.58974727e-05,
  4.18163870e-05,-2.82577699e-04,-2.69200118e-04,-6.75447345e-05,
  6.05343170e-06,-1.00455281e-05,-1.02579644e-04,-7.36529224e-05,
  2.60508467e-02,-1.23667721e-03, 1.03864826e-02,-3.39205096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6019316 ,  0.36049717, -4.58778991,  0.36049717, 41.5419642 ,
        2.90265625, -4.58778991,  2.90265625,  4.83001514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031790400165175695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74616082e-13,  5.85960060e-07,  1.00000000e+00,  1.02318050e-19,
        1.00000000e+00, -5.85960060e-07, -1.00000000e+00,  0.00000000e+00,
       -1.74616082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842293 , -0.06055299,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18836893e-05,-1.22147972e-05, 1.76003172e-05, 1.27129794e-05,
 -1.96322503e-05, 3.33213650e-05,-3.70322282e-06,-2.25418358e-06,
  1.92538884e-05,-3.77961556e-05, 3.70533222e-05,-8.37136328e-06,
 -1.54818829e-04,-1.01725316e-04,-8.61114350e-05,-2.16241935e-04,
 -4.83175721e-07, 2.21597361e-07,-1.21644090e+00,-4.52302112e-04,
  1.32412966e-05,-5.50706471e-04]


--- Step 737 ---
qpos:
[ 0.01205247,-0.00116965, 0.00244846, 0.04195646, 0.00460289,-0.00236649,
 -0.01820742, 0.02848   , 0.01314859, 0.00446873,-0.010272  , 0.02645232,
  1.0675219 ,-0.00115641, 0.85417386, 0.06502767, 0.09341676,-0.07009554,
  0.13095645, 0.50299347, 0.49125708, 0.49706512, 0.50851777]

qacc:
[  0.64914191,  0.27968331, -3.44214946, 11.90725552, -2.14116082,
   1.16093239, -1.72705199, -4.58805559,  1.94459669, -0.34517475,
  -0.87605056,  5.86744694,  0.24861507, -1.66537845,  4.49473036,
 -17.35705407,  0.70039695, -1.94917178, -0.64272444,  9.15171373,
  -2.47040861, 28.31276844]

qfrc_actuator:
[ 1.27132069e-05,-1.16430074e-05, 6.92102373e-05, 8.06698305e-05,
  2.99406294e-05,-2.70238164e-04,-2.99262751e-04,-8.85600727e-05,
  1.68041111e-05,-5.40271121e-05,-1.06809970e-04,-6.18811893e-05,
  2.59997308e-02,-1.29203050e-03, 1.03725830e-02,-3.47628141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60156986,  0.02484526, -4.60150278,  0.02484526, 10.26761915,
        0.03059316, -4.60150278,  0.03059316,  4.60173504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003178028309576836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62007505e-13, -3.49343340e-13,  1.00000000e+00,  9.15305770e-26,
        1.00000000e+00,  3.49343340e-13, -1.00000000e+00,  0.00000000e+00,
        2.62007505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215947, -0.03143366,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74187168e-06,-1.38014014e-05, 8.18282154e-06, 2.51078812e-05,
 -1.24238788e-05, 3.01058231e-05,-2.37075499e-05,-1.97556742e-05,
  1.12841142e-05,-5.78238632e-05,-7.76382878e-06, 1.12732487e-05,
 -1.69430459e-04,-1.06389358e-04,-8.33161068e-05,-1.08702102e-04,
 -2.92802062e-07, 1.32753695e-07,-1.21644048e+00,-4.52491147e-04,
  1.28331871e-05,-5.50422205e-04]


--- Step 738 ---
qpos:
[ 0.01205389,-0.00117066, 0.00244893, 0.04195713, 0.0046037 ,-0.00236586,
 -0.01820869, 0.02847842, 0.01314865, 0.00446843,-0.01027216, 0.02645151,
  1.06812114,-0.00115634, 0.85466748, 0.06502552, 0.0934192 ,-0.07010405,
  0.13095547, 0.50294433, 0.49128957, 0.49705055, 0.50854922]

qacc:
[  9.52900007,  0.52322112, -3.01084091,  7.78970783,  1.72546404,
   0.34044175, -0.14937024, -3.30959378, -1.92425546,  1.26654411,
  -6.8379977 , 15.46653385, -0.18860166, -0.44430634,-17.79788478,
  59.55641738,  0.68233404, -1.92780813, -0.7511169 ,  9.16442147,
  -2.30924575, 27.96968326]

qfrc_actuator:
[ 6.84136645e-05,-7.23484423e-08, 7.37763034e-05, 9.50750330e-05,
  4.04705262e-05,-2.81038792e-04,-3.16577551e-04,-1.00387337e-04,
  5.25678859e-06,-4.45653344e-05,-1.09413291e-04,-3.67140252e-05,
  2.59474939e-02,-1.30705316e-03, 1.03730950e-02,-3.18543670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59231062, -1.6642652 ,  4.28013297, -1.6642652 , 20.96587758,
        6.36661474,  4.28013297,  6.36661474,  7.06787282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003151972130484154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.52231231e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.52231231e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08215727, -0.03143244,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58034637e-05, 6.65040040e-06, 3.59727123e-06, 1.45859780e-05,
  1.01878023e-05, 2.81308176e-07,-1.46913265e-05,-1.17372692e-05,
 -1.12477132e-05,-2.39819709e-05,-1.51097793e-05, 2.26426413e-05,
 -1.80322409e-04,-7.02461630e-05,-5.53372336e-05, 2.72811138e-04,
  5.93813290e-09, 2.44325963e-08,-1.21644000e+00,-4.53295350e-04,
  1.25728659e-05,-5.50312267e-04]


--- Step 739 ---
qpos:
[ 0.01205596,-0.00117172, 0.00244951, 0.04195764, 0.00460462,-0.00236572,
 -0.01820989, 0.02847641, 0.01314823, 0.00446834,-0.0102726 , 0.02645164,
  1.06871899,-0.00115559, 0.85516033, 0.06502617, 0.09342344,-0.07010835,
  0.13095596, 0.50290276, 0.49131348, 0.49705907, 0.50855891]

qacc:
[  5.77525319, -0.76168559,  3.30973555, -6.40931414,  1.06457551,
  -1.71726199,  6.9722891 ,-14.05730693, -4.27154455,  3.01644953,
 -14.3563451 , 31.13401275, -1.48780479,  2.68948231, -9.49540881,
  31.81095575,  0.45065933,  1.05552554,  0.36804075,  7.26372601,
   0.76233626,-15.19916747]

qfrc_actuator:
[ 1.00615427e-04,-1.04991852e-05, 7.63119878e-05, 8.55285401e-05,
  4.63482821e-05,-3.41073718e-04,-3.26308858e-04,-1.24472246e-04,
 -1.93191400e-05,-3.16167259e-06,-1.10801869e-04, 1.39335997e-05,
  2.58893118e-02,-1.26262117e-03, 1.03343971e-02,-3.04874283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003128714676814831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66137170e-13,  3.54849559e-13,  1.00000000e+00, -9.44386574e-26,
        1.00000000e+00, -3.54849559e-13, -1.00000000e+00,  0.00000000e+00,
        2.66137170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620218, -0.08832432,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37934570e-05,-5.29560495e-06, 4.85812412e-06,-8.85611387e-06,
  6.16953448e-06,-6.34161543e-05,-1.18784368e-05,-2.48050774e-05,
 -2.49054738e-05, 2.58529120e-05,-7.41226011e-06, 4.95410813e-05,
 -1.84038302e-04,-7.17604148e-06,-3.90380583e-05, 1.43568051e-04,
  8.57041930e-08, 3.46810074e-07,-1.21644067e+00,-4.53917486e-04,
  1.29322299e-05,-5.50405346e-04]


--- Step 740 ---
qpos:
[ 0.01205772,-0.00117285, 0.00245014, 0.04195803, 0.00460526,-0.00236629,
 -0.01821106, 0.02847417, 0.01314752, 0.0044687 ,-0.0102732 , 0.02645269,
  1.06931555,-0.0011543 , 0.85565257, 0.06502683, 0.09342947,-0.07010847,
  0.13095738, 0.50286866, 0.49132889, 0.49709033, 0.50854718]

qacc:
[ -2.80537514, -0.4409725 ,  1.92491163, -3.89773467, -2.45299325,
  -1.51356227,  5.04660735, -8.72410024, -2.57848155,  2.95356523,
 -13.53513712, 29.29825735, -1.38959294,  2.41655399, -0.79887759,
   1.69360755,  0.44796647,  1.04134671,  0.23004055,  7.13121987,
   0.76738292,-14.986085  ]

qfrc_actuator:
[ 8.32066073e-05,-1.62939562e-05, 7.75315519e-05, 7.97028724e-05,
  3.16805903e-05,-3.94611271e-04,-3.31711310e-04,-1.37867388e-04,
 -3.36065311e-05, 3.93372396e-05,-1.11299452e-04, 6.14474048e-05,
  2.58276292e-02,-1.23668244e-03, 1.02881513e-02,-3.05743464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031311498200574384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54573587e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.54573587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620264, -0.08832427,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64464324e-05,-8.09622833e-06, 4.18616684e-07,-6.05870739e-06,
 -1.45123306e-05,-9.25007691e-05,-2.08061422e-05,-1.70000200e-05,
 -1.49884180e-05, 5.75457450e-05, 5.65017147e-06, 4.93311989e-05,
 -1.75976458e-04,-1.51347916e-05,-5.53504477e-05,-7.35684917e-06,
 -2.64841991e-08, 2.24626152e-07,-1.21644035e+00,-4.53718517e-04,
  1.29052191e-05,-5.50420533e-04]


--- Step 741 ---
qpos:
[ 0.01205926,-0.0011742 , 0.00245086, 0.04195836, 0.00460607,-0.00236761,
 -0.01821199, 0.02847212, 0.01314733, 0.00446931,-0.01027395, 0.02645329,
  1.06991115,-0.00115331, 0.85614351, 0.06502584, 0.09343728,-0.07010448,
  0.13095925, 0.50284196, 0.49133585, 0.49714407, 0.50851434]

qacc:
[ -1.94291757, -0.63038863,  2.07999653, -3.03816932,  1.45942456,
  -1.24928898,  2.19004563,  1.34486864,  4.60311421, -0.19160658,
   3.06417761,-10.8278547 , -0.47602091,  0.19559181,  3.04216994,
 -13.3954485 ,  0.44573444,  1.02967431,  0.11445815,  7.02480337,
   0.76968344,-14.81091051]

qfrc_actuator:
[ 7.22502248e-05,-3.70299627e-05, 7.79844133e-05, 7.61183992e-05,
  4.05444166e-05,-4.26076175e-04,-3.16750327e-04,-1.27110644e-04,
 -6.21439006e-06, 2.89233591e-05,-1.29004924e-04, 3.57289058e-05,
  2.57745383e-02,-1.25745283e-03, 1.01894581e-02,-3.15167064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003111320705874304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7841668e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7841668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620279, -0.08832483,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14240004e-05,-2.54151119e-05,-1.37369999e-06,-4.03419190e-06,
  8.41913919e-06,-8.81827574e-05,-7.27047095e-06, 5.75136226e-06,
  2.69848157e-05, 2.50314961e-05,-3.41537466e-06,-2.20981525e-05,
 -1.64592843e-04,-6.13084452e-05,-1.31889135e-04,-1.03369667e-04,
 -1.16061293e-07, 1.70062156e-07,-1.21644039e+00,-4.53538902e-04,
  1.25977809e-05,-5.50340187e-04]


--- Step 742 ---
qpos:
[ 0.0120603 ,-0.00117615, 0.00245203, 0.04195902, 0.00460697,-0.00236937,
 -0.01821237, 0.02847084, 0.01314679, 0.00447004,-0.0102748 , 0.0264529 ,
  1.07050576,-0.00115282, 0.85663252, 0.06502445, 0.09344687,-0.07009641,
  0.13096119, 0.50282258, 0.49133442, 0.49722004, 0.50846059]

qacc:
[-4.26335988e+00,-1.40887317e+00, 2.50083704e+00, 2.81848213e+00,
  8.97579509e-01,-5.55691674e-01,-2.09917552e+00, 1.48529707e+01,
 -3.17532821e+00,-1.59640613e+00, 1.01059178e+01,-2.71582306e+01,
 -2.11942286e-01,-4.65462406e-01,-1.63073080e+00, 1.55291464e+00,
  4.43948248e-01, 1.02015762e+00, 1.78968592e-02, 6.94023024e+00,
  7.69822367e-01,-1.46681896e+01]

qfrc_actuator:
[ 4.74427686e-05,-8.43091763e-05, 9.56731783e-05, 9.16203610e-05,
  4.54415160e-05,-4.08468771e-04,-2.72034060e-04,-8.44473736e-05,
 -2.55241885e-05, 2.22786091e-05,-1.39238188e-04,-1.51754069e-05,
  2.57159695e-02,-1.28788999e-03, 1.00913354e-02,-3.17132894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000307400546332659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.02912371e-14,  1.80582474e-13,  1.00000000e+00, -1.63050150e-26,
        1.00000000e+00, -1.80582474e-13, -1.00000000e+00,  0.00000000e+00,
        9.02912371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620269, -0.08832585,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51376399e-05,-6.19172425e-05, 1.21357938e-05, 1.42879149e-05,
  5.10652668e-06,-3.28927913e-05, 2.58360256e-05, 3.87538433e-05,
 -1.85320450e-05, 5.69468825e-06,-6.24893089e-06,-5.03820249e-05,
 -1.74134196e-04,-7.63470030e-05,-1.73302355e-04,-4.30902557e-05,
 -1.84704472e-07, 1.80809682e-07,-1.21644079e+00,-4.53376789e-04,
  1.20203199e-05,-5.50164938e-04]


--- Step 743 ---
qpos:
[ 0.01205966,-0.00117817, 0.00245319, 0.04196017, 0.00460759,-0.00237107,
 -0.01821239, 0.02846969, 0.01314532, 0.00447063,-0.01027513, 0.02645224,
  1.07109928,-0.00115265, 0.85712011, 0.06502464, 0.09345926,-0.07009617,
  0.13096064, 0.5027677 , 0.49137292, 0.4972751 , 0.50842381]

qacc:
[-14.81231895,  0.98038452, -5.629654  , 14.09055528, -2.56302214,
  -0.63826735,  1.84374911, -0.24191463, -8.04747067, -2.20714885,
   8.75734512,-14.20177589, -0.36936862, -0.08805437, -6.88512483,
  21.06400006,  0.70241967, -1.95628848, -0.62368892,  9.22431079,
  -2.4162372 , 28.3572717 ]

qfrc_actuator:
[-3.85783154e-05,-5.82720043e-05, 1.05542357e-04, 1.18215516e-04,
  3.02049638e-05,-3.79192073e-04,-2.45392333e-04,-7.65523485e-05,
 -7.21804532e-05, 1.79281284e-05,-1.09473398e-04,-2.72161682e-05,
  2.56594751e-02,-1.30605145e-03, 1.00682196e-02,-3.07580809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5538359 ,  0.39612511, -4.53657429,  0.39612511, 42.08187926,
        3.27687795, -4.53657429,  3.27687795,  4.8399667 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003040237218383812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12941117e-14, -1.82588223e-13,  1.00000000e+00,  1.66692297e-26,
        1.00000000e+00,  1.82588223e-13, -1.00000000e+00,  0.00000000e+00,
        9.12941117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214645, -0.03142721,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.67540622e-05,-5.42488518e-06,-9.23843056e-07, 2.46416179e-05,
 -1.51050287e-05, 1.79532395e-05, 2.43987038e-05, 8.14098762e-06,
 -4.71770848e-05,-4.63967805e-06, 2.84306205e-05,-1.29916493e-05,
 -1.81491087e-04,-6.87693788e-05,-1.08120337e-04, 7.07096077e-05,
 -2.33707733e-07, 2.54928757e-07,-1.21644153e+00,-4.53230915e-04,
  1.11804899e-05,-5.49895366e-04]


--- Step 744 ---
qpos:
[ 0.012058  ,-0.00117953, 0.00245386, 0.04196087, 0.00460836,-0.00237229,
 -0.01821287, 0.02846898, 0.01314366, 0.00447098,-0.01027503, 0.02645146,
  1.07169172,-0.00115273, 0.85760693, 0.06502715, 0.09347415,-0.07009796,
  0.13096128, 0.50269737, 0.49142793, 0.49733089, 0.50838561]

qacc:
[ -9.04942797,  1.34774294, -1.62873151, -5.78049883,  1.35681137,
   2.82283003,-11.0326406 , 19.15904266, -1.76780563, -1.74102976,
   6.27807272, -8.88925979, -0.4553262 ,  0.1470151 , -8.08726298,
  26.67347719,  0.62359203, -0.5098071 ,  0.29873499,  8.48562527,
  -0.52139404,  7.50363365]

qfrc_actuator:
[-8.89241844e-05, 1.14546813e-05, 9.32532898e-05, 9.79151352e-05,
  3.87467666e-05,-3.43222390e-04,-2.65111364e-04,-5.36781865e-05,
 -8.12861307e-05,-2.57993108e-06,-9.18006899e-05,-3.40140784e-05,
  2.56095958e-02,-1.31681421e-03, 1.00688283e-02,-2.94851809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003019851280990661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10401566e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10401566e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08422166, -0.06055172,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28118436e-05, 6.75866561e-05,-1.26592103e-05,-2.00820114e-05,
  8.11588483e-06, 5.14571246e-05,-1.27000884e-05, 2.46532975e-05,
 -1.04468912e-05,-1.78235786e-05, 1.97655104e-05,-6.26327640e-06,
 -1.76892769e-04,-6.20559732e-05,-4.46982382e-05, 1.16521969e-04,
 -4.16903827e-07, 2.76137479e-07,-1.21644148e+00,-4.54230823e-04,
  1.22329110e-05,-5.49857489e-04]


--- Step 745 ---
qpos:
[ 0.01205678,-0.00118036, 0.00245439, 0.04196098, 0.00460957,-0.00237326,
 -0.01821352, 0.02846892, 0.01314258, 0.00447113,-0.0102747 , 0.02645061,
  1.072283  ,-0.00115266, 0.85809342, 0.0650265 , 0.09349084,-0.07009565,
  0.13096232, 0.50263439, 0.49147455, 0.49740915, 0.50832624]

qacc:
[  3.88555122, -0.14487328,  4.03543175,-14.5509124 ,  3.85861705,
   2.13001294, -9.80880429, 20.92537529,  5.23181474, -1.06096937,
   3.6700851 , -5.0334433 , -1.1008972 ,  1.61863713,  9.11777322,
 -32.43057937,  0.44768216,  1.02740435,  0.09798329,  7.06147327,
   0.75100615,-14.80674843]

qfrc_actuator:
[-6.45917396e-05, 3.56801278e-05, 8.59027216e-05, 6.79661547e-05,
  6.12220943e-05,-3.39196739e-04,-2.76480414e-04,-2.21882843e-05,
 -5.04559716e-05,-1.48846957e-05,-8.14917932e-05,-3.77073478e-05,
  2.55583995e-02,-1.30534954e-03, 1.00197556e-02,-3.12306643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53987934, -0.50481448,  4.51172547, -0.50481448, 48.42165179,
        4.90990739,  4.51172547,  4.90990739,  5.08924618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002998237569045159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.62864849e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.62864849e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620277, -0.08832789,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28583962e-05, 5.85714566e-05, 4.36643401e-06,-2.78798603e-05,
  2.27242720e-05, 3.12879264e-05,-1.43064977e-06, 3.37405046e-05,
  3.05276423e-05,-1.84784106e-05, 8.84024814e-06,-3.89422471e-06,
 -1.73223347e-04,-3.79519324e-05,-6.32179332e-05,-1.75333981e-04,
 -6.29821124e-07, 3.98961059e-07,-1.21644207e+00,-4.54727199e-04,
  1.25782741e-05,-5.49829823e-04]


--- Step 746 ---
qpos:
[ 0.01205586,-0.00118096, 0.00245492, 0.0419611 , 0.0046107 ,-0.0023745 ,
 -0.01821348, 0.02846889, 0.01314189, 0.00447097,-0.01027363, 0.02645005,
  1.0728733 ,-0.0011528 , 0.85857936, 0.06501947, 0.09350787,-0.07008927,
  0.13096384, 0.50258452, 0.49150766, 0.49750411, 0.50825061]

qacc:
[  2.64045362,  0.31492021, -0.75373419,  0.8253618 , -0.71449558,
  -2.22934875,  7.24726501, -7.45659174,  3.35280491, -1.87211794,
   4.84560382, -0.78394877, -0.80244908,  0.87519929, 18.44751094,
 -65.66565808,  0.08771789,  1.01556976,  0.12337057,  1.6686704 ,
   0.37619572,-14.88372018]

qfrc_actuator:
[-4.97699472e-05, 3.24822070e-05, 8.13689225e-05, 6.80674000e-05,
  5.62053464e-05,-3.72051852e-04,-2.47427945e-04,-2.14011737e-05,
 -3.18846330e-05,-2.22111907e-05,-4.00752585e-05,-2.17913204e-05,
  2.55117841e-02,-1.31633123e-03, 9.95683760e-03,-3.45642640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029763488369578817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49701645e-14, -1.86507544e-13,  1.00000000e+00, -6.52219951e-27,
        1.00000000e+00,  1.86507544e-13, -1.00000000e+00,  0.00000000e+00,
       -3.49701645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169002, -0.08820995,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54956004e-05, 2.92986341e-05, 7.14155202e-06, 2.21868146e-06,
 -4.35898036e-06,-1.41576531e-05, 3.65245825e-05, 2.73794411e-06,
  1.94326881e-05,-1.60008563e-05, 3.85475683e-05, 1.53535642e-05,
 -1.61746455e-04,-5.49088058e-05,-1.18651627e-04,-3.52923590e-04,
 -6.71631049e-07, 2.90869502e-07,-1.21644263e+00,-4.54816190e-04,
  1.14684093e-05,-5.49701203e-04]


--- Step 747 ---
qpos:
[ 0.01205478,-0.0011814 , 0.00245512, 0.04196194, 0.00461106,-0.00237597,
 -0.01821247, 0.0284685 , 0.01314108, 0.00447041,-0.01027173, 0.02645003,
  1.0734625 ,-0.00115301, 0.859064  , 0.06501273, 0.09352758,-0.07009006,
  0.13096312, 0.50250144, 0.49157768, 0.4975805 , 0.50819025]

qacc:
[ -1.4173341 ,  2.64096114,-12.13709142, 25.03447821, -6.61496672,
  -3.72748583, 14.41271303,-22.0730575 , -0.99270927, -1.75186864,
   3.18526162,  5.17739745, -0.67331572,  0.68204072, -2.75499269,
   6.93204562,  0.67012518, -1.79312076, -0.56329424,  8.92192756,
  -2.03181333, 26.03125891]

qfrc_actuator:
[-5.84418366e-05, 3.06693466e-05, 6.06822226e-05, 1.03577977e-04,
  1.72900817e-05,-3.73347911e-04,-1.94926262e-04,-3.86947650e-05,
 -3.84429823e-05,-4.41075291e-05, 1.66219266e-06, 5.56216115e-06,
  2.54519653e-02,-1.32274570e-03, 9.94422985e-03,-3.41902170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029451601810101053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.10108822e-07,  6.10108634e-07,  1.00000000e+00,  3.72232660e-13,
        1.00000000e+00, -6.10108634e-07, -1.00000000e+00,  0.00000000e+00,
       -6.10108822e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270759, -0.03480756,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21985382e-06, 1.61650798e-05,-1.36775124e-05, 3.70555032e-05,
 -3.90461311e-05,-1.50811632e-06, 5.41856202e-05,-1.65803049e-05,
 -6.01354681e-06,-2.22244722e-05, 4.37006597e-05, 2.82986477e-05,
 -1.72476571e-04,-5.04650214e-05,-1.11368094e-04, 1.34003942e-06,
 -5.80348833e-07, 2.20490812e-07,-1.21644307e+00,-4.54904836e-04,
  1.02307645e-05,-5.49568476e-04]


--- Step 748 ---
qpos:
[ 0.01205429,-0.0011819 , 0.0024552 , 0.04196287, 0.00461062,-0.00237702,
 -0.01821162, 0.02846756, 0.01314054, 0.00446951,-0.01026956, 0.02645038,
  1.07405042,-0.00115292, 0.85954772, 0.06500767, 0.09354767,-0.07008674,
  0.13096335, 0.50243158, 0.49163407, 0.49767379, 0.50811343]

qacc:
[  5.22342184,  0.43112161, -2.04728458,  3.8432117 , -7.15218892,
  -0.14455406,  3.68069715,-13.36193838,  2.415503  , -0.43074507,
  -0.63354436,  6.70313317, -1.09532197,  1.67051798, -6.35012293,
  20.41450215,  0.09210081,  1.02944192,  0.23881719,  1.71243739,
   0.36942602,-15.04628702]

qfrc_actuator:
[-2.76116873e-05, 1.19036382e-05, 4.83903102e-05, 1.06362051e-04,
 -2.35037919e-05,-3.37900058e-04,-1.99915214e-04,-6.64510583e-05,
 -2.42305805e-05,-7.45332579e-05, 7.68723553e-06, 2.16546135e-05,
  2.53842701e-02,-1.30871509e-03, 9.93526573e-03,-3.32304682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029447347072239505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00291721e-13,  1.88509855e-13,  1.00000000e+00, -3.77569632e-26,
        1.00000000e+00, -1.88509855e-13, -1.00000000e+00,  0.00000000e+00,
        2.00291721e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169041, -0.0882105 ,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06019749e-05,-1.09515980e-05,-9.35293640e-06, 3.72389553e-06,
 -4.19096650e-05, 4.51148755e-05, 8.08335931e-07,-2.62651947e-05,
  1.40310147e-05,-3.26207136e-05, 7.77988402e-06, 1.71999904e-05,
 -1.85230128e-04,-3.19511154e-05,-6.36297293e-05, 8.09090447e-05,
 -1.04135003e-06, 4.05921807e-07,-1.21644352e+00,-4.55898030e-04,
  1.19364160e-05,-5.49589797e-04]


--- Step 749 ---
qpos:
[ 0.01205383,-0.00118237, 0.00245509, 0.04196382, 0.00461003,-0.00237724,
 -0.01821164, 0.02846698, 0.01314017, 0.0044688 ,-0.01026807, 0.02645056,
  1.07463718,-0.00115269, 0.86003068, 0.06500245, 0.09356812,-0.07007933,
  0.13096411, 0.50237481, 0.49167697, 0.49778377, 0.5080203 ]

qacc:
[  0.24151276,  0.59025176, -2.1195051 ,  2.70733017, -1.27857921,
   4.29559845,-15.26898836, 22.35380984,  1.50812102,  1.78759402,
  -5.36786263,  3.5983633 , -0.94805488,  1.33486277, -0.59118001,
   0.55377573,  0.09386452,  1.01991738,  0.13140133,  1.69647972,
   0.36056405,-14.87711566]

qfrc_actuator:
[-2.70287977e-05, 1.86331908e-05, 4.10572260e-05, 1.07607322e-04,
 -2.95601108e-05,-2.80956653e-04,-2.38663755e-04,-4.68895682e-05,
 -1.56512395e-05,-5.67245722e-05,-2.52239523e-05, 1.32041808e-05,
  2.53332091e-02,-1.30050732e-03, 9.89121937e-03,-3.33545703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002928586627864854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06621475e-13, -1.89549289e-13,  1.00000000e+00,  2.02100247e-26,
        1.00000000e+00,  1.89549289e-13, -1.00000000e+00,  0.00000000e+00,
        1.06621475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169057, -0.08821083,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45121166e-06,-1.13973913e-06,-1.06162018e-05, 5.22653523e-07,
 -7.23496397e-06, 8.12284743e-05,-3.02330807e-05, 2.10159974e-05,
  8.96500879e-06, 1.92067975e-06,-3.81127331e-05,-9.24872673e-06,
 -1.71714299e-04,-3.75656379e-05,-7.02126005e-05,-1.74333296e-05,
 -9.09783148e-07, 2.32463588e-07,-1.21644376e+00,-4.56101736e-04,
  1.05260809e-05,-5.49533969e-04]


--- Step 750 ---
qpos:
[ 0.0120527 ,-0.00118265, 0.00245479, 0.0419651 , 0.00460972,-0.00237697,
 -0.01821154, 0.0284673 , 0.01313991, 0.00446843,-0.01026743, 0.02645133,
  1.0752229 ,-0.00115241, 0.8605123 , 0.06499687, 0.09358903,-0.07006818,
  0.1309652 , 0.50232966, 0.49170784, 0.49790944, 0.5079119 ]

qacc:
[ -5.97742758,  1.47488262, -6.30898827, 12.25386974,  2.42057385,
   2.15297369,-10.5340021 , 25.56516725,  0.89746715,  4.01829322,
 -16.13093296, 27.28771929, -0.78732493,  1.02125884, -0.83188457,
   0.15210254,  0.11326429,  0.9374087 ,  0.0834851 ,  1.90349357,
   0.34765837,-13.64461699]

qfrc_actuator:
[-6.20182743e-05, 4.05897598e-05, 3.68084672e-05, 1.25716714e-04,
 -1.51215235e-05,-2.47193907e-04,-2.25869669e-04, 3.66551434e-07,
 -1.04621518e-05,-2.81108567e-05,-6.29187697e-05, 4.36584861e-05,
  2.52868370e-02,-1.29575672e-03, 9.81016587e-03,-3.35847218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002896110241800621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08812540e-07, -2.08812892e-07,  1.00000000e+00, -4.36027503e-14,
        1.00000000e+00,  2.08812892e-07, -1.00000000e+00,  0.00000000e+00,
       -2.08812540e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09144692, -0.08676338,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49467834e-05, 1.91666505e-05,-5.76863730e-06, 1.77026126e-05,
  1.42609062e-05, 7.38486943e-05, 2.65796314e-05, 5.01022535e-05,
  5.44569449e-06, 2.14286547e-05,-4.23227887e-05, 2.90352795e-05,
 -1.60208010e-04,-3.89435872e-05,-1.21191717e-04,-3.43733393e-05,
 -7.71640915e-07, 1.51161523e-07,-1.21644430e+00,-4.56317382e-04,
  9.04497488e-06,-5.49385794e-04]


--- Step 751 ---
qpos:
[ 0.01205184,-0.00118302, 0.00245514, 0.04196587, 0.00460924,-0.0023762 ,
 -0.01821123, 0.02846748, 0.01313972, 0.00446809,-0.01026689, 0.02645244,
  1.07580759,-0.00115207, 0.8609924 , 0.06499335, 0.09360593,-0.07006474,
  0.13096536, 0.50227269, 0.4917482 , 0.49799217, 0.50784806]

qacc:
[  2.47773243, -2.95941717, 12.5317087 ,-22.29054985, -1.48794131,
  -0.19102743,  2.19236592, -5.18103249,  0.56314064,  1.05320452,
  -5.14528553, 11.26886664, -0.65033575,  0.77174767, -8.41914397,
  26.25254771, -1.00322535, -1.92882386, -0.23001084,-16.70625736,
   0.70280536, 27.11457666]

qfrc_actuator:
[-4.66445492e-05, 3.60194082e-05, 6.99990944e-05, 1.00363127e-04,
 -2.42525737e-05,-2.27343937e-04,-2.18309818e-04,-7.45388340e-06,
 -7.30838343e-06,-2.87488720e-05,-6.75296254e-05, 6.12760567e-05,
  2.52379846e-02,-1.29305758e-03, 9.76024456e-03,-3.24556382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000297431733944295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86634931e-13,  2.33293664e-13,  1.00000000e+00, -4.35407470e-26,
        1.00000000e+00, -2.33293664e-13, -1.00000000e+00,  0.00000000e+00,
        1.86634931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10972291, -0.03394469,  0.0619915 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43866732e-05, 5.71703094e-06, 3.70582767e-05,-2.43873319e-05,
 -8.70165186e-06, 6.87764000e-05, 2.78155765e-05,-2.76302070e-06,
  3.31608680e-06, 3.85237482e-06,-4.39815775e-06, 1.76339593e-05,
 -1.56435935e-04,-3.84499652e-05,-1.12667072e-04, 9.46789520e-05,
 -6.45657364e-07, 1.55369646e-07,-1.21644508e+00,-4.56563847e-04,
  7.57674803e-06,-5.49147097e-04]


--- Step 752 ---
qpos:
[ 0.01205186,-0.00118325, 0.00245583, 0.04196598, 0.004609  ,-0.00237532,
 -0.01821113, 0.02846662, 0.01313956, 0.00446766,-0.01026574, 0.02645269,
  1.07639118,-0.00115139, 0.86147153, 0.06498978, 0.09361887,-0.07006887,
  0.13096393, 0.5022039 , 0.49179789, 0.49803293, 0.50782801]

qacc:
[  7.74439264, -2.1522887 , 10.73156647,-22.85168657,  2.09188321,
  -1.41907408,  9.73297771,-27.70312577,  0.36643048, -3.60257748,
  16.34231402,-32.26686071, -1.06585061,  1.73327035, -1.23829492,
   2.41672405, -0.99053497, -1.89194224, -0.40145862,-16.31181667,
   0.79834572, 26.64543534]

qfrc_actuator:
[-1.73992549e-06, 5.12267938e-05, 8.93893643e-05, 6.73939878e-05,
 -1.16846358e-05,-2.69294460e-04,-2.49525517e-04,-6.53999735e-05,
 -5.37683241e-06,-2.90189879e-05,-3.49427152e-05, 1.79363295e-05,
  2.51876798e-02,-1.27385598e-03, 9.71841696e-03,-3.24864977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55060664, -0.20808801, -4.54584648, -0.20808801, 17.92630461,
       -0.61227812, -4.54584648, -0.61227812,  4.57863393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030305918897366446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15846693e-14, -2.28961673e-13,  1.00000000e+00,  2.09693791e-26,
        1.00000000e+00,  2.28961673e-13, -1.00000000e+00,  0.00000000e+00,
        9.15846693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10972041, -0.03394708,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53160974e-05, 2.50297049e-05, 2.42903906e-05,-3.19188387e-05,
  1.23427217e-05, 2.10114602e-06,-1.36916131e-05,-5.40924446e-05,
  2.02625149e-06, 1.73533140e-06, 3.34459321e-05,-4.29867368e-05,
 -1.55144619e-04,-2.11878192e-05,-8.60411454e-05,-1.29730026e-05,
 -6.15869241e-07, 2.49411671e-07,-1.21644264e+00,-4.57397877e-04,
  9.97781330e-06,-5.49079118e-04]


--- Step 753 ---
qpos:
[ 0.01205242,-0.00118339, 0.00245649, 0.04196608, 0.00460925,-0.00237483,
 -0.01821145, 0.0284655 , 0.01313943, 0.00446732,-0.01026452, 0.02645208,
  1.07697376,-0.00115074, 0.86194968, 0.06498649, 0.09362789,-0.07008045,
  0.13096031, 0.50212329, 0.49185679, 0.49803249, 0.50785111]

qacc:
[ 4.72775443e+00, 1.43209482e-01,-3.11306024e-01, 4.79151216e-02,
  4.35700378e+00, 8.58909680e-02, 1.57869641e-02,-3.54153259e+00,
  2.14632184e-01,-1.85869194e+00, 1.03581499e+01,-2.52423339e+01,
 -6.64266197e-01, 7.38756825e-01,-2.24459956e+00, 5.85259344e+00,
 -9.79638192e-01,-1.86140828e+00,-5.45818781e-01,-1.59874410e+01,
  8.73527629e-01, 2.62558678e+01]

qfrc_actuator:
[ 2.46653279e-05, 4.25990753e-05, 8.27879828e-05, 6.57196789e-05,
  1.35612353e-05,-3.30397694e-04,-2.85919233e-04,-8.14372534e-05,
 -4.17931150e-06,-2.89601211e-05,-3.39672944e-05,-2.53975430e-05,
  2.51312210e-02,-1.28055803e-03, 9.68144965e-03,-3.23129799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55834265e+00, -3.32148876e-02,  4.55822164e+00, -3.32148876e-02,
        4.89705042e+01,  3.23622910e-01,  4.55822164e+00,  3.23622910e-01,
        4.56070083e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003053626666582321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08938081e-14, -4.54469040e-14,  1.00000000e+00,  4.13084217e-27,
        1.00000000e+00,  4.54469040e-14, -1.00000000e+00,  0.00000000e+00,
        9.08938081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971896, -0.03394786,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77035192e-05, 9.03447480e-06, 4.48463416e-07,-3.86050240e-07,
  2.56014799e-05,-6.51015980e-05,-3.95280413e-05,-1.74744889e-05,
  1.25601599e-06, 6.09738217e-06, 3.95684805e-06,-4.29411142e-05,
 -1.56618799e-04,-4.37196400e-05,-8.29338164e-05, 4.42163437e-06,
 -4.49806354e-07, 4.78459069e-07,-1.21644150e+00,-4.58288222e-04,
  1.14606865e-05,-5.49246495e-04]


--- Step 754 ---
qpos:
[ 0.01205295,-0.00118378, 0.00245747, 0.04196686, 0.00460912,-0.0023745 ,
 -0.01821205, 0.02846449, 0.01313966, 0.00446717,-0.01026336, 0.02645096,
  1.07755531,-0.00115013, 0.86242727, 0.06498235, 0.09363302,-0.07009937,
  0.13095402, 0.50203086, 0.49192477, 0.4979915 , 0.50791682]

qacc:
[ -0.26822904,  0.19202413, -4.06782854, 15.64704097, -3.41861109,
   0.83084603, -3.7843271 ,  6.47599963,  3.16451837, -0.64641899,
   4.87750715,-13.93803509, -0.73876677,  0.85381578,  1.78831487,
  -7.39110823, -0.97035586, -1.83622171, -0.66730785,-15.72167472,
   0.93247576, 25.93450902]

qfrc_actuator:
[ 2.22082966e-05, 1.96807687e-05, 9.63328610e-05, 1.00191998e-04,
 -7.19801588e-06,-3.13760732e-04,-2.89629173e-04,-7.27015996e-05,
  1.43297033e-05,-1.10770629e-05,-3.39145880e-05,-5.06457799e-05,
  2.50764272e-02,-1.28482200e-03, 9.66341112e-03,-3.27299873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55711471, -0.3100637 ,  4.54655419, -0.3100637 , 35.41805224,
        2.10463929,  4.54655419,  2.10463929,  4.70064589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003049986708245078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10022838e-14, -4.55011419e-14,  1.00000000e+00,  4.14070783e-27,
        1.00000000e+00,  4.55011419e-14, -1.00000000e+00,  0.00000000e+00,
        9.10022838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971833, -0.03394735,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66597831e-06,-1.77849068e-05, 1.54449738e-05, 3.48647494e-05,
 -2.00493789e-05,-2.86838926e-05,-2.26312281e-05, 4.23896757e-06,
  1.85484816e-05, 2.02696129e-05, 3.04744078e-07,-2.56864044e-05,
 -1.60766524e-04,-4.57542641e-05,-6.05994330e-05,-5.32566637e-05,
 -1.49208638e-07, 8.34544667e-07,-1.21644160e+00,-4.59248928e-04,
  1.20833812e-05,-5.49650488e-04]


--- Step 755 ---
qpos:
[ 0.01205276,-0.00118385, 0.00245811, 0.04196802, 0.00460909,-0.00237405,
 -0.01821285, 0.02846322, 0.01313977, 0.00446687,-0.01026156, 0.02645022,
  1.07813578,-0.00114954, 0.86290422, 0.06497671, 0.09363824,-0.07011415,
  0.13095099, 0.5019512 , 0.49198037, 0.49796687, 0.50796585]

qacc:
[ -6.37528095,  2.19739301, -8.77071566, 15.59446623,  0.84274252,
   0.15098004,  0.84936281, -5.38206371, -1.07425707, -1.19210301,
   2.31245735,  3.55002323, -0.83243244,  1.0278349 ,  3.59647708,
 -13.85437362,  0.02039054,  1.03418819,  0.81460955,  2.06443491,
  -0.02790164,-14.53524293]

qfrc_actuator:
[-1.49635848e-05, 5.94958535e-05, 8.61225288e-05, 1.20149400e-04,
 -1.61438151e-06,-2.86059543e-04,-2.91447431e-04,-8.48865165e-05,
  7.37468254e-06,-1.81595539e-05, 1.19470794e-06,-2.95261161e-05,
  2.50173451e-02,-1.28759869e-03, 9.63009988e-03,-3.34910353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030292919765413716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86373646e-07, -4.86373054e-07,  1.00000000e+00, -2.36559035e-13,
        1.00000000e+00,  4.86373054e-07, -1.00000000e+00,  0.00000000e+00,
       -4.86373646e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214334, -0.08686606,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72274677e-05, 3.45524748e-05,-1.07845624e-05, 2.04054039e-05,
  5.00246304e-06, 7.15866081e-06,-1.03778815e-05,-1.41110634e-05,
 -6.41940576e-06, 3.21613330e-06, 3.84351960e-05, 2.14984807e-05,
 -1.67923093e-04,-4.56327119e-05,-7.35058551e-05,-8.83456639e-05,
  2.84643482e-07, 1.31247229e-06,-1.21644286e+00,-4.60289911e-04,
  1.18901432e-05,-5.50291598e-04]


--- Step 756 ---
qpos:
[ 0.01205212,-0.00118352, 0.00245859, 0.0419687 , 0.00460946,-0.00237344,
 -0.01821373, 0.02846179, 0.01313944, 0.00446657,-0.01026019, 0.0264498 ,
  1.07871506,-0.00114865, 0.86337941, 0.06497591, 0.0936437 ,-0.07012459,
  0.13095033, 0.50188473, 0.492023  , 0.49795983, 0.50799714]

qacc:
[-3.91435009e+00,-5.36499913e-02, 2.97518602e+00,-1.13627346e+01,
  3.60433364e+00, 1.36132124e-01, 4.56169318e-01,-3.04155529e+00,
 -3.78782710e+00, 1.88930785e+00,-8.05022071e+00, 1.41899101e+01,
 -8.31335290e-01, 1.21310849e+00,-1.71390157e+01, 5.63175217e+01,
  6.11374008e-02, 1.08621714e+00, 5.92373720e-01, 2.37957284e+00,
  5.99492891e-02,-1.53630714e+01]

qfrc_actuator:
[-3.67548357e-05, 8.32108633e-05, 7.99498429e-05, 9.59275603e-05,
  1.94442404e-05,-2.69688220e-04,-2.92097679e-04,-9.15214499e-05,
 -1.45178854e-05,-3.99529673e-05,-3.21074162e-05,-1.67959966e-05,
  2.49610579e-02,-1.27174611e-03, 9.57700029e-03,-3.08982301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57289633,  0.63110667,  4.52913736,  0.63110667, 17.78255621,
       -1.84068262,  4.52913736, -1.84068262,  4.82938382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003096308637967893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12051070e-14,  1.79281712e-13,  1.00000000e+00, -2.00887076e-27,
        1.00000000e+00, -1.79281712e-13, -1.00000000e+00,  0.00000000e+00,
        1.12051070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09169907, -0.08820842,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28393729e-05, 4.16633747e-05, 3.34675703e-07,-2.27197602e-05,
  2.12048193e-05, 1.76238679e-05,-9.31434145e-07,-6.95841758e-06,
 -2.20755179e-05,-1.11449207e-05,-2.71754068e-05, 1.46147973e-05,
 -1.69647085e-04,-2.84978344e-05,-1.02683498e-04, 2.43535697e-04,
  1.65735687e-07, 9.20474056e-07,-1.21644183e+00,-4.59886455e-04,
  1.18500927e-05,-5.50593642e-04]


--- Step 757 ---
qpos:
[ 0.01205192,-0.00118326, 0.00245948, 0.04196876, 0.00460905,-0.00237295,
 -0.01821428, 0.02846134, 0.0131392 , 0.00446626,-0.01025946, 0.02644887,
  1.07929329,-0.00114763, 0.86385356, 0.06497749, 0.09364944,-0.07013077,
  0.13095137, 0.50183133, 0.49205267, 0.49797007, 0.50801112]

qacc:
[  3.82380649, -2.48461982, 11.35937611,-22.70277934, -6.867928  ,
   0.93909363, -7.67523277, 24.09274365,  0.72864422,  0.6981698 ,
  -0.32154456, -7.62520564, -0.74908394,  1.01436953, -8.63780972,
  28.10032068,  0.0698969 ,  1.06520015,  0.42555284,  2.23160023,
   0.11559867,-15.13398475]

qfrc_actuator:
[-1.38025032e-05, 6.15741846e-05, 9.38953124e-05, 6.36591015e-05,
 -2.15762670e-05,-2.77961661e-04,-2.74331261e-04,-4.15830018e-05,
 -9.51364787e-06,-5.29112349e-05,-7.01229654e-05,-4.46844692e-05,
  2.49171470e-02,-1.26275636e-03, 9.53345437e-03,-2.97234312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58393813,  0.61952817,  4.54187997,  0.61952817, 31.39675344,
       -3.65736097,  4.54187997, -3.65736097,  5.08281485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003128141042586935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.981974e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        9.981974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170056, -0.08820801,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23163972e-05, 7.32670485e-07, 2.17972284e-05,-3.09164227e-05,
 -4.04091734e-05, 1.08992663e-06, 2.10567125e-05, 5.05289963e-05,
  4.37401052e-06,-2.41907018e-05,-4.31702356e-05,-2.90225394e-05,
 -1.54192639e-04,-3.27845873e-05,-6.64873089e-05, 1.17203000e-04,
  5.72440791e-08, 6.00350575e-07,-1.21644104e+00,-4.59504144e-04,
  1.17088568e-05,-5.50795842e-04]


--- Step 758 ---
qpos:
[ 0.01205164,-0.00118295, 0.00245996, 0.04196847, 0.00460816,-0.0023727 ,
 -0.01821454, 0.02846185, 0.01313902, 0.00446561,-0.0102588 , 0.02644761,
  1.07987065,-0.00114706, 0.86432697, 0.0649791 , 0.09365549,-0.07013276,
  0.13095356, 0.50179086, 0.49206942, 0.49799732, 0.50800816]

qacc:
[ -0.61537734,  0.47498966, -0.16671409, -5.15806828, -4.26441883,
   0.83754029, -7.51566277, 23.90845894,  0.54765187, -0.93069391,
   4.0070149 , -9.21027936, -0.19978122, -0.40857337, -1.24808852,
   2.75929197,  0.0768291 ,  1.04790758,  0.28557399,  2.11484237,
   0.15843079,-14.94299753]

qfrc_actuator:
[-1.79619941e-05, 4.85203377e-05, 6.61628129e-05, 4.46483882e-05,
 -4.55541557e-05,-3.00802533e-04,-2.63647813e-04, 5.72829694e-06,
 -6.46640261e-06,-7.83099895e-05,-7.50886655e-05,-6.07313226e-05,
  2.48647147e-02,-1.29336533e-03, 9.49031333e-03,-2.97491624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58520464, -0.47445742, -4.56059117, -0.47445742, 34.29954258,
       -3.09130715, -4.56059117, -3.09130715,  4.90680629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003131762722102249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32347683e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.32347683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170169, -0.08820826,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.52570137e-06,-9.47786644e-06,-2.59805444e-05,-1.88305401e-05,
 -2.51331123e-05,-1.57410651e-05, 1.52541228e-05, 4.90728090e-05,
  3.16561339e-06,-4.90819761e-05,-1.62874236e-05,-1.91411633e-05,
 -1.54086709e-04,-6.98088285e-05,-6.58856814e-05,-5.80726011e-06,
 -2.99457337e-08, 3.74325659e-07,-1.21644056e+00,-4.59166689e-04,
  1.14586330e-05,-5.50907145e-04]


--- Step 759 ---
qpos:
[ 0.01205098,-0.00118279, 0.00246045, 0.04196795, 0.00460802,-0.00237224,
 -0.01821506, 0.02846222, 0.01313888, 0.00446469,-0.01025854, 0.02644618,
  1.080447  ,-0.00114681, 0.86479919, 0.06498302, 0.09366187,-0.07013061,
  0.13095641, 0.50176324, 0.49207328, 0.49804136, 0.50798853]

qacc:
[ -3.44588447, -0.67583947,  3.12187512, -7.0270209 ,  6.59366721,
   0.70629018, -1.51139432, -0.74357893,  0.3253541 ,  0.39946338,
  -1.19785252, -0.95337177, -0.31350943, -0.13718281, -8.67407289,
  27.83732524,  0.08233926,  1.03376492,  0.16839837,  2.02309131,
   0.19117886,-14.78497863]

qfrc_actuator:
[-3.80599305e-05, 4.05419022e-05, 6.73252429e-05, 3.35623150e-05,
 -6.03146411e-06,-2.78954536e-04,-2.75067475e-04,-2.17463577e-06,
 -4.60411693e-06,-9.30774167e-05,-9.60423324e-05,-6.96622985e-05,
  2.48071921e-02,-1.31167901e-03, 9.44742648e-03,-2.85286793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57864182, -0.28696292, -4.56964038, -0.28696292, 50.02444094,
       -2.85389177, -4.56964038, -2.85389177,  4.75785966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112930355732013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11452765e-14, -3.56648848e-13,  1.00000000e+00,  3.97495002e-27,
        1.00000000e+00,  3.56648848e-13, -1.00000000e+00,  0.00000000e+00,
        1.11452765e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170253, -0.08820905,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02011187e-05,-1.94682251e-05,-4.65477989e-06,-1.27584851e-05,
  3.87976306e-05, 1.82835296e-05,-1.10940647e-05,-7.09475695e-06,
  1.93489784e-06,-4.63795856e-05,-3.37581666e-05,-1.19677910e-05,
 -1.67516628e-04,-6.41608762e-05,-7.94989670e-05, 1.11920143e-04,
 -9.95981993e-08, 2.39460294e-07,-1.21644038e+00,-4.58865126e-04,
  1.11082410e-05,-5.50927783e-04]


--- Step 760 ---
qpos:
[ 0.01205008,-0.00118284, 0.00246123, 0.04196764, 0.00460869,-0.00237149,
 -0.01821604, 0.02846214, 0.01313877, 0.00446328,-0.01025819, 0.02644499,
  1.08102224,-0.00114649, 0.86526965, 0.06499079, 0.09366859,-0.07012437,
  0.13095955, 0.50174837, 0.49206428, 0.49810202, 0.50795246]

qacc:
[ -2.05843701, -0.68239696,  1.16046614,  2.07613487,  7.16269803,
   0.73933497, -0.24862558, -6.81493141,  0.2181772 , -0.38281391,
  -0.63040158,  5.13754957, -0.62144253,  0.68583821,-14.17121677,
  45.87485822,  0.08674497,  1.02228915,  0.07057482,  1.95140671,
   0.21599012,-14.65553094]

qfrc_actuator:
[-4.96169826e-05, 3.57740011e-05, 8.55749612e-05, 4.50080649e-05,
  3.50397389e-05,-2.66157516e-04,-2.99304736e-04,-2.47272187e-05,
 -3.45359582e-06,-1.19168928e-04,-9.07331670e-05,-5.65927517e-05,
  2.47573102e-02,-1.30483122e-03, 9.36215164e-03,-2.65831857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000307645495825154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36825785e-13, -1.80438693e-13,  1.00000000e+00,  4.27325351e-26,
        1.00000000e+00,  1.80438693e-13, -1.00000000e+00,  0.00000000e+00,
        2.36825785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170314, -0.08821026,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21387502e-05,-1.71781924e-05, 1.32086387e-05, 1.02029597e-05,
  4.21850080e-05, 2.04276601e-05,-2.20744956e-05,-2.22932830e-05,
  1.18826063e-06,-5.94798325e-05,-8.83273228e-06, 9.68553760e-06,
 -1.66735420e-04,-4.10067881e-05,-1.13869137e-04, 1.89507486e-04,
 -1.54483928e-07, 1.93270940e-07,-1.21644049e+00,-4.58592890e-04,
  1.06640359e-05,-5.50858072e-04]


--- Step 761 ---
qpos:
[ 0.01204939,-0.00118287, 0.00246158, 0.04196749, 0.00460951,-0.00237049,
 -0.0182176 , 0.02846182, 0.01313867, 0.00446163,-0.01025789, 0.02644395,
  1.08159634,-0.00114582, 0.86573906, 0.06499779, 0.09367568,-0.07011408,
  0.13096265, 0.50174617, 0.49204244, 0.49817916, 0.50790012]

qacc:
[ 1.85923291e+00, 1.56816766e+00,-6.22462944e+00, 9.66382584e+00,
  1.22590457e+00, 1.44663721e+00,-3.59351222e+00,-7.99981973e-02,
  1.29671608e-01, 1.08408682e-01,-1.45164855e+00, 4.16727569e+00,
 -1.15162042e+00, 1.87701753e+00, 8.07348927e-01,-4.92260277e+00,
  9.02949122e-02, 1.01307352e+00,-1.08500194e-02, 1.89585305e+00,
  2.34550983e-01,-1.45508790e+01]

qfrc_actuator:
[-3.82965872e-05, 3.30622908e-05, 6.05281893e-05, 5.18764304e-05,
  4.11675360e-05,-2.58953479e-04,-3.30935605e-04,-3.79658310e-05,
 -2.73090858e-06,-1.16208940e-04,-8.77383309e-05,-4.84255067e-05,
  2.47067318e-02,-1.28313597e-03, 9.29414553e-03,-2.70677463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030263437806875293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86603836e-13, -3.66852911e-13,  1.00000000e+00,  1.05141452e-25,
        1.00000000e+00,  3.66852911e-13, -1.00000000e+00,  0.00000000e+00,
        2.86603836e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170357, -0.08821179,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09675255e-05,-9.16039311e-06,-2.66217878e-05, 6.78776312e-06,
  7.34004935e-06, 1.31112628e-05,-3.09009101e-05,-1.35619347e-05,
  7.31296124e-07,-3.16612059e-05,-1.00294264e-05, 5.50609046e-06,
 -1.61989977e-04,-2.16696080e-05,-1.01672847e-04,-5.31107763e-05,
 -1.96631545e-07, 2.33678987e-07,-1.21644088e+00,-4.58345205e-04,
  1.01305245e-05,-5.50698353e-04]


--- Step 762 ---
qpos:
[ 0.01204815,-0.00118292, 0.00246163, 0.04196742, 0.00460971,-0.00236927,
 -0.01821928, 0.0284613 , 0.01313857, 0.00446031,-0.01025784, 0.02644295,
  1.08216936,-0.00114488, 0.86620849, 0.06500097, 0.09368303,-0.07010004,
  0.13096563, 0.5017561 , 0.49200833, 0.49827121, 0.50783306]

qacc:
[-4.83332486e+00, 9.82833223e-01,-3.87812965e+00, 5.75885332e+00,
 -5.46253750e+00, 2.33987356e-01, 3.54497529e-01,-3.50534397e+00,
  6.42901724e-02, 1.25659391e+00,-4.01251193e+00, 4.93592465e+00,
 -1.20092584e+00, 1.91892839e+00, 1.16797865e+01,-4.06224939e+01,
  6.61549919e-02, 9.37321977e-01,-2.91515627e-02, 1.39667356e+00,
  2.13385196e-01,-1.34951442e+01]

qfrc_actuator:
[-6.68622146e-05, 3.14321646e-05, 4.56198121e-05, 5.59623661e-05,
  8.92584483e-06,-2.37433360e-04,-3.31184334e-04,-4.56238850e-05,
 -2.26524587e-06,-6.03680902e-05,-8.60327240e-05,-4.31934788e-05,
  2.46557791e-02,-1.27060207e-03, 9.31106134e-03,-2.89796735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000296596246931255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88811634e-07,  1.88811571e-07,  1.00000000e+00, -3.56498213e-14,
        1.00000000e+00, -1.88811571e-07, -1.00000000e+00, -6.31088724e-30,
        1.88811634e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09214957, -0.08686997,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82562573e-05,-1.19576536e-05,-1.98476602e-05, 2.90381472e-06,
 -3.20259327e-05, 2.18731319e-05,-1.80925899e-06,-8.42763308e-06,
  4.70430302e-07, 3.63586024e-05,-5.86124707e-06, 3.64063155e-06,
 -1.55483204e-04,-2.61029832e-05,-4.00640067e-05,-2.08247356e-04,
 -2.27515779e-07, 3.58957707e-07,-1.21644155e+00,-4.58118624e-04,
  9.51082384e-06,-5.50448954e-04]


--- Step 763 ---
qpos:
[ 0.01204693,-0.00118316, 0.00246158, 0.04196706, 0.00460952,-0.00236842,
 -0.01822045, 0.02846108, 0.01313883, 0.00445913,-0.01025718, 0.02644199,
  1.08274142,-0.00114384, 0.86667753, 0.06500277, 0.09368653,-0.07009362,
  0.13096711, 0.50175466, 0.49198361, 0.49832071, 0.50780987]

qacc:
[  0.10894854, -0.54769043,  2.80696564, -7.48604278, -3.374017  ,
  -1.29029197,  2.69720169,  1.7382252 ,  3.10786701, -1.48070985,
   5.35975445, -5.79381558, -0.85045107,  1.21673628,  3.58632913,
 -13.29520624, -0.96343749, -1.90396689, -0.37516983,-16.58564819,
   0.56473762, 26.69602746]

qfrc_actuator:
[-6.54246872e-05, 1.27380688e-05, 3.68349454e-05, 4.06409455e-05,
 -1.01243747e-05,-2.78388984e-04,-3.12839496e-04,-3.21516621e-05,
  1.57986049e-05,-4.42963213e-05,-4.93692135e-05,-3.96816370e-05,
  2.46152888e-02,-1.26360941e-03, 9.30963494e-03,-2.95839668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003030303615110669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15933819e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.15933819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970448, -0.03394144,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.30300534e-07,-2.93606801e-05,-1.35962444e-05,-1.64623166e-05,
 -1.99556833e-05,-2.94935083e-05, 2.23562417e-05, 1.41865085e-05,
  1.80856866e-05, 3.53980712e-05, 4.35947988e-05, 4.94302924e-06,
 -1.41714775e-04,-3.11867859e-05,-5.12819145e-05,-7.91189071e-05,
 -2.46614636e-07, 5.51187783e-07,-1.21644240e+00,-4.57936484e-04,
  8.86671833e-06,-5.50122422e-04]


--- Step 764 ---
qpos:
[ 0.01204745,-0.00118368, 0.00246173, 0.04196651, 0.00460944,-0.00236794,
 -0.01822189, 0.02846107, 0.01313965, 0.00445798,-0.01025656, 0.02644114,
  1.08331265,-0.001143  , 0.86714646, 0.06499881, 0.09368619,-0.07009468,
  0.13096649, 0.50174176, 0.49196814, 0.49832857, 0.50782989]

qacc:
[ 15.40146144, -1.38247533,  5.1410058 , -8.51020301,  1.03176462,
   0.68485329, -4.07053428,  8.52636835,  4.9221856 ,  0.36890989,
  -1.72478478,  3.64607789, -0.68118989,  0.69731928, 17.27419112,
 -60.6073694 , -0.95785735, -1.8711818 , -0.52324867,-16.20085739,
   0.69103927, 26.29667841]

qfrc_actuator:
[ 2.46834459e-05, 1.73136528e-06, 4.94021460e-05, 3.17645555e-05,
 -3.49303160e-06,-3.20835746e-04,-3.37170233e-04,-2.41515813e-05,
  4.40754708e-05,-6.97612597e-05,-6.35096536e-05,-3.72117772e-05,
  2.45704518e-02,-1.27765453e-03, 9.27593808e-03,-3.26084450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55999305, -0.36697095, -4.54520285, -0.36697095, 36.68432637,
       -2.59365698, -4.54520285, -2.59365698,  4.76939994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003058509308820623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.17620464e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.17620464e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970209, -0.0339423 ,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.01179472e-05,-3.09247977e-05, 4.26383361e-06,-1.09234453e-05,
  6.05033285e-06,-5.37372478e-05,-2.71728204e-05, 7.78783947e-06,
  2.87978333e-05, 3.59119905e-06,-1.28001691e-06, 5.59405342e-06,
 -1.38639638e-04,-5.01620759e-05,-7.29396341e-05,-3.15057530e-04,
 -1.95602639e-07, 2.12305557e-07,-1.21644057e+00,-4.58691443e-04,
  1.00826323e-05,-5.50174044e-04]


--- Step 765 ---
qpos:
[ 0.01204836,-0.0011846 , 0.00246259, 0.04196688, 0.00460945,-0.00236796,
 -0.01822325, 0.02846116, 0.01314046, 0.0044571 ,-0.01025705, 0.02644071,
  1.08388303,-0.00114282, 0.86761459, 0.06499091, 0.09368205,-0.07010312,
  0.13096329, 0.50171734, 0.49196179, 0.49829553, 0.50789257]

qacc:
[  3.42160413, -0.61762233, -2.42175415, 17.40599226,  0.7111768 ,
  -0.6637246 ,  1.03462635,  0.782697  , -0.14833289,  4.33816391,
 -16.72610707, 25.64471041, -0.19414815, -0.55790778, 10.69315364,
 -39.13722423, -0.95288936, -1.84410521, -0.64782811,-15.88830988,
   0.78791947, 25.96541276]

qfrc_actuator:
[ 4.19816827e-05,-4.49453132e-06, 9.22596081e-05, 8.00307107e-05,
  4.44206540e-07,-3.46274979e-04,-3.33286084e-04,-1.94795793e-05,
  4.26260483e-05,-6.68457184e-05,-1.25475050e-04,-1.77001438e-05,
  2.45070531e-02,-1.32179114e-03, 9.23884470e-03,-3.45501887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56014989,  0.16823023,  4.55704571,  0.16823023, 22.22650202,
       -0.65218009,  4.55704571, -0.65218009,  4.5842261 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030589727338771466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.07349559e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.07349559e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970072, -0.03394185,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98531114e-05,-2.30583260e-05, 3.66181737e-05, 4.68743624e-05,
  4.09183888e-06,-6.07663325e-05,-1.02822024e-05, 1.58233135e-06,
 -6.33343550e-07, 4.94812294e-06,-6.11798780e-05, 1.97321669e-05,
 -1.60148938e-04,-8.27538883e-05,-1.12466783e-04,-2.22691681e-04,
 -1.76512444e-08, 1.02453046e-08,-1.21643999e+00,-4.59477780e-04,
  1.04213626e-05,-5.50454893e-04]


--- Step 766 ---
qpos:
[ 0.01204844,-0.00118554, 0.00246386, 0.04196744, 0.00460916,-0.00236873,
 -0.0182234 , 0.02846263, 0.01314124, 0.0044562 ,-0.01025762, 0.02644014,
  1.08445226,-0.00114278, 0.86808111, 0.06498699, 0.09367411,-0.07011884,
  0.13095707, 0.50168135, 0.49196449, 0.49822219, 0.50799746]

qacc:
[ -7.31611366, -0.73176127,  1.74739887,  1.07759034, -2.55711333,
  -1.53198771, -1.8550938 , 24.52863158, -0.20745153, -0.09505619,
   0.87370224, -3.13400568, -0.47098295,  0.22334732,-14.34711136,
  46.80829515, -0.94857649, -1.82182726, -0.75258436,-15.63579097,
   0.86135442, 25.69271886]

qfrc_actuator:
[-1.49386968e-06, 1.01266391e-05, 1.17207058e-04, 9.05438358e-05,
 -1.49968209e-05,-3.61235996e-04,-2.59440676e-04, 5.42464260e-05,
  4.14416017e-05,-6.49148140e-05,-1.26289957e-04,-2.38292477e-05,
  2.44432006e-02,-1.33020082e-03, 9.22108206e-03,-3.22870322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55287159, -0.04632307,  4.55263593, -0.04632307, 31.82703068,
        0.27751459,  4.55263593,  0.27751459,  4.5556953 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030373614781062375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970016, -0.03394037,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29202720e-05, 1.13252866e-05, 2.63143829e-05, 1.17029459e-05,
 -1.53451681e-05,-5.09796147e-05, 6.00979417e-05, 7.07995995e-05,
 -1.20241247e-06,-7.05336281e-06,-6.62798406e-06,-7.64573913e-06,
 -1.81158468e-04,-5.77059750e-05,-9.84736653e-05, 1.98472945e-04,
  2.88568448e-07,-6.29356113e-08,-1.21644061e+00,-4.60316574e-04,
  9.93282113e-06,-5.50967974e-04]


--- Step 767 ---
qpos:
[ 0.012048  ,-0.00118594, 0.00246497, 0.04196706, 0.00460869,-0.0023697 ,
 -0.0182226 , 0.02846561, 0.01314234, 0.0044553 ,-0.0102582 , 0.02643915,
  1.08502029,-0.00114232, 0.86854714, 0.06498235, 0.09366632,-0.07013011,
  0.13095391, 0.50165852, 0.49195462, 0.49816679, 0.50808388]

qacc:
[ -4.60053678, -0.78866593,  7.83771633,-24.35788285, -1.57172271,
   0.19005495, -7.40528788, 32.09694548,  2.85554344, -0.83741615,
   4.7467204 ,-12.01039622, -1.27087339,  2.11541804,  1.49617813,
  -6.12900372,  0.03775365,  1.11505765,  0.76316515,  2.76831319,
  -0.13127859,-15.51990678]

qfrc_actuator:
[-2.71101701e-05, 5.47903618e-05, 1.13672320e-04, 4.32465290e-05,
 -2.39665384e-05,-3.33943313e-04,-1.98050125e-04, 1.32563182e-04,
  5.81846755e-05,-6.33787749e-05,-1.26502221e-04,-4.49484507e-05,
  2.44004360e-02,-1.29967266e-03, 9.19371606e-03,-3.27125833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55043144,   1.35232633,   4.34484059,   1.35232633,
        40.85568859, -11.29996701,   4.34484059, -11.29996701,
         8.06753238,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030300673305468095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40451376e-13, -1.83201049e-13,  1.00000000e+00,  4.40509443e-26,
        1.00000000e+00,  1.83201049e-13, -1.00000000e+00,  0.00000000e+00,
        2.40451376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171221, -0.08821449,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68333828e-05, 5.69363848e-05, 2.44696561e-06,-4.56740819e-05,
 -9.43059457e-06, 1.42537537e-05, 6.07214240e-05, 7.95887532e-05,
  1.67034898e-05,-4.06236763e-06,-2.73084621e-06,-2.17948507e-05,
 -1.66428380e-04,-1.92985439e-05,-5.36728227e-05,-4.48599231e-05,
  7.24021474e-07,-1.24460337e-08,-1.21644237e+00,-4.61222320e-04,
  8.65436372e-06,-5.51714864e-04]


--- Step 768 ---
qpos:
[ 0.01204725,-0.001186  , 0.00246608, 0.04196578, 0.00460811,-0.00237042,
 -0.01822195, 0.02846815, 0.01314295, 0.00445458,-0.01025921, 0.0264386 ,
  1.08558745,-0.0011424 , 0.86901232, 0.06497366, 0.09365873,-0.07013702,
  0.13095302, 0.50164874, 0.49193211, 0.49812896, 0.50815242]

qacc:
[-2.67631817e+00,-1.40409692e+00, 9.47464054e+00,-2.52856349e+01,
 -9.22200139e-01,-1.71874443e-01, 2.95666783e+00,-1.06047647e+01,
 -4.39918174e+00, 2.36813285e+00,-9.94112149e+00, 1.81976309e+01,
 -3.13644923e-01,-2.50784934e-01, 1.09883380e+01,-4.02422547e+01,
  5.08777948e-02, 1.08881365e+00, 5.69246730e-01, 2.53295136e+00,
 -3.08643970e-02,-1.52700898e+01]

qfrc_actuator:
[-4.19895054e-05, 6.36794045e-05, 1.11205552e-04,-2.16463916e-06,
 -2.90488653e-05,-3.34817943e-04,-2.15364585e-04, 1.06446363e-04,
  3.20877830e-05,-4.43379981e-05,-1.44138601e-04,-2.14653742e-05,
  2.43490674e-02,-1.33504984e-03, 9.11261475e-03,-3.48978599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57153978,  0.93937036,  4.47398696,  0.93937036, 22.79860299,
       -3.82700333,  4.47398696, -3.82700333,  5.37506772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030923655450819376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.85357627e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.85357627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171456, -0.08821355,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56208188e-05, 3.92715051e-05, 8.00931950e-06,-4.37758034e-05,
 -5.35212014e-06, 2.30647702e-05,-4.14101752e-06,-2.18619235e-05,
 -2.56263844e-05, 1.53222276e-05,-1.95458800e-05, 2.27953939e-05,
 -1.57517054e-04,-7.48816434e-05,-1.17550309e-04,-2.29484500e-04,
  4.38887695e-07,-1.79150481e-07,-1.21644139e+00,-4.60349408e-04,
  9.50639647e-06,-5.51856823e-04]


--- Step 769 ---
qpos:
[ 0.01204599,-0.00118599, 0.00246726, 0.04196435, 0.00460713,-0.00237108,
 -0.01822169, 0.02847004, 0.0131429 , 0.00445396,-0.01026014, 0.02643867,
  1.08615376,-0.00114342, 0.86947608, 0.06496471, 0.09365139,-0.07013966,
  0.13095376, 0.50165191, 0.49189689, 0.49810837, 0.50820357]

qacc:
[ -4.54674661, -0.41317938,  2.26671476, -5.12778844, -3.53047213,
  -0.14525807,  3.36130014,-13.86963872, -5.82721543,  1.18017841,
  -6.60413199, 16.97486529,  0.26253902, -1.62431718, -1.35462554,
   1.59011055,  0.06105106,  1.06721817,  0.40622294,  2.34479311,
   0.04874927,-15.06032485]

qfrc_actuator:
[-6.81885611e-05, 5.10715914e-05, 1.09274636e-04,-1.06089028e-05,
 -4.95571477e-05,-3.52948183e-04,-2.43673493e-04, 7.22768614e-05,
 -1.26763578e-06,-3.27470608e-05,-1.36311931e-04, 1.03258139e-05,
  2.42925495e-02,-1.39142970e-03, 9.06855580e-03,-3.49072845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58129796,  0.85468524,  4.50086704,  0.85468524, 38.58533629,
       -6.4571447 ,  4.50086704, -6.4571447 ,  5.80746755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000312057190512402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00061859e-13, -3.55775498e-13,  1.00000000e+00,  3.55995577e-26,
        1.00000000e+00,  3.55775498e-13, -1.00000000e+00,  0.00000000e+00,
        1.00061859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171637, -0.08821337,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66289634e-05, 9.12071430e-06, 5.64470971e-06,-7.33550143e-06,
 -2.06518217e-05,-7.01345807e-06,-2.48158965e-05,-3.37550892e-05,
 -3.40817001e-05, 1.71303495e-05, 9.39586968e-06, 3.22213740e-05,
 -1.70493200e-04,-1.03668338e-04,-1.27610209e-04,-2.97551053e-05,
  1.81279036e-07,-2.58703699e-07,-1.21644075e+00,-4.59543289e-04,
  1.02189654e-05,-5.51917452e-04]


--- Step 770 ---
qpos:
[ 0.01204476,-0.001186  , 0.00246846, 0.04196284, 0.0046066 ,-0.00237169,
 -0.01822181, 0.02847221, 0.01314279, 0.00445365,-0.01026102, 0.02643806,
  1.08671898,-0.00114454, 0.86993835, 0.06496003, 0.09364433,-0.0701381 ,
  0.13095558, 0.50166793, 0.49184893, 0.49810477, 0.5082377 ]

qacc:
[  0.35855218, -0.23561371,  1.13492851, -2.48134868,  3.94541517,
   1.70493093, -7.13185048, 12.398777  , -0.48683374, -1.14891625,
   7.59747693,-19.77617108, -0.45912911,  0.25365246,-15.06319304,
  49.54301277,  0.06891936,  1.04953028,  0.26945531,  2.19425134,
   0.11201447,-14.88541042]

qfrc_actuator:
[-6.53389918e-05, 4.34651834e-05, 1.07603964e-04,-1.50086652e-05,
 -2.57243568e-05,-3.45852752e-04,-2.60535239e-04, 8.69050599e-05,
 -3.10939556e-06,-7.84033764e-06,-1.31284857e-04,-2.42508872e-05,
  2.42489487e-02,-1.38877794e-03, 9.04680511e-03,-3.25677411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58158252, -0.73797924, -4.52175685, -0.73797924, 28.93340964,
       -3.97437176, -4.52175685, -3.97437176,  5.23022506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031213889766300296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.89205922e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.89205922e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171774, -0.0882138 ,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09430629e-06,-1.67056785e-06, 6.46367875e-07,-3.95459812e-06,
  2.32436691e-05,-3.38955125e-06,-2.25340512e-05, 1.28095339e-05,
 -2.80873896e-06, 3.78291628e-05, 1.08571943e-05,-3.28856614e-05,
 -1.71607398e-04,-5.29671726e-05,-8.60960183e-05, 2.15356319e-04,
 -5.43146806e-08,-2.52228530e-07,-1.21644041e+00,-4.58788678e-04,
  1.08082326e-05,-5.51894593e-04]


--- Step 771 ---
qpos:
[ 0.01204393,-0.00118595, 0.00246936, 0.04196096, 0.00460636,-0.00237226,
 -0.01822216, 0.02847453, 0.01314266, 0.00445348,-0.01026177, 0.02643705,
  1.08728286,-0.00114478, 0.87039954, 0.06495716, 0.09363756,-0.07013241,
  0.13095802, 0.50169674, 0.4917882 , 0.49811794, 0.50825513]

qacc:
[  3.40198856,  0.15539908,  1.09559373, -7.05042748,  2.53023751,
   0.97183676, -4.03773653,  6.95596499, -0.18712073, -0.99555931,
   5.46774344,-12.55870385, -1.64547477,  3.09944814, -6.93280787,
  22.23564238,  0.07498958,  1.03513195,  0.15498898,  2.07372011,
   0.16243112,-14.74085623]

qfrc_actuator:
[-4.54114466e-05, 3.89117779e-05, 8.83556514e-05,-3.47511507e-05,
 -1.14845674e-05,-3.41384760e-04,-2.70368398e-04, 9.46536138e-05,
 -4.13814207e-06,-1.07153616e-05,-1.27951405e-04,-4.43391706e-05,
  2.41971738e-02,-1.33341792e-03, 8.99056508e-03,-3.17034712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57431775, -0.58738454, -4.5364482 , -0.58738454, 41.6961949 ,
       -4.80658345, -4.5364482 , -4.80658345,  5.19667972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003100432651692575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47608104e-14,  2.68564862e-13,  1.00000000e+00, -1.20211809e-26,
        1.00000000e+00, -2.68564862e-13, -1.00000000e+00,  0.00000000e+00,
        4.47608104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171878, -0.08821473,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99857676e-05,-5.52939794e-06,-1.96600611e-05,-1.98678183e-05,
  1.49019954e-05,-1.50624910e-06,-1.28630694e-05, 7.06869631e-06,
 -1.09641044e-06, 1.91341719e-05, 1.13622490e-05,-1.87273563e-05,
 -1.68347982e-04, 8.40681351e-06,-7.54293077e-05, 8.65503018e-05,
 -2.72003472e-07,-1.60843272e-07,-1.21644038e+00,-4.58074148e-04,
  1.12863463e-05,-5.51786776e-04]


--- Step 772 ---
qpos:
[ 0.01204334,-0.00118587, 0.00247024, 0.04195953, 0.00460595,-0.00237301,
 -0.01822278, 0.02847626, 0.01314252, 0.00445305,-0.01026229, 0.0264362 ,
  1.08784538,-0.00114379, 0.87085996, 0.06495041, 0.09363111,-0.07012261,
  0.13096069, 0.50173826, 0.49171467, 0.4981477 , 0.50825611]

qacc:
[  2.15486769,  1.00727271, -5.43325289, 13.22958785, -1.51308059,
  -0.69203221,  4.58698718,-14.1418507 , -0.08579275, -0.62686368,
   1.08065075,  1.48380403, -2.23846854,  4.45890487, 10.72811813,
 -38.86612533,  0.07965919,  1.0235065 ,  0.05944418,  1.97716052,
   0.20275005,-14.62277659]

qfrc_actuator:
[-3.33536758e-05, 5.38850339e-05, 9.43867696e-05,-1.01160516e-05,
 -2.07717776e-05,-3.74000952e-04,-2.93746813e-04, 6.27821238e-05,
 -4.69055232e-06,-4.79597591e-05,-1.25733170e-04,-3.80011614e-05,
  2.41405560e-02,-1.26512923e-03, 8.90832067e-03,-3.38472175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030623946127768253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39875887e-14, -1.81267140e-13,  1.00000000e+00, -6.16083299e-27,
        1.00000000e+00,  1.81267140e-13, -1.00000000e+00,  0.00000000e+00,
       -3.39875887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171956, -0.08821604,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26253560e-05, 6.97078369e-06, 1.77347965e-06, 2.33326931e-05,
 -8.86243970e-06,-3.57875865e-05,-2.50244347e-05,-3.22472958e-05,
 -5.78063478e-07,-2.49836155e-05, 6.93505324e-06, 7.19098776e-06,
 -1.57678471e-04, 3.34188363e-05,-1.12369163e-04,-2.20404146e-04,
 -4.74853810e-07, 1.44144873e-08,-1.21644063e+00,-4.57391124e-04,
  1.16624353e-05,-5.51592993e-04]


--- Step 773 ---
qpos:
[ 0.01204324,-0.00118587, 0.00247176, 0.04195872, 0.00460578,-0.00237393,
 -0.01822337, 0.02847688, 0.01314272, 0.00445287,-0.01026326, 0.02643541,
  1.08840688,-0.00114229, 0.87131904, 0.06493885, 0.093625  ,-0.07010876,
  0.13096329, 0.50179244, 0.49162833, 0.49819391, 0.50824085]

qacc:
[ 4.36487868e+00,-6.24017172e-01,-5.45218635e-01, 1.03050225e+01,
  2.07911576e+00,-2.57212038e+00, 1.35264124e+01,-3.26170210e+01,
  2.96553102e+00, 1.67978729e+00,-5.79103507e+00, 7.42222330e+00,
 -1.37111731e+00, 2.44628825e+00, 1.26231598e+01,-4.68112409e+01,
  8.32395438e-02, 1.01422132e+00,-2.00712897e-02, 1.89977436e+00,
  2.35132747e-01,-1.45278050e+01]

qfrc_actuator:
[-8.27742347e-06, 6.28172229e-05, 1.33167110e-04, 2.27198279e-05,
 -8.32420701e-06,-3.75405115e-04,-2.89612967e-04, 7.81231428e-06,
  1.27936507e-05,-1.67248771e-05,-1.42076651e-04,-3.39525554e-05,
  2.40917336e-02,-1.24304454e-03, 8.82113860e-03,-3.63257835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003011181124091544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76094032e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.76094032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172012, -0.08821765,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54359560e-05, 1.41925856e-05, 4.12380253e-05, 3.36507032e-05,
  1.21846378e-05,-2.79395845e-05,-7.44394572e-06,-5.79973886e-05,
  1.74564250e-05, 1.90274360e-05,-2.03882431e-05, 3.36187739e-06,
 -1.38702686e-04,-5.36698000e-06,-1.68085985e-04,-2.75651641e-04,
 -6.65155053e-07, 2.72625487e-07,-1.21644117e+00,-4.56733146e-04,
  1.19433505e-05,-5.51312546e-04]


--- Step 774 ---
qpos:
[ 0.01204379,-0.0011862 , 0.00247363, 0.04195836, 0.00460576,-0.00237442,
 -0.01822395, 0.02847676, 0.01314347, 0.00445318,-0.01026484, 0.02643466,
  1.08896761,-0.00114109, 0.8717766 , 0.06492757, 0.09361923,-0.07009089,
  0.13096554, 0.50185923, 0.49152917, 0.49825645, 0.50820951]

qacc:
[  5.69930777, -0.49841059, -0.81150471,  8.38737763,  1.30691204,
  -1.01272089,  7.56379175,-20.73578667,  4.83600736,  2.4483674 ,
  -7.98045085,  9.28643134, -0.23107817, -0.16398937, -3.11685504,
   7.63910884,  0.08597434,  1.00691375, -0.08603395,  1.83774656,
   0.26127711,-14.45302448]

qfrc_actuator:
[ 2.42628865e-05, 1.49615576e-05, 1.37689505e-04, 4.23745342e-05,
 -9.28476151e-07,-3.04768879e-04,-2.69158003e-04,-2.47536049e-05,
  4.07541308e-05, 1.96903017e-05,-1.68986791e-04,-3.12467553e-05,
  2.40476070e-02,-1.26620441e-03, 8.80030608e-03,-3.59625979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029500317633757156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99932078e-13, -1.88171368e-13,  1.00000000e+00,  3.76214927e-26,
        1.00000000e+00,  1.88171368e-13, -1.00000000e+00,  0.00000000e+00,
        1.99932078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172052, -0.08821948,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32644197e-05,-2.99662239e-05, 1.36802725e-05, 2.23419286e-05,
  7.73625662e-06, 5.10327406e-05, 1.17761016e-05,-3.51480811e-05,
  2.84620643e-05, 4.30142149e-05,-2.53601094e-05, 2.88479918e-06,
 -1.31673797e-04,-5.32386733e-05,-1.30447783e-04,-1.01225439e-06,
 -8.44618347e-07, 6.13001854e-07,-1.21644199e+00,-4.56095324e-04,
  1.21342186e-05,-5.50944939e-04]


--- Step 775 ---
qpos:
[ 0.01204473,-0.00118683, 0.00247531, 0.04195827, 0.00460548,-0.00237412,
 -0.01822477, 0.02847588, 0.01314421, 0.00445335,-0.01026622, 0.02643362,
  1.08952741,-0.00113982, 0.87223198, 0.06492311, 0.09360967,-0.07008062,
  0.13096615, 0.50191523, 0.4914393 , 0.49827615, 0.5082218 ]

qacc:
[  3.39135636,  0.67577074, -4.12265034,  9.32053696, -2.26805269,
   0.17970057,  4.12449297,-17.55756782, -0.12456229, -1.36044576,
   5.79677176,-10.97953521, -0.33712941,  0.23535518,-23.73489841,
  78.41633242, -0.9478108 , -1.90209034, -0.41026553,-16.76960385,
   0.29936343, 26.53855717]

qfrc_actuator:
[ 4.31789241e-05,-1.34134063e-05, 1.21693632e-04, 5.40377012e-05,
 -1.43242873e-05,-2.44697196e-04,-2.74420637e-04,-6.15536163e-05,
  3.91458012e-05,-1.21287935e-05,-1.66370332e-04,-4.70983034e-05,
  2.40009863e-02,-1.26265457e-03, 8.74478794e-03,-3.23283241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.52224537,  -1.36036837,  -4.31278345,  -1.36036837,
        41.69468756, -11.7251921 ,  -4.31278345, -11.7251921 ,
         8.22068759,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00029439694562852226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82838284e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.82838284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10968332, -0.03392932,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98496616e-05,-4.13483015e-05,-1.97468612e-05, 1.12834529e-05,
 -1.31563398e-05, 8.95626765e-05, 5.52520268e-06,-3.48872378e-05,
 -7.84572037e-07,-1.28585880e-05, 8.49407910e-06,-1.48260418e-05,
 -1.39667070e-04,-3.42402200e-05,-1.17510758e-04, 3.46176970e-04,
 -1.01452501e-06, 1.03488503e-06,-1.21644308e+00,-4.55473935e-04,
  1.22388578e-05,-5.50489801e-04]


--- Step 776 ---
qpos:
[ 0.01204623,-0.00118753, 0.00247643, 0.04195832, 0.00460538,-0.00237335,
 -0.01822529, 0.02847491, 0.01314492, 0.00445304,-0.01026713, 0.02643312,
  1.09008632,-0.00113877, 0.87268547, 0.06491947, 0.09359632,-0.07007783,
  0.13096455, 0.50196026, 0.49135861, 0.49825395, 0.5082771 ]

qacc:
[  4.9445358 ,  1.78647182, -7.10864143, 10.50465578,  1.63895117,
  -0.41208814,  2.69582273, -4.95856136, -0.19229377, -0.83272455,
  -0.19771106,  9.05984034, -0.34126222,  0.04383125, -5.28491067,
  14.45578038, -0.94702043, -1.86929036, -0.55190533,-16.36563544,
   0.45783405, 26.16596921]

qfrc_actuator:
[ 7.16750092e-05,-1.22586098e-05, 9.37790309e-05, 6.09081852e-05,
 -4.34352764e-06,-2.27007467e-04,-2.59347589e-04,-6.50687532e-05,
  3.78956290e-05,-4.89586671e-05,-1.46624895e-04,-2.05183894e-05,
  2.39475856e-02,-1.27882031e-03, 8.60466250e-03,-3.21235286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53095236,  0.56994489,  4.49496297,  0.56994489, 13.33736903,
       -1.11662148,  4.49496297, -1.11662148,  4.67253589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002970936887856379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86847292e-13,  4.67118230e-14,  1.00000000e+00, -8.72797764e-27,
        1.00000000e+00, -4.67118230e-14, -1.00000000e+00,  0.00000000e+00,
        1.86847292e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10968042, -0.03392995,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90469679e-05,-2.55557187e-05,-3.85111013e-05, 4.63227786e-06,
  9.63796739e-06, 6.74149815e-05, 3.30545195e-05,-1.61009180e-07,
 -1.27775095e-06,-4.28868926e-05, 1.76397854e-05, 2.60394145e-05,
 -1.46328655e-04,-5.26070003e-05,-1.56610730e-04, 2.44509283e-05,
 -9.72834109e-07, 2.72442665e-07,-1.21644172e+00,-4.56126940e-04,
  1.24138364e-05,-5.50603501e-04]


--- Step 777 ---
qpos:
[ 0.01204737,-0.00118841, 0.00247691, 0.04195882, 0.00460576,-0.00237248,
 -0.0182252 , 0.02847462, 0.01314561, 0.00445249,-0.01026784, 0.02643293,
  1.09064432,-0.00113814, 0.87313752, 0.0649157 , 0.09357918,-0.07008241,
  0.13096026, 0.50199418, 0.49128699, 0.49819061, 0.50837491]

qacc:
[ -3.17808122,  2.46257296,-10.9807241 , 19.80686713,  4.09678749,
  -0.16616229, -2.08879857, 12.82386081, -0.17177881, -0.21779402,
  -1.00460192,  6.27176558, -0.25351906, -0.29104455, -1.69212865,
   2.84453651, -0.94602361, -1.84220238, -0.67113846,-16.04034179,
   0.5774082 , 25.85609243]

qfrc_actuator:
[ 5.23282526e-05,-2.89964999e-05, 5.91761974e-05, 8.26785107e-05,
  1.93225950e-05,-2.34726710e-04,-2.32523790e-04,-3.12353867e-05,
  3.68757479e-05,-5.28979173e-05,-1.34695798e-04,-4.69142907e-06,
  2.38901461e-02,-1.30656013e-03, 8.54697020e-03,-3.21686114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53107983,  0.42112554,  4.51146736,  0.42112554, 19.41432752,
       -1.38928539,  4.51146736, -1.38928539,  4.66076348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029713291879054915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86822623e-13, -2.80233934e-13,  1.00000000e+00,  5.23540386e-26,
        1.00000000e+00,  2.80233934e-13, -1.00000000e+00,  0.00000000e+00,
        1.86822623e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10967863, -0.03392937,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85268917e-05,-3.87676429e-05,-4.44720953e-05, 1.94306441e-05,
  2.39632411e-05, 3.67835086e-05, 4.48136338e-05, 3.78642643e-05,
 -1.07493926e-06,-2.31376187e-05, 6.16004449e-06, 1.51102090e-05,
 -1.59451014e-04,-6.86114646e-05,-1.27477803e-04,-2.33927073e-05,
 -8.11191829e-07,-3.51143619e-07,-1.21644161e+00,-4.56768629e-04,
  1.17194547e-05,-5.50941635e-04]


--- Step 778 ---
qpos:
[ 0.01204724,-0.00118925, 0.00247659, 0.04195922, 0.00460606,-0.00237198,
 -0.01822448, 0.02847446, 0.01314593, 0.00445217,-0.01026855, 0.02643185,
  1.09120125,-0.00113753, 0.87358892, 0.06491464, 0.09356185,-0.07009461,
  0.13095419, 0.50200238, 0.49124203, 0.49809664, 0.50850233]

qacc:
[-11.23399716,  2.08480976, -6.91279346,  6.35975363, -0.5317852 ,
  -2.00504286,  5.93251637, -4.56465542, -3.19832014, -1.55185325,
   9.7329239 ,-25.34974486, -0.61775496,  0.62164474, -9.13404577,
  30.64792737, -0.05087287, -1.9066137 , -0.44867698, -2.15189978,
  -0.78105477, 28.13644211]

qfrc_actuator:
[-1.27783573e-05,-2.08323937e-05, 2.08498452e-05, 7.75221002e-05,
  1.53413569e-05,-2.93028424e-04,-2.16829135e-04,-2.89811248e-05,
  1.82474226e-05,-1.93917528e-05,-1.27368562e-04,-4.85649048e-05,
  2.38409698e-02,-1.30545179e-03, 8.58137106e-03,-3.05819760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52569254,  4.43678967,  0.89263118,  4.43678967,  5.70921985,
       -5.88267792,  0.89263118, -5.88267792, 33.76532168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029546868116113516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.44297425e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.44297425e-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([ 0.09458377, -0.0325724 ,  0.06199155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.56440548e-05,-2.18538755e-05,-5.11360870e-05,-7.97744738e-06,
 -3.28824555e-06,-2.68770673e-05, 3.01112088e-05, 6.11563402e-06,
 -1.86703193e-05, 2.25178708e-05, 3.84535881e-06,-4.43543940e-05,
 -1.62539001e-04,-4.57725310e-05,-2.90987132e-05, 1.40445387e-04,
 -5.26015727e-07,-8.43902835e-07,-1.21644268e+00,-4.57427942e-04,
  1.02038232e-05,-5.51507687e-04]


--- Step 779 ---
qpos:
[ 0.0120477 ,-0.00119012, 0.00247576, 0.04195953, 0.00460598,-0.00237205,
 -0.01822338, 0.02847437, 0.01314638, 0.00445178,-0.01026909, 0.02643063,
  1.09175721,-0.00113721, 0.87403975, 0.06491647, 0.09354462,-0.0701024 ,
  0.13095099, 0.50202384, 0.49118431, 0.49802055, 0.50861142]

qacc:
[ 5.26064104e+00, 1.22767227e+00,-4.08448556e+00, 3.54092178e+00,
 -3.43683937e+00,-1.64711745e+00, 4.47732384e+00,-3.38855637e+00,
  1.05628223e+00,-8.51822808e-01, 3.53390292e+00,-6.29066809e+00,
 -3.00711871e-01,-1.25655322e-01,-9.53414243e+00, 3.21350663e+01,
  2.74549154e-02, 1.10516556e+00, 7.19655131e-01, 2.65662342e+00,
 -7.59220748e-02,-1.55423454e+01]

qfrc_actuator:
[ 1.99871223e-05,-1.56103480e-05,-1.53689478e-06, 7.43316822e-05,
 -4.88538260e-06,-3.45743876e-04,-2.08082164e-04,-2.76358054e-05,
  2.49098573e-05,-3.47950641e-05,-1.22691636e-04,-5.61691809e-05,
  2.37914722e-02,-1.32277155e-03, 8.56449278e-03,-2.91095236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030162557758665887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15024958e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15024958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172961, -0.08822038,  0.06199138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08956649e-05,-1.78921411e-05,-3.34592996e-05,-6.04673859e-06,
 -2.03313851e-05,-6.12909721e-05, 7.10229626e-06, 1.35215929e-06,
  6.13956623e-06,-3.90060732e-06, 8.28283384e-06,-7.36387967e-06,
 -1.58414716e-04,-6.12937174e-05,-2.14012194e-05, 1.49765937e-04,
  1.89996663e-07,-8.73523401e-07,-1.21644376e+00,-4.58190251e-04,
  8.27819328e-06,-5.51856292e-04]


--- Step 780 ---
qpos:
[ 0.01204925,-0.00119133, 0.0024753 , 0.04196013, 0.00460565,-0.00237219,
 -0.01822291, 0.0284743 , 0.01314656, 0.0044514 ,-0.01026965, 0.02643036,
  1.09231227,-0.00113739, 0.87448981, 0.06491716, 0.09352755,-0.07010585,
  0.13094992, 0.50205844, 0.49111375, 0.49796196, 0.50870276]

qacc:
[  9.49647498, -0.94895533,  1.47467971,  3.15879999, -2.14003857,
   1.71280078, -6.34054364,  7.79780171, -2.36586088,  2.04082525,
 -11.27933729, 27.84936296, -0.24014961, -0.37398988,  2.28282535,
  -9.62346388,  0.04028452,  1.08130101,  0.53278901,  2.41383174,
   0.02969672,-15.29257725]

qfrc_actuator:
[ 7.46049094e-05,-2.98760964e-05, 2.11734321e-05, 9.00921302e-05,
 -1.67504001e-05,-3.41498908e-04,-2.39004960e-04,-2.68366925e-05,
  1.09043610e-05,-2.60913632e-05,-1.19768312e-04,-6.89495854e-06,
  2.37418114e-02,-1.35087046e-03, 8.48490954e-03,-2.98483568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56475985,  0.6021712 ,  4.52486711,  0.6021712 , 26.66547266,
       -2.94117206,  4.52486711, -2.94117206,  4.95617225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030725501777963127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46792754e-13, -1.80668005e-13,  1.00000000e+00,  2.65207542e-26,
        1.00000000e+00,  1.80668005e-13, -1.00000000e+00,  0.00000000e+00,
        1.46792754e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173196, -0.08821941,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54956186e-05,-3.13920246e-05, 1.47017853e-05, 1.37202456e-05,
 -1.24666935e-05,-2.85212146e-05,-4.26720741e-05,-1.55672682e-06,
 -1.38344774e-05, 7.94454635e-06, 2.89686343e-06, 4.92549945e-05,
 -1.59420696e-04,-7.40876951e-05,-7.97735448e-05,-6.99230148e-05,
 -1.83334494e-07,-8.55659026e-07,-1.21644292e+00,-4.57078975e-04,
  9.72316702e-06,-5.51888392e-04]


--- Step 781 ---
qpos:
[ 0.01205075,-0.00119261, 0.00247504, 0.04196055, 0.00460553,-0.0023722 ,
 -0.01822345, 0.02847321, 0.01314622, 0.00445164,-0.01027016, 0.0264306 ,
  1.09286628,-0.00113762, 0.87493942, 0.06491262, 0.09351069,-0.07010507,
  0.13095035, 0.50210608, 0.49103027, 0.49792055, 0.50877685]

qacc:
[-4.07559524e-01,-9.92127516e-01, 4.19264132e+00,-7.64604656e+00,
  1.76198157e+00, 8.73634278e-01, 1.43572849e+00,-1.76296951e+01,
 -4.53797780e+00, 1.74432705e+00,-7.18205280e+00, 1.54733660e+01,
 -9.56046337e-01, 1.22734630e+00, 1.51892671e+01,-5.40022685e+01,
  5.01034951e-02, 1.06165959e+00, 3.75718123e-01, 2.21845733e+00,
  1.14485329e-01,-1.50838475e+01]

qfrc_actuator:
[ 7.06052311e-05,-1.99883549e-05, 3.47534900e-05, 8.13839570e-05,
 -5.84045074e-06,-3.38851632e-04,-2.92874116e-04,-7.96021649e-05,
 -1.51614552e-05, 5.02810868e-05,-1.00028519e-04, 2.22032875e-05,
  2.36920815e-02,-1.34960217e-03, 8.43697583e-03,-3.25955019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5728469 ,  0.51373844,  4.54389718,  0.51373844, 49.07606355,
       -5.03158684,  4.54389718, -5.03158684,  5.14172412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030961650853918166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12056265e-14,  1.79290024e-13,  1.00000000e+00, -2.00905704e-27,
        1.00000000e+00, -1.79290024e-13, -1.00000000e+00,  0.00000000e+00,
        1.12056265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173377, -0.08821922,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42881520e-06,-3.97994394e-06, 9.39539874e-06,-9.27757605e-06,
  1.05461768e-05,-2.21870960e-05,-6.50738053e-05,-5.54946260e-05,
 -2.64600748e-05, 8.35406439e-05, 2.34541642e-05, 3.05008157e-05,
 -1.63890441e-04,-4.68550046e-05,-9.73885394e-05,-2.90036566e-04,
 -5.32933847e-07,-7.54779344e-07,-1.21644243e+00,-4.56027461e-04,
  1.10263719e-05,-5.51843995e-04]


--- Step 782 ---
qpos:
[ 0.01205115,-0.00119353, 0.00247423, 0.04196016, 0.00460519,-0.0023723 ,
 -0.01822434, 0.02847113, 0.01314592, 0.0044523 ,-0.01027036, 0.02643085,
  1.09341924,-0.00113784, 0.87538816, 0.06490737, 0.09349405,-0.0701001 ,
  0.13095176, 0.50216669, 0.49093381, 0.49789605, 0.50883409]

qacc:
[ -9.63853374,  0.37241972,  2.77033266,-16.06039457, -1.87951333,
  -1.15458008,  8.16284737,-24.69035187,  0.31272553, -0.33711839,
   1.95950452, -2.64577573, -0.78512627,  0.95719763,  0.87056606,
  -4.80953232,  0.05756892,  1.04558187,  0.24396692,  2.06079901,
   0.18293356,-14.91067292]

qfrc_actuator:
[ 1.43767557e-05, 4.24763837e-06, 7.38933361e-06, 4.05985130e-05,
 -1.71209831e-05,-3.37327928e-04,-3.06619757e-04,-1.27962829e-04,
 -1.26047991e-05, 6.01349332e-05,-8.80061965e-05, 2.15072877e-05,
  2.36423557e-02,-1.34872245e-03, 8.43466059e-03,-3.27739651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57195051, -0.39329098, -4.55500314, -0.39329098, 30.51379324,
       -2.23988711, -4.55500314, -2.23988711,  4.76534827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030935601563618353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36451865e-14, -1.79440995e-13,  1.00000000e+00, -6.03732575e-27,
        1.00000000e+00,  1.79440995e-13, -1.00000000e+00,  0.00000000e+00,
       -3.36451865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09173515, -0.08821963,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.62947229e-05, 2.35964770e-05,-2.73344326e-05,-4.08091492e-05,
 -1.09825134e-05,-2.66895111e-05,-2.82559457e-05,-5.26398838e-05,
  1.83211161e-06, 6.27085432e-05, 3.32263586e-05, 4.29032236e-06,
 -1.61091824e-04,-4.29215141e-05,-8.47192238e-05,-4.77643874e-05,
 -8.63869959e-07,-5.71156735e-07,-1.21644225e+00,-4.55020375e-04,
  1.22052016e-05,-5.51719926e-04]


--- Step 783 ---
qpos:
[ 0.01205019,-0.00119434, 0.00247315, 0.0419593 , 0.00460507,-0.00237291,
 -0.01822502, 0.02846954, 0.01314565, 0.0044528 ,-0.0102701 , 0.02643115,
  1.09397113,-0.00113778, 0.87583591, 0.0649006 , 0.09348035,-0.07010299,
  0.13095134, 0.50219124, 0.49087829, 0.49784981, 0.50890866]

qacc:
[-12.021138  , -0.05343112,  2.43965869,-10.32214016,  1.88037576,
  -0.2685678 , -2.12863373, 10.69528849,  0.30936124, -1.34164743,
   4.25594195, -3.90821967, -1.05800845,  1.65516326,  3.20540665,
 -13.1829889 ,  0.73286244, -1.96692257, -0.45884943,  9.28215818,
  -2.64782762, 29.05270541]

qfrc_actuator:
[-5.43705817e-05, 1.19145029e-06,-8.37486654e-06, 1.67625964e-05,
 -5.87429768e-06,-3.71837829e-04,-2.96549112e-04,-1.02294733e-04,
 -1.09713081e-05, 1.22812904e-05,-8.09079697e-05, 2.09861480e-05,
  2.35979965e-02,-1.33036273e-03, 8.37988319e-03,-3.35659791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5740831 ,  0.69497364, -4.52097864,  0.69497364, 32.2564285 ,
        4.25538404, -4.52097864,  4.25538404,  5.22822903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003099752402197786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58165066e-13,  1.79082533e-13,  1.00000000e+00, -6.41411074e-26,
        1.00000000e+00, -1.79082533e-13, -1.00000000e+00,  0.00000000e+00,
        3.58165066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207474, -0.0314632 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.03340127e-05, 2.76735021e-06,-1.56455970e-05,-2.45581052e-05,
  1.09274332e-05,-5.75122046e-05,-7.27535903e-07, 2.25294848e-05,
  1.70782781e-06,-5.76172477e-06, 2.42861863e-05, 3.39764102e-06,
 -1.52571369e-04,-2.43737574e-05,-1.03811022e-04,-9.38457702e-05,
 -1.17994198e-06,-3.05182278e-07,-1.21644237e+00,-4.54046137e-04,
  1.32729391e-05,-5.51513900e-04]


--- Step 784 ---
qpos:
[ 0.01204875,-0.0011954 , 0.00247225, 0.04195922, 0.00460577,-0.00237401,
 -0.01822561, 0.02846896, 0.01314541, 0.00445335,-0.01026978, 0.02643144,
  1.09452186,-0.00113718, 0.87628239, 0.06489195, 0.09346948,-0.07011366,
  0.13094853, 0.50218003, 0.49086305, 0.49778248, 0.50900028]

qacc:
[ -4.13458392,  0.75461539, -6.42669834, 19.68166938,  7.2466999 ,
   1.18500347, -9.43744154, 27.1910233 ,  0.19131213, -0.13217862,
   0.60214048, -0.87735312, -1.36952768,  2.39105341,  3.90584794,
 -16.18684725,  0.70952441, -1.94358175, -0.5964142 ,  9.27807233,
  -2.45398381, 28.58371806]

qfrc_actuator:
[-7.66610777e-05,-1.81368270e-05, 5.13220073e-07, 5.63465090e-05,
  3.63006568e-05,-3.91983243e-04,-2.90359871e-04,-5.10475720e-05,
 -9.90384869e-06, 1.89674893e-05,-7.70191640e-05, 2.05195998e-05,
  2.35409189e-02,-1.30178095e-03, 8.30964783e-03,-3.45375545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57794102, -2.27987214,  3.96985226, -2.27987214, 12.18695058,
        4.36982733,  3.96985226,  4.36982733,  7.08751742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003110909720550753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92201257e-14, -2.23050314e-13,  1.00000000e+00,  1.99005771e-26,
        1.00000000e+00,  2.23050314e-13, -1.00000000e+00,  0.00000000e+00,
        8.92201257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08207274, -0.03146454,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42849736e-05,-2.20422016e-05, 6.71096861e-06, 3.86923762e-05,
  4.24656740e-05,-5.14530913e-05,-4.98181146e-06, 4.92017609e-05,
  1.11474543e-06, 8.60449485e-06, 5.79776549e-06, 1.90507241e-07,
 -1.56223511e-04,-8.67807403e-06,-1.32411901e-04,-1.16643171e-04,
 -3.00431960e-07,-5.09103578e-07,-1.21644150e+00,-4.54845898e-04,
  1.15886988e-05,-5.51293283e-04]


--- Step 785 ---
qpos:
[ 0.01204775,-0.00119671, 0.00247145, 0.0419603 , 0.00460697,-0.00237473,
 -0.01822675, 0.02846859, 0.01314483, 0.00445411,-0.01027004, 0.02643175,
  1.09507166,-0.00113679, 0.87672795, 0.06488336, 0.09346038,-0.07011999,
  0.13094797, 0.50217636, 0.49083954, 0.49773869, 0.5090694 ]

qacc:
[  3.81615747,  1.80355101,-11.84267751, 32.11156168,  4.35448594,
   2.44354987, -8.90031635, 13.13028663, -2.92792235,  1.94664537,
  -6.59107282,  7.63684175, -0.46980871,  0.2634073 , -1.54618156,
   3.4651934 ,  0.44170463,  1.08674769,  0.56350546,  7.66319347,
   0.61360543,-15.40367116]

qfrc_actuator:
[-5.36731750e-05,-2.91543573e-05, 6.09676988e-06, 1.15172757e-04,
  6.08294663e-05,-3.32337984e-04,-3.04217737e-04,-3.84283600e-05,
 -2.69302971e-05, 2.27281658e-05,-1.10358859e-04, 2.01263146e-05,
  2.34869085e-02,-1.32070157e-03, 8.30475982e-03,-3.43644574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158013865882381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.78893406e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.78893406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625334, -0.08834849,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22917592e-05,-2.02543909e-05, 3.22138054e-06, 5.88731347e-05,
  2.57203172e-05, 3.20150867e-05,-2.33775750e-05, 1.12026398e-05,
 -1.69898888e-05, 9.75341141e-06,-3.08527450e-05, 1.77075467e-07,
 -1.52175679e-04,-5.39361427e-05,-8.14552050e-05,-6.81254828e-06,
  3.38087695e-07,-2.66290557e-07,-1.21644182e+00,-4.55433389e-04,
  1.05736336e-05,-5.51294169e-04]


--- Step 786 ---
qpos:
[ 0.01204807,-0.001198  , 0.00247066, 0.04196136, 0.00460811,-0.00237516,
 -0.01822809, 0.02846836, 0.01314405, 0.0044545 ,-0.01027046, 0.02643211,
  1.09562043,-0.00113631, 0.87717294, 0.06487623, 0.09345305,-0.07012205,
  0.13094899, 0.50218016, 0.49080775, 0.49771801, 0.50911652]

qacc:
[ 11.58074201, -0.08772563,  0.42018957, -0.82631569, -0.53573894,
   1.21401231, -4.36693507,  6.88143781, -1.75031029,  0.03155196,
  -0.9888288 ,  2.19469651, -0.73938171,  0.9411823 , -5.19519485,
  17.07287396,  0.44040393,  1.06695869,  0.39320227,  7.44780819,
   0.65382935,-15.15851548]

qfrc_actuator:
[ 1.35180398e-05,-1.73433564e-05, 9.70732439e-06, 1.13827997e-04,
  5.70137469e-05,-3.14235820e-04,-3.11746581e-04,-3.08342559e-05,
 -3.67172581e-05,-2.87067392e-05,-1.29909314e-04, 1.97559476e-05,
  2.34400862e-02,-1.31433574e-03, 8.31246616e-03,-3.35165297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60595118,  0.15839827,  4.60322672,  0.15839827, 27.2434664 ,
       -0.77896298,  4.60322672, -0.77896298,  4.63275551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031902505404655945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.7001241e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.7001241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625464, -0.0883479 ,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78205011e-05, 3.73755829e-06, 1.88287040e-06,-9.53509801e-07,
 -3.07040900e-06, 3.17057444e-05,-3.38644794e-06, 8.37917611e-06,
 -1.02628158e-05,-5.23792326e-05,-2.13362993e-05,-1.01769954e-06,
 -1.51919264e-04,-3.65327749e-05,-3.50405617e-05, 7.29088955e-05,
  1.34257078e-07,-2.70310243e-07,-1.21644090e+00,-4.54756139e-04,
  1.15766925e-05,-5.51299085e-04]


--- Step 787 ---
qpos:
[ 0.01204953,-0.00119916, 0.00247048, 0.04196166, 0.0046092 ,-0.00237561,
 -0.01822913, 0.02846857, 0.01314317, 0.00445474,-0.0102712 , 0.02643243,
  1.09616812,-0.00113572, 0.87761686, 0.06487059, 0.09344746,-0.0701199 ,
  0.13095101, 0.50219137, 0.49076767, 0.4977201 , 0.50914205]

qacc:
[ 10.10384852, -3.1064335 , 14.49739043,-28.75956656, -0.46513961,
   0.06674781, -2.12579376,  9.31187473, -0.98906197,  0.63457036,
  -2.44424994,  2.63385755, -0.77939355,  1.01532598, -6.01841721,
  18.8573738 ,  0.43900531,  1.0506536 ,  0.25024979,  7.27251743,
   0.68520682,-14.95500214]

qfrc_actuator:
[ 7.06681892e-05, 7.99376705e-06, 4.76807200e-05, 7.71055911e-05,
  5.43035156e-05,-3.21124437e-04,-2.97859182e-04,-8.51700179e-06,
 -4.21595914e-05,-2.39951067e-05,-1.41378035e-04, 1.93695090e-05,
  2.33816410e-02,-1.31075712e-03, 8.24784267e-03,-3.28105029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60710698e+00,  3.96459068e-02, -4.60693639e+00,  3.96459068e-02,
        4.16516196e+01,  3.18793916e-01, -4.60693639e+00,  3.18793916e-01,
        4.60985042e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00])
  dim: 3
  dist: -0.00031934634609011303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.69137097e-14,  1.73827419e-13,  1.00000000e+00, -1.51079859e-26,
        1.00000000e+00, -1.73827419e-13, -1.00000000e+00,  0.00000000e+00,
        8.69137097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625545, -0.08834804,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90855092e-05, 2.78511697e-05, 3.89630549e-05,-3.65163416e-05,
 -2.78696033e-06, 1.05317439e-05, 2.03305393e-05, 2.37265218e-05,
 -5.75041711e-06,-2.90461016e-05,-2.49524184e-05,-3.38962455e-06,
 -1.58905897e-04,-3.63298046e-05,-7.92823867e-05, 6.86372089e-05,
 -4.27186636e-08,-2.11523645e-07,-1.21644037e+00,-4.54114948e-04,
  1.22675130e-05,-5.51214587e-04]


--- Step 788 ---
qpos:
[ 0.01205098,-0.00120022, 0.00247099, 0.04196219, 0.00461059,-0.00237581,
 -0.01822978, 0.02846867, 0.01314222, 0.00445511,-0.01027251, 0.02643273,
  1.09671479,-0.00113533, 0.87805954, 0.06486587, 0.09344363,-0.0701136 ,
  0.13095355, 0.50220992, 0.49071932, 0.49774468, 0.50914632]

qacc:
[ -0.11732206, -1.31757536,  3.90343539, -0.95373248,  2.66978435,
  -0.99657099,  4.52254742, -7.37263263, -0.53638312,  1.7396943 ,
  -5.84136785,  6.22527341, -0.48719467,  0.25936826, -4.5685277 ,
  13.39531254,  0.43762777,  1.03731184,  0.13053645,  7.13028857,
   0.70965582,-14.78732756]

qfrc_actuator:
[ 6.81785833e-05, 2.35937966e-05, 8.79366206e-05, 9.09201242e-05,
  7.00274715e-05,-2.89566364e-04,-2.71536331e-04,-1.32296255e-05,
 -4.50030334e-05,-3.42175427e-06,-1.65529354e-04, 1.90215582e-05,
  2.33215890e-02,-1.32666701e-03, 8.18249402e-03,-3.23732142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031735811541065695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49832877e-13,  1.74916438e-13,  1.00000000e+00, -6.11915208e-26,
        1.00000000e+00, -1.74916438e-13, -1.00000000e+00,  0.00000000e+00,
        3.49832877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625586, -0.08834876,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.95175638e-07, 3.77181668e-05, 4.95554710e-05, 1.56446432e-05,
  1.56463259e-05, 4.26905647e-05, 3.18406252e-05,-3.09309319e-06,
 -3.01573652e-06,-9.74576537e-07,-3.33375307e-05,-2.52161053e-06,
 -1.65128807e-04,-5.71407575e-05,-9.85745054e-05, 3.63582763e-05,
 -1.95645690e-07,-9.08043810e-08,-1.21644022e+00,-4.53503108e-04,
  1.26640998e-05,-5.51039564e-04]


--- Step 789 ---
qpos:
[ 0.01205204,-0.00120077, 0.00247129, 0.0419629 , 0.00461251,-0.00237577,
 -0.01823037, 0.02846838, 0.01314159, 0.00445506,-0.01027362, 0.02643305,
  1.09726048,-0.00113515, 0.87850164, 0.06486026, 0.09344155,-0.0701032 ,
  0.13095621, 0.50223578, 0.49066268, 0.49779151, 0.50912961]

qacc:
[ -3.40414903,  1.62124039, -5.53574032,  8.50044914,  4.57800417,
  -0.66083556,  4.42516823,-11.29617069,  2.81662257, -1.09911503,
   3.04262386, -2.83701356, -0.56020613,  0.40489593,  1.82383342,
  -7.59070354,  0.43635223,  1.02649214,  0.0305468 ,  7.01540972,
   0.72866558,-14.65055271]

qfrc_actuator:
[ 4.83621561e-05, 5.10590727e-05, 7.59578599e-05, 9.88512328e-05,
  9.64757021e-05,-2.88452414e-04,-2.73463682e-04,-3.37755881e-05,
 -2.85428220e-05,-4.45632360e-05,-1.61395254e-04, 1.87076585e-05,
  2.32765846e-02,-1.33624999e-03, 8.16469498e-03,-3.28075677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003135557315581544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65556386e-13,  1.77037591e-13,  1.00000000e+00, -4.70134627e-26,
        1.00000000e+00, -1.77037591e-13, -1.00000000e+00,  0.00000000e+00,
        2.65556386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625597, -0.08834994,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98258350e-05, 5.94900070e-05, 2.46057989e-06, 1.15658925e-05,
  2.69082793e-05, 3.14508533e-05, 1.07148833e-05,-1.76738639e-05,
  1.63755315e-05,-4.86836770e-05,-2.51232086e-07,-1.55688186e-06,
 -1.58734190e-04,-5.59838010e-05,-6.25679134e-05,-5.48769063e-05,
 -3.26667500e-07, 9.10220039e-08,-1.21644042e+00,-4.52915579e-04,
  1.27801947e-05,-5.50773280e-04]


--- Step 790 ---
qpos:
[ 0.01205286,-0.00120054, 0.00247137, 0.04196262, 0.00461438,-0.00237578,
 -0.01823052, 0.02846752, 0.01314151, 0.00445459,-0.01027464, 0.02643301,
  1.09780521,-0.00113511, 0.87894307, 0.06485544, 0.0934424 ,-0.07010072,
  0.1309569 , 0.50222606, 0.49064662, 0.49781667, 0.50913008]

qacc:
[ -2.18248766, -0.36928673,  6.94716816,-24.13355327, -0.3578261 ,
  -2.4674456 , 11.1119571 ,-21.70139418,  4.82387196, -1.54065163,
   6.15689474,-11.99653073, -0.50310766,  0.35971947, -3.3430014 ,
  10.31911583,  0.73419551, -1.97830878, -0.49212754,  9.12758779,
  -2.70005089, 28.78627235]

qfrc_actuator:
[ 3.62785111e-05, 1.02960246e-04, 6.87756374e-05, 4.99643837e-05,
  9.35128803e-05,-3.05704485e-04,-2.56675617e-04,-6.35121686e-05,
 -8.54136614e-07,-6.89700008e-05,-1.58587660e-04, 6.34847074e-07,
  2.32353162e-02,-1.34194957e-03, 8.15410937e-03,-3.23303269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57989803,  0.35568023, -4.56606587,  0.35568023, 35.81063171,
        2.43276267, -4.56606587,  2.43276267,  4.76940155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003116547718748225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205831, -0.03146754,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26262050e-05, 8.61765430e-05, 5.81027796e-06,-4.60283256e-05,
 -2.18399220e-06, 1.80610910e-06, 2.39985442e-05,-2.83612331e-05,
  2.81357648e-05,-5.17315030e-05,-7.32178817e-06,-2.01970031e-05,
 -1.50664415e-04,-5.05604827e-05,-5.12499229e-05, 3.52923184e-05,
 -4.37427653e-07, 3.33194901e-07,-1.21644097e+00,-4.52348559e-04,
  1.26261877e-05,-5.50415243e-04]


--- Step 791 ---
qpos:
[ 0.01205421,-0.0011999 , 0.00247121, 0.04196182, 0.00461586,-0.00237588,
 -0.01822988, 0.02846663, 0.01314176, 0.00445394,-0.01027571, 0.02643274,
  1.09834896,-0.00113514, 0.87938344, 0.06485291, 0.09344609,-0.07010604,
  0.1309551 , 0.50218095, 0.49067053, 0.49782083, 0.50914748]

qacc:
[  4.72005903,  0.12692342,  2.59129948,-11.75490372, -3.43366155,
  -2.35847797,  8.35240122, -9.98117714,  2.92636172, -0.58295083,
   2.68906134, -6.49110077, -0.52490883,  0.45298053, -8.457144  ,
  27.38252907,  0.71100547, -1.95190396, -0.62446523,  9.15735078,
  -2.48696171, 28.36523948]

qfrc_actuator:
[ 6.43543904e-05, 9.80398957e-05, 4.68146047e-05, 2.13296470e-05,
  7.32594311e-05,-2.98263232e-04,-2.11296546e-04,-6.29120815e-05,
  1.54630616e-05,-6.54307659e-05,-1.56556600e-04,-9.98720031e-06,
  2.31856702e-02,-1.34529159e-03, 8.11059945e-03,-3.11418048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58105102, -1.40926494,  4.35889904, -1.40926494, 14.50719468,
        3.20919711,  4.35889904,  3.20919711,  5.61860865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003119862602315726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.8964096e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.8964096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08205599, -0.031468  ,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77476842e-05, 4.24827533e-05,-5.04062148e-06,-2.56373946e-05,
 -2.03149037e-05, 1.21961358e-05, 4.77309162e-05, 9.58298673e-07,
  1.70971415e-05,-2.77289397e-05,-1.02392729e-05,-1.34831861e-05,
 -1.52644726e-04,-4.55280771e-05,-6.90255443e-05, 1.12877772e-04,
 -9.20428436e-08, 8.07647279e-08,-1.21644009e+00,-4.53430640e-04,
  1.23631159e-05,-5.50215294e-04]


--- Step 792 ---
qpos:
[ 0.01205555,-0.0011994 , 0.002471  , 0.04196142, 0.00461708,-0.00237597,
 -0.01822875, 0.02846645, 0.01314221, 0.00445278,-0.01027637, 0.0264327 ,
  1.0988918 ,-0.00113549, 0.87982298, 0.06485114, 0.0934523 ,-0.0701134 ,
  0.13095491, 0.50212019, 0.49071116, 0.49782574, 0.50916344]

qacc:
[-0.16285081, 0.77566735,-4.78982426,12.11434936,-2.21281219, 0.08947641,
 -3.29511458,14.79276915, 1.72902328,-1.36607334, 2.92492102, 0.74344995,
 -0.32153489,-0.08623447,-3.50094163,10.48646856, 0.6268822 ,-0.51236052,
  0.40408816, 8.59087682,-0.5264603 , 7.59656786]

qfrc_actuator:
[ 6.25816598e-05, 5.90746590e-05, 3.38516886e-05, 4.02987877e-05,
  6.07535213e-05,-2.93703613e-04,-1.84794292e-04,-2.66772596e-05,
  2.49532055e-05,-9.84363275e-05,-1.37123577e-04, 1.63940201e-06,
  2.31363609e-02,-1.36500164e-03, 8.06869729e-03,-3.07874036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003099097058620376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78730636e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78730636e-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([ 0.08420516, -0.06058177,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68952020e-07,-1.73623755e-05,-5.70179910e-06, 2.01150632e-05,
 -1.30830953e-05, 2.12708553e-05, 3.49307034e-05, 3.84293281e-05,
  9.96397440e-06,-5.11610220e-05, 1.19978707e-05, 9.82538787e-06,
 -1.52402612e-04,-6.13932926e-05,-6.56666541e-05, 3.18007624e-05,
  2.02760297e-08, 2.71745951e-07,-1.21644039e+00,-4.54291001e-04,
  1.27263607e-05,-5.50223423e-04]


--- Step 793 ---
qpos:
[ 0.01205617,-0.0011989 , 0.0024709 , 0.04196088, 0.00461814,-0.00237599,
 -0.01822784, 0.02846676, 0.01314311, 0.00445095,-0.01027697, 0.0264332 ,
  1.09943366,-0.00113605, 0.88026153, 0.06485277, 0.09346027,-0.07011658,
  0.13095588, 0.50206693, 0.49074334, 0.4978536 , 0.50915771]

qacc:
[-6.33656231e+00,-5.96564464e-01, 2.74840967e+00,-5.43130011e+00,
 -1.40603713e+00, 1.70107786e+00,-7.93908195e+00, 1.65038836e+01,
  4.02174740e+00, 4.87490822e-02,-3.70415187e+00, 1.33020854e+01,
 -3.27818219e-01,-1.79190016e-02,-1.16942379e+01, 3.88202376e+01,
  4.42867774e-01, 1.04813680e+00, 2.90425997e-01, 7.27625327e+00,
  7.23446950e-01,-1.50842672e+01]

qfrc_actuator:
[ 2.54891321e-05, 7.10900278e-05, 4.39347747e-05, 3.38376731e-05,
  5.29135688e-05,-3.08690188e-04,-2.05149896e-04,-5.29289888e-06,
  4.81051969e-05,-1.52974110e-04,-1.43203006e-04, 2.62468261e-05,
  2.30872826e-02,-1.37649567e-03, 8.04908061e-03,-2.89744880e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5790293 , -0.5229857 ,  4.54906533, -0.5229857 , 47.0422735 ,
        4.88180928,  4.54906533,  4.88180928,  5.14026908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003114046797084019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625796, -0.08835073,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71280510e-05, 1.97096659e-06, 6.48659305e-06,-7.01067194e-06,
 -8.20873003e-06, 5.75583528e-06,-1.03408061e-05, 2.42510777e-05,
  2.34119691e-05,-8.01931493e-05,-1.48082129e-05, 2.30251284e-05,
 -1.55670796e-04,-5.60491452e-05,-5.13544280e-05, 1.73443390e-04,
 -6.93741413e-08, 4.71701023e-07,-1.21644083e+00,-4.54607067e-04,
  1.31133101e-05,-5.50283583e-04]


--- Step 794 ---
qpos:
[ 0.01205668,-0.00119829, 0.00247112, 0.04196058, 0.0046191 ,-0.00237602,
 -0.01822765, 0.02846701, 0.01314359, 0.00444873,-0.010278  , 0.02643398,
  1.09997435,-0.00113616, 0.88069916, 0.06485363, 0.09347001,-0.07011562,
  0.13095752, 0.50202108, 0.49076713, 0.49790408, 0.50913062]

qacc:
[ -0.91098352, -0.21379746, -0.01800278,  3.59970066, -0.91804019,
   1.90562542, -6.64230355,  7.05018291, -3.69983176,  1.31604275,
  -6.63896864, 12.61860349, -1.27511229,  2.13299806,  1.02167573,
  -5.36081695,  0.44172254,  1.03543533,  0.1652056 ,  7.14746556,
   0.73167894,-14.89067126]

qfrc_actuator:
[ 2.11728553e-05, 9.58562409e-05, 6.77097194e-05, 4.80153366e-05,
  4.78801389e-05,-3.35470985e-04,-2.53099458e-04,-1.06225167e-05,
  2.58572939e-05,-1.66813087e-04,-1.64396623e-04, 4.04965144e-05,
  2.30330550e-02,-1.34753246e-03, 7.96831839e-03,-2.95113489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031049367719072907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78783516e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78783516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862584 , -0.08835099,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37318170e-06, 2.68774538e-05, 2.47358283e-05, 1.43518119e-05,
 -5.26616516e-06,-2.46723394e-05,-4.72061704e-05,-4.97112156e-06,
 -2.16173970e-05,-6.06723365e-05,-3.87585236e-05, 1.07523187e-05,
 -1.61203320e-04,-1.55312477e-05,-9.02460733e-05,-5.18252439e-05,
 -1.84656503e-07, 3.44219115e-07,-1.21644073e+00,-4.54425916e-04,
  1.27922207e-05,-5.50258770e-04]


--- Step 795 ---
qpos:
[ 0.01205679,-0.0011975 , 0.00247156, 0.04196115, 0.00461965,-0.00237607,
 -0.01822805, 0.02846685, 0.0131438 , 0.00444669,-0.01027956, 0.02643451,
  1.10051398,-0.00113594, 0.8811359 , 0.06485151, 0.09348152,-0.07011055,
  0.13095939, 0.50198258, 0.49078256, 0.49797693, 0.50908245]

qacc:
[ -3.51996999,  1.37921965, -8.20125378, 22.59540874, -3.63666069,
   0.76154035, -0.94652283, -5.40776034, -2.40223061,  1.17024528,
  -2.79054812, -0.79441142, -1.1587343 ,  1.86769125,  7.75621635,
 -28.8729159 ,  0.4407949 ,  1.02501388,  0.06044814,  7.04514516,
   0.73613907,-14.7320981 ]

qfrc_actuator:
[ 6.88757189e-07, 1.10395935e-04, 8.17005921e-05, 9.20013853e-05,
  2.67844676e-05,-3.33761209e-04,-2.81510810e-04,-3.16501656e-05,
  1.25676828e-05,-1.20743110e-04,-1.76436206e-04, 3.08075871e-05,
  2.29864434e-02,-1.33038901e-03, 7.90948201e-03,-3.10750298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003076206932457609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70679862e-13,  1.80453241e-13,  1.00000000e+00, -4.88450585e-26,
        1.00000000e+00, -1.80453241e-13, -1.00000000e+00,  0.00000000e+00,
        2.70679862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625854, -0.08835177,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06312928e-05, 3.52663490e-05, 2.30763658e-05, 4.62716610e-05,
 -2.12523853e-05,-2.20538373e-05,-3.94965907e-05,-2.38158236e-05,
 -1.39317684e-05, 4.68088248e-06,-2.89365356e-05,-1.34143197e-05,
 -1.48661824e-04,-2.06251640e-05,-1.10624013e-04,-1.71903172e-04,
 -2.77212753e-07, 2.82971330e-07,-1.21644098e+00,-4.54267333e-04,
  1.21951873e-05,-5.50139550e-04]


--- Step 796 ---
qpos:
[ 0.01205631,-0.00119617, 0.00247152, 0.04196155, 0.00461994,-0.00237623,
 -0.0182285 , 0.02846607, 0.0131442 , 0.00444484,-0.01028106, 0.02643488,
  1.10105274,-0.00113558, 0.8815715 , 0.06485109, 0.09349478,-0.07010142,
  0.13096116, 0.50195138, 0.49078969, 0.49807193, 0.5090134 ]

qacc:
[ -5.22363627,  1.74031041, -4.46973747,  1.99043213, -2.25377677,
  -1.27978017,  6.96869768,-17.54022651,  1.61380233, -0.23521704,
   1.87931096, -4.91108358, -0.64947216,  0.89150656, -6.75096442,
  21.26622395,  0.44011461,  1.0165554 , -0.02696022,  6.96489906,
   0.73760995,-14.60352632]

qfrc_actuator:
[-2.91576949e-05, 1.36449783e-04, 5.42764902e-05, 8.21455004e-05,
  1.41555912e-05,-3.32709938e-04,-2.80295027e-04,-6.17020101e-05,
  2.24246671e-05,-9.23883550e-05,-1.64975120e-04, 2.49289861e-05,
  2.29550838e-02,-1.32037818e-03, 7.90111168e-03,-3.00341008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003032184236865104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83073148e-13,  4.57682869e-14,  1.00000000e+00, -8.37894434e-27,
        1.00000000e+00, -4.57682869e-14, -1.00000000e+00,  0.00000000e+00,
        1.83073148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625844, -0.08835297,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04270181e-05, 5.24813457e-05,-1.57113874e-05,-6.64907123e-06,
 -1.32402041e-05,-2.04606207e-05,-9.02238446e-06,-3.28248477e-05,
  9.45657443e-06, 2.45069325e-05, 8.44129041e-06,-6.93284792e-06,
 -1.27335603e-04,-2.57102051e-05,-8.22690020e-05, 7.93902889e-05,
 -3.48805982e-07, 2.85860844e-07,-1.21644157e+00,-4.54129088e-04,
  1.13313673e-05,-5.49926422e-04]


--- Step 797 ---
qpos:
[ 0.01205616,-0.00119445, 0.00247118, 0.04196183, 0.00462008,-0.00237654,
 -0.01822865, 0.02846457, 0.01314471, 0.00444377,-0.01028299, 0.02643513,
  1.10159061,-0.00113509, 0.88200626, 0.06485413, 0.09350838,-0.07008828,
  0.13096295, 0.50193317, 0.49078341, 0.49818343, 0.50892829]

qacc:
[ 2.93445365e+00, 1.10038491e+00,-2.69251299e+00, 8.82198458e-01,
 -1.33714484e+00,-2.49742789e+00, 1.16810657e+01,-2.45282338e+01,
  9.79181426e-01, 1.99309169e+00,-5.12013810e+00, 3.21172003e+00,
 -5.75660268e-01, 7.48908109e-01,-1.16592385e+01, 3.90716364e+01,
  8.44577091e-02, 1.00222576e+00, 5.18127505e-03, 1.64078990e+00,
  3.74034162e-01,-1.47200114e+01]

qfrc_actuator:
[-1.10126969e-05, 1.51231645e-04, 3.81326033e-05, 7.61709631e-05,
  6.61624148e-06,-3.31945311e-04,-2.61603006e-04,-9.68009188e-05,
  2.80709171e-05,-2.14884486e-05,-1.75280998e-04, 2.13511392e-05,
  2.29115943e-02,-1.31460341e-03, 7.89644674e-03,-2.81753195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002987030366857907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74225561e-13, -1.85840599e-13,  1.00000000e+00, -3.23781827e-26,
        1.00000000e+00,  1.85840599e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74225561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174502, -0.08822077,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72943728e-05, 4.05420468e-05,-7.48255192e-06,-4.40154432e-06,
 -7.92243139e-06,-1.39389231e-05, 1.22280956e-05,-3.69230931e-05,
  5.91609107e-06, 8.61392836e-05,-4.40536412e-06,-2.36412077e-06,
 -1.26919683e-04,-2.64906252e-05,-3.75481900e-05, 1.78819971e-04,
 -4.00789407e-07, 3.51087040e-07,-1.21644251e+00,-4.54009690e-04,
  1.02073379e-05,-5.49619878e-04]


--- Step 798 ---
qpos:
[ 0.01205658,-0.00119268, 0.00247108, 0.0419617 , 0.00462012,-0.00237662,
 -0.01822877, 0.02846297, 0.01314493, 0.00444352,-0.01028485, 0.0264353 ,
  1.10212766,-0.00113476, 0.88244071, 0.06485538, 0.0935249 ,-0.07008303,
  0.13096262, 0.50187919, 0.49081753, 0.49827369, 0.50886026]

qacc:
[ 4.95745283e+00,-1.47202595e+00, 7.06668681e+00,-1.46069254e+01,
 -8.07845644e-01, 2.76632520e-02, 7.31007800e-01,-2.55688961e+00,
 -2.48791495e+00, 6.96980574e-01,-5.31117993e-01,-1.71142274e+00,
 -5.28613442e-01, 4.42024640e-01, 4.95770652e+00,-1.79669845e+01,
  7.27916277e-01,-1.97177081e+00,-5.28790582e-01, 9.26160370e+00,
 -2.51096093e+00, 2.86585771e+01]

qfrc_actuator:
[ 1.74838171e-05, 1.41425799e-04, 4.65124677e-05, 5.47897571e-05,
  2.13017478e-06,-2.95774636e-04,-2.50506033e-04,-9.90741611e-05,
  1.34338941e-05, 3.87659379e-05,-1.62679356e-04, 1.91732042e-05,
  2.28608587e-02,-1.32917373e-03, 7.85141285e-03,-2.92233105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54142809,  0.91291986, -4.44872413,  0.91291986, 45.79762416,
        8.4661579 , -4.44872413,  8.4661579 ,  6.27876299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030029388520681766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84856083e-13,  9.24280413e-14,  1.00000000e+00, -1.70858856e-26,
        1.00000000e+00, -9.24280413e-14, -1.00000000e+00,  0.00000000e+00,
        1.84856083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08203901, -0.03146313,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89980107e-05, 1.10789686e-05, 1.56631102e-05,-1.99932675e-05,
 -4.71587172e-06, 2.93328906e-05, 8.45556466e-06,-3.16136009e-06,
 -1.44439268e-05, 1.07477259e-04, 2.98052994e-05, 1.32106829e-06,
 -1.33467517e-04,-4.72098382e-05,-4.81298151e-05,-1.01001524e-04,
 -3.67037531e-07, 4.67863688e-07,-1.21644339e+00,-4.53910143e-04,
  9.10076707e-06,-5.49323264e-04]


--- Step 799 ---
qpos:
[ 0.01205664,-0.00119098, 0.00247145, 0.04196097, 0.00462011,-0.00237619,
 -0.01822921, 0.02846169, 0.01314429, 0.00444325,-0.01028561, 0.02643548,
  1.10266391,-0.00113462, 0.88287432, 0.06485377, 0.09354425,-0.07008556,
  0.13095968, 0.50178962, 0.49089148, 0.49834333, 0.50880905]

qacc:
[ -3.07330472, -2.63896488, 11.82959561,-22.94932482, -0.49520718,
   2.22099795, -8.28865557, 13.92859669, -7.59055101, -3.03545782,
  10.77183102,-12.35096473, -0.53162689,  0.45551913,  7.41781183,
 -27.67794082,  0.70825875, -1.94622817, -0.65415461,  9.28546098,
  -2.31006148, 28.26130079]

qfrc_actuator:
[-1.42858142e-06, 1.34805254e-04, 6.91864249e-05, 2.45074212e-05,
 -5.24406013e-07,-2.56424396e-04,-2.61569470e-04,-8.19913770e-05,
 -3.07757162e-05, 3.51425780e-06,-1.18917198e-04, 1.78517819e-05,
  2.28217798e-02,-1.33794070e-03, 7.78746643e-03,-3.07340032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54242132, -1.47255883,  4.29711088, -1.47255883, 17.10869599,
        4.30628375,  4.29711088,  4.30628375,  6.01812357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003005948450593432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84671002e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84671002e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08203702, -0.03146351,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80888387e-05, 1.89991976e-06, 2.61789310e-05,-2.96596629e-05,
 -2.77907215e-06, 5.73703342e-05,-4.06634903e-06, 1.85751174e-05,
 -4.45863866e-05, 3.10895580e-05, 6.97049454e-05, 4.34642325e-06,
 -1.31016723e-04,-4.64814868e-05,-1.03853083e-04,-1.64416376e-04,
 -6.08446221e-07, 2.95608271e-07,-1.21644283e+00,-4.55213647e-04,
  1.03900995e-05,-5.49187873e-04]


--- Step 800 ---
qpos:
[ 0.01205648,-0.0011896 , 0.00247193, 0.04196063, 0.00462007,-0.0023755 ,
 -0.01823029, 0.02846138, 0.01314348, 0.00444243,-0.01028549, 0.02643572,
  1.10319931,-0.00113457, 0.8833064 , 0.06485467, 0.09356636,-0.07009579,
  0.1309537 , 0.50166462, 0.49100477, 0.49839285, 0.5087745 ]

qacc:
[ -1.98388392,  0.12427294, -2.69632473,  9.55120127, -0.30004415,
   4.09024762,-18.1493386 , 35.59162573, -1.54255535, -3.07801004,
   9.65581507, -9.54570638, -0.36889232,  0.20951708, -9.79646894,
  31.01914972,  0.69270349, -1.92504413, -0.75949108,  9.30256634,
  -2.14567417, 27.93513294]

qfrc_actuator:
[-1.25915348e-05, 9.46864225e-05, 6.46054813e-05, 4.24962742e-05,
 -2.08080757e-06,-2.68795143e-04,-3.03343045e-04,-3.59160531e-05,
 -3.87732716e-05,-7.07771236e-05,-9.30082525e-05, 1.69818424e-05,
  2.27790707e-02,-1.34314989e-03, 7.74951061e-03,-2.93090212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53615769, -1.64023306,  4.22922713, -1.64023306, 23.51632102,
        7.36113013,  4.22922713,  7.36113013,  7.3910455 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029868981501585123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.57546476e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.57546476e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0820351 , -0.03146263,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16823549e-05,-3.49904293e-05,-2.01245220e-06, 1.83964225e-05,
 -1.61626146e-06, 1.96582120e-05,-2.97785978e-05, 4.87577547e-05,
 -9.25805683e-06,-4.23205412e-05, 4.10798146e-05, 2.96247230e-06,
 -1.33636483e-04,-4.19162783e-05,-1.07894771e-04, 1.19073237e-04,
 -1.07501027e-06, 5.70288998e-07,-1.21644346e+00,-4.56320601e-04,
  1.22851869e-05,-5.49243036e-04]


--- Step 801 ---
qpos:
[ 0.01205654,-0.00118832, 0.00247202, 0.04196017, 0.00462036,-0.00237467,
 -0.01823208, 0.02846129, 0.01314257, 0.00444091,-0.01028483, 0.02643566,
  1.10373364,-0.0011342 , 0.88373737, 0.06485458, 0.09358885,-0.07010174,
  0.1309503 , 0.50155338, 0.49110392, 0.49845996, 0.50872274]

qacc:
[  1.85354128,  0.64306936, -1.99496599,  0.58186112,  2.83866853,
   2.62378345,-10.04710093, 15.02775255, -0.76099073, -3.05053191,
  10.83101806,-16.51972463, -1.07022664,  1.68676496,  1.41334827,
  -7.17316801,  0.09333434,  1.07047575,  0.64546197,  1.837375  ,
   0.36461425,-15.6606408 ]

qfrc_actuator:
[-1.33634791e-06, 8.80028366e-05, 4.38581284e-05, 3.54369715e-05,
  1.47732235e-05,-2.76643757e-04,-3.45345612e-04,-2.64722877e-05,
 -4.31365862e-05,-1.32452164e-04,-7.80498708e-05,-1.42958259e-06,
  2.27182393e-02,-1.32849073e-03, 7.67931050e-03,-2.98928295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003030383724667296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48835311e-13, -3.66363842e-13,  1.00000000e+00,  5.45278763e-26,
        1.00000000e+00,  3.66363842e-13, -1.00000000e+00,  0.00000000e+00,
        1.48835311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174626, -0.08821889,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09051306e-05,-2.59364956e-05,-2.76066698e-05,-8.27277070e-06,
  1.68139595e-05,-9.29155855e-07,-3.99177789e-05, 1.02064205e-05,
 -4.64530114e-06,-7.67068094e-05, 1.13859210e-05,-1.87447762e-05,
 -1.51834745e-04,-2.20201808e-05,-1.08829842e-04,-6.61492736e-05,
 -1.75508153e-06, 1.27868590e-06,-1.21644523e+00,-4.57272570e-04,
  1.47806675e-05,-5.49483896e-04]


--- Step 802 ---
qpos:
[ 0.01205672,-0.00118671, 0.00247163, 0.04195993, 0.00462084,-0.00237367,
 -0.01823437, 0.02846095, 0.01314161, 0.00443946,-0.0102851 , 0.02643503,
  1.10426674,-0.00113304, 0.88416735, 0.06485208, 0.09361173,-0.07010348,
  0.13094878, 0.50145564, 0.49118916, 0.49854436, 0.50865408]

qacc:
[  1.1559114 ,  2.27026487, -8.38654616, 12.69935944,  1.73130994,
   1.14630116, -2.72879228, -0.83776428, -0.43405728,  1.52567389,
  -2.94235273, -5.35367541, -1.66717276,  3.07339544,  5.91316105,
 -22.53393179,  0.09506266,  1.05359242,  0.47039066,  1.80741691,
   0.35336517,-15.3802789 ]

qfrc_actuator:
[ 5.26899634e-06, 1.36803750e-04, 3.15927242e-05, 4.92102163e-05,
  2.45752983e-05,-2.64021579e-04,-3.69412013e-04,-3.86600873e-05,
 -4.53373606e-05,-1.15166860e-04,-1.22913350e-04,-3.00166010e-05,
  2.26625630e-02,-1.28452318e-03, 7.62706138e-03,-3.11244325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003074478484285659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24131350e-13, -3.61109382e-13,  1.00000000e+00, -4.48249950e-26,
        1.00000000e+00,  3.61109382e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24131350e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174661, -0.08821759,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90393005e-06, 2.81974198e-05,-2.13247361e-05, 1.15433633e-05,
  1.02825494e-05, 4.29162704e-06,-2.88116233e-05,-1.34085572e-05,
 -2.36336497e-06,-2.40179284e-05,-5.99449232e-05,-3.18429884e-05,
 -1.53594241e-04, 7.10054012e-06,-1.13064218e-04,-1.41626189e-04,
 -1.60423692e-06, 8.45682565e-07,-1.21644482e+00,-4.57523989e-04,
  1.32905004e-05,-5.49646412e-04]


--- Step 803 ---
qpos:
[ 0.01205664,-0.00118501, 0.00247136, 0.04196053, 0.0046211 ,-0.00237303,
 -0.01823619, 0.02846047, 0.01314029, 0.00443857,-0.01028653, 0.02643436,
  1.10479888,-0.00113166, 0.88459677, 0.06484633, 0.09363499,-0.07010105,
  0.13094856, 0.5013712 , 0.49126074, 0.49864578, 0.50856877]

qacc:
[ -2.34463412,  1.51030591, -8.73589215, 23.01283915, -2.00150361,
  -2.09808453,  7.40804757,-10.40800293, -3.25347758,  3.90636413,
 -12.65570171, 13.35731718, -1.0474735 ,  1.62369611,  9.04274102,
 -32.71994692,  0.09668261,  1.03953844,  0.32326802,  1.78654547,
   0.34143262,-15.14858619]

qfrc_actuator:
[-8.67491298e-06, 1.47493538e-04, 4.24448102e-05, 9.29461074e-05,
  1.23898489e-05,-2.92454391e-04,-3.47119693e-04,-4.56903564e-05,
 -6.40012534e-05,-5.09928750e-05,-1.66916991e-04,-2.88271557e-05,
  2.26153570e-02,-1.27683170e-03, 7.61224019e-03,-3.27266230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003088346067982445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.61699835e-14, -3.59487894e-13,  1.00000000e+00,  2.01924291e-26,
        1.00000000e+00,  3.59487894e-13, -1.00000000e+00,  0.00000000e+00,
        5.61699835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174683, -0.08821714,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37419074e-05, 2.24965431e-05, 1.44355372e-05, 4.44283285e-05,
 -1.18889240e-05,-3.25637444e-05, 1.91813069e-05,-8.10099008e-06,
 -1.87406980e-05, 3.70495286e-05,-5.74294339e-05,-2.52851913e-06,
 -1.39836634e-04,-2.40152009e-05,-8.62935983e-05,-1.83495274e-04,
 -1.44690681e-06, 5.16885165e-07,-1.21644472e+00,-4.57790779e-04,
  1.17333400e-05,-5.49713552e-04]


--- Step 804 ---
qpos:
[ 0.01205639,-0.00118369, 0.00247178, 0.04196098, 0.00462155,-0.0023727 ,
 -0.01823717, 0.02845988, 0.01313876, 0.00443806,-0.01028796, 0.0264333 ,
  1.10533015,-0.00113045, 0.88502564, 0.06483924, 0.0936543 ,-0.07010628,
  0.13094702, 0.50127486, 0.49134178, 0.49870481, 0.50852756]

qacc:
[ -1.4317924 , -2.76364684,  9.7254449 ,-13.09717565,  1.75731184,
  -2.99717881, 10.5787548 ,-13.66359225, -1.88600972, -0.29854292,
   3.43898406,-10.408328  , -0.52700199,  0.42480943,  3.26105208,
 -12.51364103, -0.98613844, -1.91315342, -0.32820586,-16.48232443,
   0.76562592, 26.85645927]

qfrc_actuator:
[-1.68482474e-05, 9.99067142e-05, 6.67388667e-05, 8.29372498e-05,
  2.28677408e-05,-2.91802039e-04,-2.97796846e-04,-4.96298773e-05,
 -7.44534125e-05,-1.24718247e-05,-1.56546376e-04,-4.55729210e-05,
  2.25679291e-02,-1.29065760e-03, 7.61454851e-03,-3.32903400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030914463441494844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7956369e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7956369e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962377, -0.033911  ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.56410685e-06,-3.01859150e-05, 3.22385312e-05,-7.68475157e-06,
  1.01269630e-05,-1.39474074e-05, 4.46945915e-05,-4.82479635e-06,
 -1.09736756e-05, 4.73079727e-05, 1.08905495e-05,-1.71871515e-05,
 -1.38491771e-04,-4.84200519e-05,-6.28261384e-05,-7.88473960e-05,
 -1.28328646e-06, 2.86359090e-07,-1.21644493e+00,-4.58072552e-04,
  1.01079557e-05,-5.49686958e-04]


--- Step 805 ---
qpos:
[ 0.01205674,-0.00118301, 0.00247241, 0.04196138, 0.00462178,-0.00237233,
 -0.01823768, 0.02845957, 0.01313781, 0.00443797,-0.01028872, 0.02643166,
  1.10586051,-0.00112938, 0.88545341, 0.06483483, 0.09366971,-0.07011903,
  0.13094354, 0.5011666 , 0.49143214, 0.49872233, 0.50852977]

qacc:
[  5.23665702, -1.52931255,  4.47028081, -5.30690732, -1.94173064,
  -0.68356646,  1.28514504,  2.88794293,  5.08381719, -2.52017282,
  12.23369342,-23.73281926, -0.37673242,  0.15998315, -9.69176416,
  31.59922133, -0.97452627, -1.8795596 , -0.48550743,-16.11758868,
   0.86122953, 26.43488957]

qfrc_actuator:
[ 1.39519291e-05, 3.55596413e-05, 6.29751429e-05, 7.68391575e-05,
  1.11030266e-05,-2.73610634e-04,-2.68319798e-04,-3.39352766e-05,
 -4.44783771e-05, 2.83629261e-05,-1.14253697e-04,-7.27196353e-05,
  2.25203932e-02,-1.29933451e-03, 7.58987176e-03,-3.18169259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58259161, -0.2268075 , -4.57697545, -0.2268075 , 22.85244831,
       -0.90534471, -4.57697545, -0.90534471,  4.62745508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003124283976753961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.77676394e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.77676394e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10962191, -0.03391222,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05403353e-05,-7.49529815e-05,-6.31504001e-06,-6.42996402e-06,
 -1.14823164e-05, 1.94211596e-05, 3.19432037e-05, 1.65518091e-05,
  2.96767822e-05, 6.88312390e-05, 5.28352467e-05,-2.50702123e-05,
 -1.42819530e-04,-4.77951641e-05,-6.79223339e-05, 1.33588553e-04,
 -1.12003460e-06, 7.21016765e-07,-1.21644345e+00,-4.59038446e-04,
  1.22059480e-05,-5.49801661e-04]


--- Step 806 ---
qpos:
[ 0.01205779,-0.00118283, 0.00247241, 0.04196209, 0.00462187,-0.00237198,
 -0.01823777, 0.02845911, 0.01313756, 0.00443831,-0.01028901, 0.0264304 ,
  1.10638999,-0.00112843, 0.88588001, 0.06483192, 0.09368543,-0.07012746,
  0.13094244, 0.50107168, 0.49150921, 0.49875741, 0.50851442]

qacc:
[  6.23985924,  1.7130587 , -8.4168091 , 15.2143321 , -1.23727372,
  -1.46978389,  5.86072139, -9.08371811,  6.26876707,  0.0299937 ,
  -0.93430624,  6.58480461, -0.42754919,  0.27410477, -6.25706385,
  19.40055715,  0.07410125,  1.07945267,  0.59352957,  2.24232486,
   0.13911903,-15.42312821]

qfrc_actuator:
[ 4.96899305e-05,-2.94451850e-06, 2.48379692e-05, 9.08093415e-05,
  4.08670706e-06,-2.80608331e-04,-2.50711856e-04,-4.23194502e-05,
 -8.70401490e-06, 5.26555789e-05,-8.89681505e-05,-5.24929324e-05,
  2.24781532e-02,-1.30488691e-03, 7.52244436e-03,-3.11088626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003165364640752566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09606549e-14, -1.75370479e-13,  1.00000000e+00,  1.92217530e-27,
        1.00000000e+00,  1.75370479e-13, -1.00000000e+00,  0.00000000e+00,
        1.09606549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09174919, -0.08821549,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65783236e-05,-8.20216457e-05,-5.46375550e-05, 1.04102428e-05,
 -7.33904955e-06, 1.11593384e-05, 2.61298345e-05,-6.12298265e-06,
  3.66390515e-05, 7.26462352e-05, 4.51554268e-05, 2.45208223e-05,
 -1.39653280e-04,-4.57008425e-05,-8.80637993e-05, 6.85407684e-05,
 -8.22908853e-07, 1.28476402e-06,-1.21644323e+00,-4.60075356e-04,
  1.34179757e-05,-5.50150811e-04]


--- Step 807 ---
qpos:
[ 0.01205893,-0.00118307, 0.00247219, 0.04196257, 0.00462256,-0.00237154,
 -0.01823792, 0.02845858, 0.0131374 , 0.00443866,-0.01028903, 0.02642947,
  1.10691854,-0.00112729, 0.88630595, 0.06482685, 0.09370146,-0.07013165,
  0.13094303, 0.50098992, 0.4915731 , 0.49880975, 0.50848187]

qacc:
[  0.66138444, -0.37695122,  1.48327388, -4.66524409,  5.29921339,
   0.11283065,  0.02908124, -1.22782372,  0.76827273, -0.06624872,
  -1.09784165,  6.22570508, -0.93149294,  1.40382119,  5.64286328,
 -21.01145546,  0.08072256,  1.05987301,  0.42536215,  2.13858433,
   0.16958221,-15.18104399]

qfrc_actuator:
[ 5.25304376e-05,-8.06138426e-06, 2.00831383e-05, 8.09684707e-05,
  3.54334289e-05,-2.84947504e-04,-2.58113279e-04,-4.70790272e-05,
 -5.32110349e-06, 1.35783450e-05,-9.17185886e-05,-4.00871401e-05,
  2.24391213e-02,-1.29077343e-03, 7.47734600e-03,-3.22791466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60723658,  0.11429391,  4.60581869,  0.11429391, 27.28894816,
       -0.56284925,  4.60581869, -0.56284925,  4.62120375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000319382343827182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41218860e-13, -1.73807827e-13,  1.00000000e+00,  2.45449432e-26,
        1.00000000e+00,  1.73807827e-13, -1.00000000e+00,  0.00000000e+00,
        1.41218860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09175027, -0.08821499,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85356892e-06,-6.18224143e-05,-2.80725336e-05,-1.50463226e-05,
  3.11404728e-05, 7.02241556e-06,-2.09138527e-06,-3.49565178e-06,
  4.44691783e-06, 1.19311406e-05, 1.86664074e-05, 1.75597544e-05,
 -1.34360060e-04,-2.47810097e-05,-8.14792756e-05,-1.25339781e-04,
 -7.95313607e-07, 8.86445102e-07,-1.21644266e+00,-4.60041934e-04,
  1.25121382e-05,-5.50349904e-04]


--- Step 808 ---
qpos:
[ 0.01205974,-0.00118343, 0.0024723 , 0.04196251, 0.00462327,-0.00237088,
 -0.01823853, 0.02845835, 0.01313694, 0.00443879,-0.01028919, 0.02642875,
  1.10744612,-0.0011257 , 0.88673149, 0.06481996, 0.09371784,-0.07013167,
  0.13094477, 0.50092117, 0.49162391, 0.4988791 , 0.50843244]

qacc:
[ -2.79727469, -2.21126472,  9.97513985,-19.88203995,  0.20331364,
   2.19520603, -8.64120714, 14.37292696, -2.66278996,  0.52914998,
  -3.19436023,  7.26404966, -1.18540599,  2.03848858,  4.95310428,
 -18.01023227,  0.08610952,  1.0437281 ,  0.28424722,  2.05837588,
   0.19138667,-14.9800029 ]

qfrc_actuator:
[ 3.59839477e-05, 2.47190090e-05, 5.29609351e-05, 5.72509971e-05,
  3.58494962e-05,-2.70014817e-04,-2.80207267e-04,-3.19267542e-05,
 -2.10325136e-05,-2.77689718e-05,-1.11271637e-04,-3.24626805e-05,
  2.23967246e-02,-1.26512436e-03, 7.47759462e-03,-3.31255155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60730794,  0.08985748, -4.6064316 ,  0.08985748, 45.83902705,
        0.80430554, -4.6064316 ,  0.80430554,  4.6229975 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003194021617976689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08623152e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08623152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09175107, -0.08821521,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64557894e-05,-8.22640130e-06, 1.61327148e-05,-2.76306637e-05,
  1.30701971e-06, 1.82760026e-05,-2.10253869e-05, 1.53120915e-05,
 -1.55814815e-05,-3.00763723e-05,-1.41838456e-05, 9.12451531e-06,
 -1.30114037e-04,-7.97258015e-06,-5.60632132e-05,-1.03222981e-04,
 -7.50967769e-07, 5.86447433e-07,-1.21644239e+00,-4.60044232e-04,
  1.15139186e-05,-5.50454691e-04]


--- Step 809 ---
qpos:
[ 0.01206035,-0.00118354, 0.00247206, 0.04196217, 0.0046233 ,-0.00236987,
 -0.01823946, 0.02845794, 0.01313664, 0.00443862,-0.0102895 , 0.02642814,
  1.10797273,-0.00112377, 0.8871558 , 0.06481775, 0.09373447,-0.07012785,
  0.13094734, 0.50086478, 0.4916623 , 0.49896375, 0.50836781]

qacc:
[ -1.81485898,  0.72524219, -0.93906447, -3.55341144, -6.06590601,
   0.98586322, -2.05633177, -0.90643856,  1.41182912,  0.25601295,
  -1.99136113,  4.42584412, -0.73971813,  1.15939542,-15.88046017,
  53.03547897,  0.0625759 ,  0.95985331,  0.20899922,  1.53449314,
   0.17173603,-13.80704112]

qfrc_actuator:
[ 2.59227617e-05, 4.45981664e-05, 3.69358825e-05, 4.33725780e-05,
  2.92270091e-07,-2.43709863e-04,-2.92947304e-04,-4.06756622e-05,
 -1.23408684e-05,-5.25036499e-05,-1.22863266e-04,-2.77288076e-05,
  2.23470211e-02,-1.25063961e-03, 7.46244603e-03,-3.05769623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031715155070433825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13519258e-06, -1.13519253e-06,  1.00000000e+00, -1.28866214e-12,
        1.00000000e+00,  1.13519253e-06, -1.00000000e+00, -2.01948392e-28,
       -1.13519258e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09219314, -0.08687399,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05306948e-05, 1.74308686e-05,-1.66905747e-05,-1.42093113e-05,
 -3.55133547e-05, 3.28220998e-05,-1.10254115e-05,-8.39485909e-06,
  8.23878360e-06,-4.41008323e-05,-1.92336638e-05, 3.13397704e-06,
 -1.30786790e-04,-1.51625623e-05,-5.85787436e-05, 2.40483631e-04,
 -6.92468389e-07, 3.80514477e-07,-1.21644242e+00,-4.60076626e-04,
  1.04279011e-05,-5.50466399e-04]


--- Step 810 ---
qpos:
[ 0.01206083,-0.00118362, 0.00247114, 0.04196136, 0.0046229 ,-0.00236879,
 -0.01824016, 0.02845707, 0.01313679, 0.00443838,-0.01028979, 0.02642755,
  1.10849838,-0.00112186, 0.88757941, 0.06481365, 0.09374726,-0.07013156,
  0.13094805, 0.50079657, 0.49171007, 0.49900667, 0.50834668]

qacc:
[ -1.12284623,  0.99715433, -1.51724008, -5.43160161, -3.72956346,
  -1.4938664 ,  7.37596942,-15.62443521,  3.97107555, -0.12917492,
   0.24903064,  0.06863641, -0.75069709,  0.89852188,  4.71416055,
 -17.8843241 , -0.96064842, -1.88523921, -0.46521976,-16.20844895,
   0.80585415, 26.4975838 ]

qfrc_actuator:
[ 1.97657039e-05, 2.09272208e-05,-7.87438989e-06, 1.75994178e-05,
 -2.06382586e-05,-2.46288256e-04,-2.82272065e-04,-6.34006164e-05,
  1.06506789e-05,-3.15819673e-05,-1.11846636e-04,-2.47131501e-05,
  2.22823156e-02,-1.26067825e-03, 7.38489040e-03,-3.17299346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031956675185318417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73707530e-13, -4.34268826e-14,  1.00000000e+00,  7.54357652e-27,
        1.00000000e+00,  4.34268826e-14, -1.00000000e+00,  0.00000000e+00,
        1.73707530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10961407, -0.03391358,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44860730e-06,-1.79775468e-05,-4.37521996e-05,-2.58785592e-05,
 -2.19312856e-05, 1.31013655e-05, 1.58076079e-05,-2.18609882e-05,
  2.32098826e-05,-7.56514082e-06,-3.47171412e-07, 5.23273597e-07,
 -1.47188323e-04,-4.15076918e-05,-8.19793617e-05,-1.10400417e-04,
 -6.20072676e-07, 2.68242375e-07,-1.21644268e+00,-4.60155224e-04,
  9.33578198e-06,-5.50397374e-04]


--- Step 811 ---
qpos:
[ 0.01206089,-0.00118396, 0.00247038, 0.04195989, 0.00462294,-0.00236807,
 -0.01824023, 0.02845597, 0.01313722, 0.00443819,-0.01029002, 0.02642698,
  1.10902312,-0.00112006, 0.8880019 , 0.06480496, 0.09375623,-0.07014271,
  0.13094635, 0.5007165 , 0.4917671 , 0.49900863, 0.50836846]

qacc:
[-3.70301527e+00,-2.15520023e+00, 9.98104594e+00,-2.15384743e+01,
  3.89989324e+00,-2.68729526e+00, 9.89648700e+00,-1.47192731e+01,
  2.41469190e+00,-4.04075392e-02, 1.38589769e-01, 1.40452422e-01,
 -7.41943564e-01, 8.29867096e-01, 1.22125545e+01,-4.50661727e+01,
 -9.52661794e-01,-1.85633242e+00,-6.01012712e-01,-1.58787643e+01,
  9.01428555e-01, 2.61328207e+01]

qfrc_actuator:
[-1.79913574e-06, 6.72791850e-06, 1.51690321e-06,-1.50179942e-05,
  2.72455459e-06,-2.83812969e-04,-2.57979750e-04,-7.64187657e-05,
  2.41147070e-05,-1.88931057e-05,-1.05136861e-04,-2.26778821e-05,
  2.22352723e-02,-1.26745243e-03, 7.29118949e-03,-3.41692601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60913321, -0.07023665, -4.60859803, -0.07023665, 46.87289267,
       -0.64411449, -4.60859803, -0.64411449,  4.61894974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000319908472232025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73521979e-13,  8.67609895e-14,  1.00000000e+00, -1.50549386e-26,
        1.00000000e+00, -8.67609895e-14, -1.00000000e+00,  0.00000000e+00,
        1.73521979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10961279, -0.03391333,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17503969e-05,-3.43871509e-05,-5.92927319e-07,-3.54009382e-05,
  2.27420757e-05,-2.79069451e-05, 2.81875574e-05,-1.23331822e-05,
  1.41196326e-05, 8.43107485e-06, 5.12914565e-06, 1.71079724e-06,
 -1.46214776e-04,-4.65089171e-05,-1.48475521e-04,-2.61726515e-04,
 -4.49782206e-07, 4.79504142e-07,-1.21644150e+00,-4.61075374e-04,
  1.08336706e-05,-5.50565889e-04]


--- Step 812 ---
qpos:
[ 0.01206069,-0.00118428, 0.00246988, 0.04195765, 0.00462361,-0.0023675 ,
 -0.01824002, 0.02845437, 0.0131378 , 0.00443842,-0.01029033, 0.02642606,
  1.10954707,-0.00111891, 0.88842257, 0.06479964, 0.09376255,-0.07014922,
  0.13094648, 0.50066261, 0.49179969, 0.49901785, 0.50838097]

qacc:
[-2.27041365e+00,-2.29501308e+00, 1.14955382e+01,-2.52930876e+01,
  5.48303613e+00,-2.02509785e+00, 8.98166950e+00,-1.78414083e+01,
  1.38008315e+00, 3.51390279e-02, 2.17316630e+00,-8.50207448e+00,
  2.14375394e-01,-1.24493902e+00,-1.28647317e+01, 4.10416986e+01,
 -6.66015389e-01, 1.15871707e+00, 4.55374383e-01,-8.39934279e+00,
 -7.85030847e-01,-1.68538262e+01]

qfrc_actuator:
[-1.45087311e-05, 3.40137728e-05, 2.51153013e-05,-5.13546701e-05,
  3.42129399e-05,-2.88654062e-04,-2.43745049e-04,-1.01398571e-04,
  3.18585447e-05, 2.42702322e-05,-1.01050250e-04,-3.89960627e-05,
  2.21882048e-02,-1.30766956e-03, 7.26775251e-03,-3.21975894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60958092,  0.53390448,  4.57855679,  0.53390448, 44.90999158,
       -4.69942184,  4.57855679, -4.69942184,  5.15757944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032003248419665287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21478304e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.21478304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244128, -0.08998314,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33367210e-05, 6.43414092e-06, 1.52145452e-05,-3.85128503e-05,
  3.21267312e-05,-1.51679679e-05, 1.15098137e-05,-2.54403961e-05,
  8.14671268e-06, 4.90279633e-05, 6.52518746e-06,-1.57444011e-05,
 -1.47677280e-04,-8.02277593e-05,-1.22831250e-04, 1.63048002e-04,
 -1.48421611e-07, 8.19135510e-07,-1.21644153e+00,-4.62068005e-04,
  1.14825287e-05,-5.50968712e-04]


--- Step 813 ---
qpos:
[ 0.01206138,-0.00118465, 0.00246965, 0.04195569, 0.0046243 ,-0.00236681,
 -0.01823951, 0.0284528 , 0.01313847, 0.00443929,-0.01029103, 0.02642529,
  1.11007026,-0.00111904, 0.88884282, 0.06479744, 0.09376628,-0.07015116,
  0.13094776, 0.50063451, 0.49180808, 0.49903415, 0.50838452]

qacc:
[  7.77724218, -0.20959126, -0.55760602,  5.09317792,  0.24640638,
  -0.64699228,  2.45814916, -2.68768248,  0.75361055,  2.22870319,
  -7.35225721, 10.08357014,  0.71943228, -2.62285538,-10.11064955,
  34.30397295, -0.64592082,  1.13977499,  0.29038296, -8.36785595,
  -0.71479757,-16.57705714]

qfrc_actuator:
[ 3.13584730e-05, 3.27437337e-05, 3.93121428e-05,-3.62923212e-05,
  3.47123490e-05,-2.56183901e-04,-2.17703529e-04,-9.76987215e-05,
  3.61769029e-05, 6.75778624e-05,-1.16180587e-04,-3.04520874e-05,
  2.21304932e-02,-1.38513018e-03, 7.30255380e-03,-3.04809102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61820158, -0.87439231,  4.53466911, -0.87439231, 26.00730937,
        4.1243299 ,  4.53466911,  4.1243299 ,  5.41347071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032240679815198625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07081373e-14,  1.72177360e-13,  1.00000000e+00,  1.38961140e-26,
        1.00000000e+00, -1.72177360e-13, -1.00000000e+00,  0.00000000e+00,
       -8.07081373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244238, -0.08998246,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54929731e-05, 3.83900663e-06, 1.60824592e-05, 1.51221557e-05,
  1.41111289e-06, 2.52672112e-05, 2.34392775e-05, 2.95347353e-06,
  4.56755340e-06, 7.13995439e-05,-4.74075946e-06, 1.05664159e-05,
 -1.65726809e-04,-1.24713329e-04,-4.53548974e-06, 1.64742840e-04,
 -5.33206878e-08, 3.73407645e-07,-1.21644061e+00,-4.61646298e-04,
  1.07303660e-05,-5.51288644e-04]


--- Step 814 ---
qpos:
[ 0.01206261,-0.00118519, 0.00246964, 0.0419543 , 0.00462465,-0.00236613,
 -0.01823838, 0.02845162, 0.01313919, 0.00444023,-0.01029167, 0.02642467,
  1.11059264,-0.00112014, 0.88926308, 0.06479169, 0.09376749,-0.07014862,
  0.13094966, 0.5006319 , 0.49179247, 0.49905739, 0.50837938]

qacc:
[  4.79517734,  0.24209783, -3.58721032, 13.04238716, -2.99480895,
  -0.92937768,  1.63415434,  4.22226346,  0.41476431,  0.25762512,
  -1.42979909,  3.92579832,  0.08580988, -1.28685347, 10.6852756 ,
 -37.42827436, -0.6296766 ,  1.12411441,  0.15200236, -8.33724144,
  -0.65882031,-16.34839908]

qfrc_actuator:
[ 5.80743613e-05, 1.44022055e-05, 4.77724268e-05,-8.88815446e-06,
  1.69656905e-05,-2.54804081e-04,-1.84713255e-04,-7.71074292e-05,
  3.84464841e-05, 3.95728162e-05,-1.24749376e-04,-2.51059285e-05,
  2.20930494e-02,-1.43079463e-03, 7.25507034e-03,-3.24787752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.616749  , -1.06187333,  4.49297188, -1.06187333, 46.82202586,
        9.97483603,  4.49297188,  9.97483603,  6.97421141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003220085161633329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63972678e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.63972678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244354, -0.08998259,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80119652e-05,-1.21908164e-05, 1.17661020e-05, 2.84231182e-05,
 -1.76986579e-05, 2.04501854e-05, 4.11881718e-05, 2.25434172e-05,
  2.42591701e-06, 1.13776131e-05, 5.96158387e-06, 8.44882355e-06,
 -1.65198078e-04,-1.06019556e-04,-3.83814458e-05,-1.92844971e-04,
 -2.69491152e-08, 1.22183258e-07,-1.21644014e+00,-4.61273194e-04,
  1.02840448e-05,-5.51470115e-04]


--- Step 815 ---
qpos:
[ 0.01206346,-0.00118566, 0.00246939, 0.04195324, 0.00462478,-0.00236539,
 -0.01823737, 0.02845039, 0.01313993, 0.00444117,-0.0102926 , 0.0264238 ,
  1.11111403,-0.00112133, 0.88968215, 0.06478342, 0.09376623,-0.07014162,
  0.1309517 , 0.5006545 , 0.49175304, 0.49908746, 0.50836574]

qacc:
[ -3.33924598,  1.51702327, -6.6950311 , 12.93414007, -1.89248195,
   0.34472157, -0.91005322,  0.2613293 ,  0.18248665,  0.32197653,
  -0.10028221, -3.66456557, -0.72669332,  0.7943358 ,  5.89418897,
 -23.10676746, -0.61659704,  1.11126432,  0.03620108, -8.30905162,
  -0.61400954,-16.16087137]

qfrc_actuator:
[ 3.77801614e-05, 2.14761558e-05, 3.49545361e-05, 7.77805239e-06,
  6.38434760e-06,-2.71995375e-04,-2.01251049e-04,-8.22705563e-05,
  3.94926842e-05, 2.23536116e-05,-1.47416813e-04,-3.94933215e-05,
  2.20624733e-02,-1.42165784e-03, 7.16884377e-03,-3.38107757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031941110747783774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24913126e-13, -1.73792175e-13,  1.00000000e+00, -2.17089239e-26,
        1.00000000e+00,  1.73792175e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24913126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244476, -0.08998337,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95011998e-05, 3.93363872e-06,-1.28963665e-05, 1.71072201e-05,
 -1.10816539e-05, 3.67649507e-06,-6.47800188e-06,-2.42351608e-06,
  1.12069562e-06,-9.28519346e-06,-1.92920220e-05,-1.35283382e-05,
 -1.54792113e-04,-4.70641321e-05,-1.32607632e-04,-1.50561455e-04,
 -7.00643345e-08, 5.65169753e-08,-1.21644011e+00,-4.60937076e-04,
  1.01341936e-05,-5.51517403e-04]


--- Step 816 ---
qpos:
[ 0.01206371,-0.001186  , 0.0024692 , 0.0419527 , 0.00462444,-0.00236441,
 -0.01823721, 0.02844948, 0.01314102, 0.0044423 ,-0.01029393, 0.02642344,
  1.11163426,-0.0011221 , 0.89009983, 0.0647788 , 0.09376115,-0.07014182,
  0.13095176, 0.50066583, 0.4917222 , 0.49907741, 0.50839429]

qacc:
[ -5.22506759,  1.07891866, -5.78429843, 14.61849326, -4.17622862,
   3.35563729,-12.83555182, 19.53913101,  3.07939442,  2.38309493,
 -10.30940315, 19.64096989, -0.98950184,  1.56594806,-12.98689372,
  42.62727461, -0.95553086, -1.79695207, -0.49587452,-15.79922751,
   0.9600604 , 25.43587192]

qfrc_actuator:
[ 7.73814370e-06, 4.36175807e-05, 4.52715033e-05, 3.57489278e-05,
 -1.76414740e-05,-2.64890837e-04,-2.47005247e-04,-6.70972383e-05,
  5.75639157e-05, 4.71427953e-05,-1.60469196e-04,-1.21278710e-05,
  2.20094332e-02,-1.39789946e-03, 7.16599568e-03,-3.17213086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031582712536041115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86798493e-07,  8.86798317e-07,  1.00000000e+00,  7.86411411e-13,
        1.00000000e+00, -8.86798317e-07, -1.00000000e+00,  0.00000000e+00,
       -8.86798493e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942637, -0.0353349 ,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05936717e-05, 2.24230858e-05, 1.01438489e-05, 2.80308232e-05,
 -2.43402754e-05, 7.67863845e-06,-4.58939504e-05, 1.50588581e-05,
  1.81030516e-05, 1.50133810e-05,-1.78121969e-05, 2.60387342e-05,
 -1.58556848e-04,-1.84726060e-05,-8.28786972e-05, 1.82998087e-04,
 -1.82992108e-07, 1.69386176e-07,-1.21644050e+00,-4.60629312e-04,
  1.02733008e-05,-5.51433852e-04]


--- Step 817 ---
qpos:
[ 0.01206292,-0.00118614, 0.00246911, 0.04195215, 0.00462347,-0.00236327,
 -0.01823739, 0.02844978, 0.01314267, 0.00444386,-0.01029528, 0.02642336,
  1.11215325,-0.00112226, 0.8905172 , 0.06477392, 0.09375228,-0.07014911,
  0.13094935, 0.50066589, 0.49169984, 0.49902786, 0.50846447]

qacc:
[ -9.24636611, -0.054956  ,  0.69461467, -1.37242307, -5.53720566,
   3.62058452,-17.67993975, 38.88623188,  4.8569231 ,  1.17519131,
  -4.54560245,  9.0105897 , -1.466441  ,  2.54923084,  0.4266135 ,
  -1.9356446 , -0.94873278, -1.77381102, -0.61535616,-15.5388376 ,
   1.0030201 , 25.11274301]

qfrc_actuator:
[-4.55379765e-05, 5.69589504e-05, 5.14983598e-05, 3.46785077e-05,
 -4.93901915e-05,-2.43416553e-04,-2.56260689e-04,-4.56498607e-06,
  8.55115783e-05, 9.69591710e-05,-1.49781877e-04, 4.12751389e-06,
  2.19482921e-02,-1.36582700e-03, 7.15465058e-03,-3.18912492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.59025477, -0.98311196,  4.4837406 , -0.98311196, 31.64998818,
        5.93315937,  4.4837406 ,  5.93315937,  5.89116855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031461444823985843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21377513e-07,  4.21377337e-07,  1.00000000e+00,  1.77558934e-13,
        1.00000000e+00, -4.21377337e-07, -1.00000000e+00,  0.00000000e+00,
       -4.21377513e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942581, -0.0353342 ,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41388627e-05, 2.91809169e-05, 1.30861058e-05, 7.90422137e-07,
 -3.24391074e-05, 1.68898052e-05,-1.28120708e-05, 6.15668848e-05,
  2.84690274e-05, 5.56336122e-05, 1.24989999e-05, 1.67899011e-05,
 -1.61407338e-04,-6.13204331e-06,-3.24909605e-05,-1.82104205e-05,
 -1.04070913e-07,-1.00452694e-07,-1.21644022e+00,-4.60979284e-04,
  1.02073027e-05,-5.51629247e-04]


--- Step 818 ---
qpos:
[ 0.01206218,-0.00118631, 0.00246897, 0.04195129, 0.00462248,-0.00236267,
 -0.0182371 , 0.02845085, 0.01314394, 0.00444552,-0.01029606, 0.02642278,
  1.11267112,-0.00112178, 0.89093362, 0.06476569, 0.09374077,-0.07015181,
  0.13094821, 0.50069172, 0.49165342, 0.49898543, 0.50852558]

qacc:
[  0.50405478, -0.50457091,  3.041411  , -8.28470096, -0.21957345,
  -0.40777672, -2.86213721, 15.9944925 , -3.2166859 , -2.47412869,
  11.13400952,-20.73082577, -1.49444407,  2.66553087,  8.78221837,
 -32.54354818, -0.65796072,  1.14783388,  0.3161442 , -8.28860713,
  -0.76245311,-16.57793916]

qfrc_actuator:
[-4.10486198e-05, 2.93913097e-05, 3.74496739e-05, 1.65159811e-05,
 -4.99208285e-05,-3.02086136e-04,-2.43787980e-04, 3.21152788e-05,
  6.57853707e-05, 9.04671998e-05,-1.25063930e-04,-2.17552905e-05,
  2.19036428e-02,-1.32914403e-03, 7.05827410e-03,-3.37473657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6000892 ,  0.48313235,  4.57464794,  0.48313235, 45.16178363,
       -4.28375411,  4.57464794, -4.28375411,  5.05250001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031738823755324275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91905793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.91905793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10244872, -0.08998423,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95940159e-06,-8.52181200e-06,-6.37522873e-06,-1.64400731e-05,
 -1.45209909e-06,-4.92839130e-05, 1.65028365e-05, 3.81575063e-05,
 -1.88956155e-05, 2.78947932e-05, 3.83285706e-05,-2.27405662e-05,
 -1.43736968e-04, 9.51257397e-08,-1.20507494e-04,-1.92435939e-04,
  1.03489672e-07,-2.55773244e-07,-1.21644106e+00,-4.61408707e-04,
  9.36756647e-06,-5.52060985e-04]


--- Step 819 ---
qpos:
[ 0.01206184,-0.0011867 , 0.00246903, 0.04195022, 0.00462148,-0.00236281,
 -0.01823619, 0.02845203, 0.01314463, 0.00444679,-0.0102957 , 0.02642192,
  1.11318804,-0.00112112, 0.89134831, 0.06475928, 0.09372813,-0.07015011,
  0.1309483 , 0.50073683, 0.49158851, 0.49895509, 0.50857367]

qacc:
[  3.56189636, -1.32241658,  5.14493157, -8.8653482 ,  0.04332987,
  -2.51598436,  7.11727174, -5.79943174, -5.15477262, -4.25272719,
  15.61016701,-21.99432784, -0.70250992,  0.9604439 , -7.99180017,
  24.36312048, -0.2856257 ,  1.09919212,  0.30613052, -3.04114111,
  -0.28344069,-15.74436848]

qfrc_actuator:
[-2.03414532e-05, 1.29399873e-05, 4.68711501e-05, 6.15034587e-06,
 -4.98236364e-05,-3.54959214e-04,-2.18947218e-04, 3.54736435e-05,
  3.59065345e-05, 5.03375663e-05,-7.47609523e-05,-3.67555643e-05,
  2.18529439e-02,-1.32545818e-03, 7.00681193e-03,-3.26777413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003175915436756985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07947037e-07, -3.07607032e-13,  1.00000000e+00,  3.32052675e-20,
        1.00000000e+00,  3.07607032e-13, -1.00000000e+00,  0.00000000e+00,
        1.07947037e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09707863, -0.08909768,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07901906e-05,-2.32247472e-05, 6.31350196e-06,-1.12686553e-05,
  3.63173078e-08,-7.54166556e-05, 1.80013853e-05, 2.55557955e-06,
 -3.04021862e-05,-1.76403536e-05, 5.99921693e-05,-1.29208732e-05,
 -1.38869185e-04,-2.71566820e-05,-1.31558157e-04, 8.00163562e-05,
 -2.56955169e-07,-3.11581093e-07,-1.21644117e+00,-4.60675892e-04,
  1.00535807e-05,-5.52142076e-04]


--- Step 820 ---
qpos:
[ 0.01206142,-0.00118713, 0.00246914, 0.04194902, 0.00462049,-0.00236324,
 -0.0182351 , 0.02845286, 0.0131453 , 0.00444755,-0.01029516, 0.02642132,
  1.11370401,-0.00112038, 0.8917623 , 0.06475301, 0.0937158 ,-0.07014422,
  0.13094945, 0.50079481, 0.49151079, 0.49894169, 0.50860485]

qacc:
[ -0.82655059, -0.41908489,  1.97218504, -4.22894609,  0.08517307,
  -1.5537061 ,  6.42671502,-12.3817938 , -0.14634707, -0.65607268,
   0.29236989,  4.19065475, -0.7408518 ,  0.96359498, -1.41725394,
   3.55469075,  0.0806569 ,  1.04974898,  0.26610489,  2.1522739 ,
   0.13377777,-14.86735869]

qfrc_actuator:
[-2.57784696e-05, 2.11115721e-05, 5.23684823e-05, 4.81872071e-07,
 -4.93676902e-05,-3.50676275e-04,-2.04783764e-04, 1.92040395e-05,
  3.58115777e-05,-9.51827566e-06,-8.09077545e-05,-2.74917228e-05,
  2.18039672e-02,-1.32361239e-03, 6.99837929e-03,-3.25538291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003172830137128796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46743255e-14, -1.74957842e-13,  1.00000000e+00,  9.56570197e-27,
        1.00000000e+00,  1.74957842e-13, -1.00000000e+00,  0.00000000e+00,
        5.46743255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091764  , -0.08822082,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85206002e-06,-3.97035430e-06, 1.09340244e-06,-6.66206409e-06,
  4.29830110e-07,-3.40703014e-05, 8.80073205e-07,-1.88333664e-05,
 -9.62538769e-07,-5.79386746e-05,-2.86355532e-06, 1.03318845e-05,
 -1.39916383e-04,-3.32973675e-05,-6.11120930e-05,-2.93305640e-07,
 -5.67389961e-07,-1.82548395e-07,-1.21644139e+00,-4.60020875e-04,
  1.09305017e-05,-5.52067420e-04]


--- Step 821 ---
qpos:
[ 0.01206127,-0.0011876 , 0.00246905, 0.04194744, 0.00461986,-0.00236374,
 -0.01823425, 0.0284535 , 0.01314562, 0.00444761,-0.01029509, 0.0264209 ,
  1.11421916,-0.00111991, 0.89217568, 0.06474787, 0.09370381,-0.07013418,
  0.1309512 , 0.50086558, 0.49142023, 0.49894502, 0.5086194 ]

qacc:
[  2.4849266 , -0.32139368,  2.66812844, -8.98140787,  3.13099548,
   0.12458387,  0.27513661, -3.36274583, -3.09350652,  0.78988086,
  -4.95831742,  9.49462466, -0.29784292, -0.04447928, -4.27978186,
  13.68463495,  0.08440476,  1.03538734,  0.15121098,  2.04937779,
   0.17628247,-14.72743575]

qfrc_actuator:
[-1.10599954e-05, 8.45262333e-06, 3.78472006e-05,-2.01161930e-05,
 -3.09516847e-05,-3.47761989e-04,-2.14573263e-04, 9.31240925e-06,
  1.77456132e-05,-8.09372863e-05,-1.20426107e-04,-2.18441853e-05,
  2.17613832e-02,-1.34060418e-03, 6.98910549e-03,-3.19226772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148536807472818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.30577074e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.30577074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176476, -0.08822185,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45807602e-05,-1.49222438e-05,-1.54302029e-05,-2.08563429e-05,
  1.84171251e-05,-1.67618912e-05,-1.73796407e-05,-1.16911538e-05,
 -1.81109974e-05,-1.03998152e-04,-5.14947038e-05, 3.26522122e-06,
 -1.34988938e-04,-5.38350001e-05,-4.25805243e-05, 5.40620126e-05,
 -7.66412174e-07, 5.82031935e-08,-1.21644160e+00,-4.59420696e-04,
  1.17064256e-05,-5.51864922e-04]


--- Step 822 ---
qpos:
[ 0.01206096,-0.00118797, 0.00246841, 0.04194597, 0.00461911,-0.00236408,
 -0.01823396, 0.02845469, 0.01314571, 0.0044469 ,-0.01029547, 0.02642057,
  1.1147334 ,-0.00111961, 0.89258823, 0.06474387, 0.09369217,-0.07012004,
  0.13095317, 0.50094906, 0.49131684, 0.49896491, 0.50861755]

qacc:
[ -1.49142504,  1.94249787, -7.19646117,  9.99921592, -1.06704755,
   2.95089052,-12.59553422, 23.11518445, -1.92706257,  0.36965211,
  -3.10521374,  5.69244884, -0.43019557,  0.23151971, -4.66965799,
  14.61126529,  0.0871694 ,  1.02383469,  0.05531441,  1.96571326,
   0.21105511,-14.61369236]

qfrc_actuator:
[-2.00934383e-05, 1.88303905e-05, 1.15333657e-05,-1.38580211e-05,
 -3.76176918e-05,-3.28022893e-04,-2.38405581e-04, 3.87512441e-05,
  6.98994194e-06,-1.23386844e-04,-1.43877259e-04,-1.84026662e-05,
  2.17120061e-02,-1.35082882e-03, 6.94738940e-03,-3.13526128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003107297775083173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00489315e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.00489315e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176531, -0.08822326,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.62044228e-06,-2.02029045e-06,-3.20085114e-05, 4.68323777e-06,
 -6.14533047e-06, 6.28801939e-06,-2.98463158e-05, 2.78886214e-05,
 -1.13044242e-05,-1.11110000e-04,-5.11624525e-05,-2.73199554e-06,
 -1.43129114e-04,-5.00268861e-05,-6.09922948e-05, 5.32314533e-05,
 -9.52768693e-07, 3.81534735e-07,-1.21644209e+00,-4.58846617e-04,
  1.23803137e-05,-5.51576056e-04]


--- Step 823 ---
qpos:
[ 0.01206054,-0.00118811, 0.00246736, 0.04194457, 0.00461795,-0.00236429,
 -0.01823401, 0.02845656, 0.01314603, 0.00444574,-0.01029604, 0.02642056,
  1.11524652,-0.00111858, 0.89299952, 0.06474263, 0.0936767 ,-0.0701134 ,
  0.1309531 , 0.50102075, 0.49122278, 0.49894325, 0.50865905]

qacc:
[ -0.94628917,  1.57099465, -5.42905588,  6.98025211, -3.68337849,
   2.50990291,-11.54867698, 23.68065945,  1.8917436 ,  0.62647502,
  -4.51216951, 10.91089691, -1.29347043,  2.36475577,-10.10151888,
  32.82944407, -0.9597038 , -1.87203759, -0.51174422,-16.14904221,
   0.80631324, 26.39244452]

qfrc_actuator:
[-2.52878518e-05, 4.28896934e-05,-3.66384482e-06,-9.58577275e-06,
 -5.89987034e-05,-3.16136067e-04,-2.52478736e-04, 7.33518312e-05,
  1.83812663e-05,-1.12607780e-04,-1.39784554e-04, 1.50409685e-06,
  2.16692414e-02,-1.30372545e-03, 6.89157504e-03,-2.99363346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030945519372860275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79383485e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79383485e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10960252, -0.03390495,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43716229e-06, 1.65405147e-05,-1.93789482e-05, 3.17533474e-06,
 -2.15540659e-05, 1.04375832e-05,-1.54876941e-05, 3.43777992e-05,
  1.10308516e-05,-6.20123978e-05,-2.52408379e-05, 1.33254397e-05,
 -1.40745638e-04, 6.27498714e-06,-8.27724781e-05, 1.35643688e-04,
 -1.12816908e-06, 7.86569648e-07,-1.21644287e+00,-4.58293645e-04,
  1.29584941e-05,-5.51200300e-04]


--- Step 824 ---
qpos:
[ 0.01206041,-0.00118836, 0.00246679, 0.0419432 , 0.00461688,-0.0023645 ,
 -0.01823396, 0.02845951, 0.01314613, 0.00444449,-0.01029677, 0.02642074,
  1.11575872,-0.00111705, 0.89340965, 0.0647444 , 0.0936574 ,-0.07011413,
  0.13095047, 0.50108065, 0.49113793, 0.49888073, 0.50874329]

qacc:
[  2.53075209, -1.40797586,  4.64122318, -4.61343065,  0.86039027,
   1.9168309 ,-11.36535254, 29.79529077, -1.86400113,  0.7524675 ,
  -3.62302166,  7.18634958, -0.91410778,  1.60027784,-10.72925849,
  35.21402416, -0.95432424, -1.84501399, -0.63898897,-15.85841644,
   0.86473427, 26.03795882]

qfrc_actuator:
[-1.04209448e-05, 3.94957416e-05, 2.33908247e-05,-6.49715297e-06,
 -5.33562797e-05,-3.08994364e-04,-2.42946445e-04, 1.28463479e-04,
  7.20939196e-06,-8.76497075e-05,-1.36984290e-04, 1.32516562e-05,
  2.16358233e-02,-1.27631459e-03, 6.84867460e-03,-2.83880417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57257082, -0.35770687,  4.55855785, -0.35770687, 24.5641645 ,
        1.56872646,  4.55855785,  1.56872646,  4.69566769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003095363125932282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10960137, -0.03390467,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47204522e-05, 2.00876068e-06, 2.82121903e-05, 3.19467642e-06,
  5.03044234e-06, 1.12492757e-05, 1.09697074e-05, 5.56894083e-05,
 -1.08839230e-05,-1.43087089e-05,-1.26369419e-05, 8.47951904e-06,
 -1.17354199e-04,-2.10535840e-06,-6.94139060e-05, 1.50942082e-04,
 -1.13939219e-06, 6.02267866e-08,-1.21644246e+00,-4.58397194e-04,
  1.22807487e-05,-5.51331393e-04]


--- Step 825 ---
qpos:
[ 1.20604521e-02,-1.18864620e-03, 2.46708575e-03, 4.19421956e-02,
  4.61588272e-03,-2.36480420e-03,-1.82337159e-02, 2.84630998e-02,
  1.31457499e-02, 4.44335351e-03,-1.02978950e-02, 2.64213943e-02,
  1.11627022e+00,-1.11575544e-03, 8.93819695e-01, 6.47439165e-02,
  9.36382334e-02,-7.01108834e-02, 1.30949632e-01, 5.01152992e-01,
  4.91040835e-01, 4.98833908e-01, 5.08811664e-01]

qacc:
[  1.60206988, -1.74860954,  4.62776321,  0.23199724,  0.67236124,
   0.68378662, -5.34943564, 16.29292929, -4.23554428,  2.2104439 ,
  -9.66245394, 18.39963248, -0.42286874,  0.2637316 ,  6.71564977,
 -23.63548705,  0.03175173,  0.99627315,  0.44635151,  1.83677414,
   0.04613032,-14.0493924 ]

qfrc_actuator:
[-1.61938904e-06, 5.53706990e-05, 7.50661417e-05, 1.36294049e-05,
 -4.96014475e-05,-3.22382446e-04,-2.37313995e-04, 1.59707173e-04,
 -1.71601408e-05,-7.21280826e-05,-1.52661148e-04, 3.78682047e-05,
  2.15920570e-02,-1.29627729e-03, 6.83486083e-03,-2.96145502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.564677  ,   1.29874677,   4.37601793,   1.29874677,
        42.10892648, -11.14265838,   4.37601793, -11.14265838,
         7.87167708,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003072306921382175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52076167e-07,  1.52075810e-07,  1.00000000e+00, -2.31271063e-14,
        1.00000000e+00, -1.52075810e-07, -1.00000000e+00, -6.31088724e-30,
        1.52076167e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092209  , -0.08688358,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22139267e-06, 2.29867613e-05, 5.56875249e-05, 2.12551893e-05,
  3.89948637e-06,-2.44305147e-06, 1.12291918e-05, 3.31826886e-05,
 -2.46882596e-05, 5.32300354e-06,-1.98723084e-05, 2.37356264e-05,
 -1.15297453e-04,-4.58996470e-05,-3.28454867e-05,-1.24072008e-04,
 -1.01495498e-06,-5.32747326e-07,-1.21644324e+00,-4.58565117e-04,
  1.07879597e-05,-5.51703890e-04]


--- Step 826 ---
qpos:
[ 1.20606040e-02,-1.18913085e-03, 2.46812367e-03, 4.19414669e-02,
  4.61494152e-03,-2.36553430e-03,-1.82328794e-02, 2.84660155e-02,
  1.31454271e-02, 4.44248444e-03,-1.02993032e-02, 2.64223115e-02,
  1.11678099e+00,-1.11491787e-03, 8.94229586e-01, 6.47383116e-02,
  9.36193319e-02,-7.01034241e-02, 1.30949886e-01, 5.01238248e-01,
  4.90930874e-01, 4.98804069e-01, 5.08863044e-01]

qacc:
[ 9.53293697e-01,-1.75980037e+00, 4.72985201e+00,-9.78705953e-01,
  4.90097844e-01,-3.61689856e+00, 1.49302622e+01,-2.72531435e+01,
  4.74952885e-01, 1.68747840e+00,-6.61185148e+00, 1.14057253e+01,
 -3.74383907e-01,-1.26235945e-02, 1.52228520e+01,-5.35751139e+01,
  6.65861125e-02, 1.05223933e+00, 2.74100638e-01, 2.16136408e+00,
  1.35448993e-01,-1.49210826e+01]

qfrc_actuator:
[ 3.53549967e-06, 2.95337824e-05, 1.05432220e-04, 2.58923389e-05,
 -4.69963596e-05,-3.65740983e-04,-2.16388451e-04, 1.23372066e-04,
 -1.35900732e-05,-4.46732252e-05,-1.61385741e-04, 5.20912456e-05,
  2.15420951e-02,-1.32638913e-03, 6.80116386e-03,-3.22877319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56611295,  0.66452247,  4.51749901,  0.66452247, 39.56614947,
       -5.14849274,  4.51749901, -5.14849274,  5.32345437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030765192802270636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01494643e-13, -1.80434921e-13,  1.00000000e+00,  1.83131778e-26,
        1.00000000e+00,  1.80434921e-13, -1.00000000e+00,  0.00000000e+00,
        1.01494643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09176983, -0.08822577,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42293007e-06,-5.56798489e-07, 4.27099151e-05, 1.55900401e-05,
  2.71363074e-06,-4.09816492e-05, 2.29448678e-05,-3.54135351e-05,
  2.86568967e-06, 2.73868134e-05,-9.22592025e-06, 1.42300242e-05,
 -1.30240901e-04,-6.39067824e-05,-6.95774095e-05,-2.80083994e-04,
 -1.29542368e-06,-2.81975036e-07,-1.21644324e+00,-4.57736488e-04,
  1.20211915e-05,-5.51533032e-04]


--- Step 827 ---
qpos:
[ 1.20611618e-02,-1.19008469e-03, 2.46973073e-03, 4.19409390e-02,
  4.61438372e-03,-2.36656407e-03,-1.82315018e-02, 2.84681159e-02,
  1.31454946e-02, 4.44156303e-03,-1.03006886e-02, 2.64234118e-02,
  1.11729094e+00,-1.11440254e-03, 8.94637909e-01, 6.47303449e-02,
  9.36006055e-02,-7.00920969e-02, 1.30950931e-01, 5.01335805e-01,
  4.90808575e-01, 4.98789493e-01, 5.08899200e-01]

qacc:
[  3.59324909, -1.80479631,  4.67505443, -1.75015215,  3.38199679,
  -3.59030925, 15.65923477,-30.40164307,  3.4351241 ,  0.23708269,
  -1.73027483,  4.91314192, -0.38289748,  0.05944638,  4.82471633,
 -20.21984673,  0.04378956,  0.96699379,  0.19778489,  1.56842125,
   0.15981092,-13.76952583]

qfrc_actuator:
[ 2.42570455e-05,-2.11629212e-05, 1.22792393e-04, 3.33756036e-05,
 -2.73359947e-05,-3.73455984e-04,-1.86772796e-04, 8.30572172e-05,
  6.40039391e-06,-6.35183493e-05,-1.65886355e-04, 6.01009919e-05,
  2.14937690e-02,-1.34451625e-03, 6.70761432e-03,-3.34834635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55998184, -0.75530056, -4.49699405, -0.75530056, 41.65194899,
       -6.22984668, -4.49699405, -6.22984668,  5.60632671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003058476173011587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08359559e-06, -1.08359593e-06,  1.00000000e+00, -1.17417976e-12,
        1.00000000e+00,  1.08359593e-06, -1.00000000e+00, -2.01948392e-28,
       -1.08359559e-06])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221119, -0.08688479,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08738717e-05,-4.15095306e-05, 2.30395425e-05, 9.24073324e-06,
  1.97240165e-05,-2.73990196e-05, 2.27439166e-05,-4.19732966e-05,
  2.00772076e-05,-4.78031565e-06, 5.36622353e-07, 9.14395763e-06,
 -1.42306492e-04,-5.84238445e-05,-1.62560614e-04,-1.45482227e-04,
 -1.57385001e-06, 6.73342389e-08,-1.21644350e+00,-4.56911876e-04,
  1.32246002e-05,-5.51270947e-04]


--- Step 828 ---
qpos:
[ 1.20623085e-02,-1.19116684e-03, 2.47145622e-03, 4.19404930e-02,
  4.61406544e-03,-2.36713728e-03,-1.82306483e-02, 2.84693475e-02,
  1.31458008e-02, 4.44092076e-03,-1.03025291e-02, 2.64245904e-02,
  1.11780000e+00,-1.11434358e-03, 8.95043915e-01, 6.47266244e-02,
  9.35780761e-02,-7.00881745e-02, 1.30949483e-01, 5.01421980e-01,
  4.90695442e-01, 4.98733652e-01, 5.08978119e-01]

qacc:
[ 5.18046501e+00,-3.42207528e-01, 6.11082905e-01, 7.29543056e-01,
  2.07441454e+00, 2.76317086e-01, 3.55223251e+00,-1.80800819e+01,
  2.08215441e+00, 1.79803343e+00,-6.21309288e+00, 8.09677144e+00,
  4.56826792e-02,-8.29098881e-01,-1.62472162e+01, 5.18382766e+01,
 -9.50760073e-01,-1.85120808e+00,-6.23228770e-01,-1.60737401e+01,
  6.56719063e-01, 2.60281070e+01]

qfrc_actuator:
[ 5.39759237e-05,-1.54126306e-05, 1.32224184e-04, 3.79562031e-05,
 -1.55466983e-05,-3.24235380e-04,-2.05384360e-04, 4.07647486e-05,
  1.81335909e-05,-3.89201955e-05,-1.85798928e-04, 6.43568845e-05,
  2.14411345e-02,-1.37315795e-03, 6.64219548e-03,-3.11369171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.55915268,  -1.34354874,  -4.35669025,  -1.34354874,
        39.38340864, -10.73936463,  -4.35669025, -10.73936463,
         7.87103831,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003056024484484471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81644982e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81644982e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10959723, -0.03390111,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02983980e-05,-1.22846840e-05, 4.00698473e-06, 3.77800918e-06,
  1.23431809e-05, 3.68216343e-05,-2.29311899e-05,-4.35028689e-05,
  1.22974249e-05, 2.24820121e-05,-2.04937425e-05, 4.24942884e-06,
 -1.53304376e-04,-7.02759928e-05,-1.56736725e-04, 2.05577624e-04,
 -1.83346420e-06, 4.65884782e-07,-1.21644404e+00,-4.56136343e-04,
  1.42725984e-05,-5.50938650e-04]


--- Step 829 ---
qpos:
[ 1.20631124e-02,-1.19187847e-03, 2.47279421e-03, 4.19397305e-02,
  4.61389096e-03,-2.36711612e-03,-1.82301692e-02, 2.84700337e-02,
  1.31458999e-02, 4.44110180e-03,-1.03045771e-02, 2.64250320e-02,
  1.11830814e+00,-1.11462460e-03, 8.95448851e-01, 6.47252125e-02,
  9.35584356e-02,-7.00922230e-02, 1.30946791e-01, 5.01470565e-01,
  4.90623942e-01, 4.98656650e-01, 5.09074616e-01]

qacc:
[ -3.03093652,  0.92716383, -1.24944366, -3.89115943,  1.23814731,
   0.70690467,  0.918146  ,-10.19201417, -1.84378853,  0.15455635,
   4.14574694,-17.1818398 , -0.2352101 , -0.25983443, -8.54351039,
  27.60240068,  0.72223461, -1.99271213, -0.31098198,  9.89222079,
  -2.21406947, 29.54747804]

qfrc_actuator:
[ 3.54900348e-05, 2.40526463e-05, 1.19369370e-04, 2.30812191e-05,
 -8.48951166e-06,-2.76995031e-04,-2.16578208e-04, 1.54179248e-05,
  7.15510949e-06, 4.69386506e-05,-1.78984503e-04, 3.08867808e-05,
  2.13966007e-02,-1.39009273e-03, 6.62040772e-03,-2.99171109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56333448,  4.53971136,  0.46372664,  4.53971136,  4.99652422,
       -4.24076649,  0.46372664, -4.24076649, 46.07886178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003068361207167747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61829312e-13, -1.80914656e-13,  1.00000000e+00,  6.54602255e-26,
        1.00000000e+00,  1.80914656e-13, -1.00000000e+00,  0.00000000e+00,
        3.61829312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199982, -0.03148712,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76267867e-05, 3.36120985e-05,-1.47770468e-05,-1.51910330e-05,
  7.42485649e-06, 6.12424425e-05,-7.92472894e-06,-2.54128088e-05,
 -1.06242850e-05, 9.44271814e-05, 9.10737584e-06,-3.31305953e-05,
 -1.53784357e-04,-6.36795154e-05,-6.98969030e-05, 1.13554145e-04,
 -1.77013801e-06,-3.32940979e-07,-1.21644449e+00,-4.56239063e-04,
  1.27600186e-05,-5.51221397e-04]


--- Step 830 ---
qpos:
[ 1.20629988e-02,-1.19215323e-03, 2.47360575e-03, 4.19387964e-02,
  4.61380254e-03,-2.36656081e-03,-1.82298425e-02, 2.84700570e-02,
  1.31455225e-02, 4.44097046e-03,-1.03052281e-02, 2.64247579e-02,
  1.11881529e+00,-1.11486090e-03, 8.95853586e-01, 6.47228279e-02,
  9.35416074e-02,-7.01041316e-02, 1.30942210e-01, 5.01482124e-01,
  4.90593298e-01, 4.98559026e-01, 5.09188366e-01]

qacc:
[ -8.08655123,  1.71188743, -4.51423759,  2.03558396,  0.74002967,
  -0.2334235 ,  4.65336892,-16.27247371, -4.14403815, -5.78214906,
  23.05323511,-37.45665619, -0.81104693,  1.03368352,  2.68571616,
  -9.71758543,  0.70305416, -1.96504851, -0.47243283,  9.77563932,
  -2.10605447, 28.99546909]

qfrc_actuator:
[-1.12226561e-05, 4.77941629e-05, 9.36011558e-05, 1.46511336e-05,
 -4.27169103e-06,-2.49015918e-04,-2.23261526e-04,-1.74900615e-05,
 -1.70999764e-05,-8.62822948e-06,-1.20694265e-04,-6.68237403e-06,
  2.13569632e-02,-1.38218456e-03, 6.61411838e-03,-3.04361152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57690443, -3.61358082,  2.80893002, -3.61358082, 19.69986588,
       19.45511031,  2.80893002, 19.45511031, 29.60515823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003107917460719728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57224102e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.57224102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199937, -0.03149002,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72001657e-05, 3.88375518e-05,-2.11765718e-05,-7.79616316e-06,
  4.45236168e-06, 5.94944381e-05, 4.10329444e-06,-3.10551736e-05,
 -2.45244005e-05,-2.28821907e-06, 7.77921943e-05,-3.38485484e-05,
 -1.47006997e-04,-3.80426809e-05,-2.97804004e-05,-5.54741865e-05,
 -7.19735641e-07,-6.34004831e-07,-1.21644339e+00,-4.56582962e-04,
  1.03689744e-05,-5.51064373e-04]


--- Step 831 ---
qpos:
[ 1.20630162e-02,-1.19229496e-03, 2.47415914e-03, 4.19384798e-02,
  4.61376553e-03,-2.36553218e-03,-1.82298955e-02, 2.84700548e-02,
  1.31448576e-02, 4.44016386e-03,-1.03049188e-02, 2.64248046e-02,
  1.11932147e+00,-1.11501936e-03, 8.96258283e-01, 6.47142033e-02,
  9.35250411e-02,-7.01116969e-02, 1.30940344e-01, 5.01507291e-01,
  4.90548987e-01, 4.98479056e-01, 5.09284557e-01]

qacc:
[ 1.14116268e+00, 2.16744080e+00,-1.00812507e+01, 2.10821046e+01,
  4.30440300e-01, 1.63248627e+00,-4.80671211e+00, 4.62345960e+00,
 -2.48762381e+00,-2.91048281e+00, 7.73600679e+00,-3.22865743e+00,
 -1.08370411e+00, 1.55303984e+00, 1.88383154e+01,-6.58451947e+01,
  6.55136537e-02, 1.08584305e+00, 6.78979496e-01, 2.10747781e+00,
  2.06895826e-01,-1.56048140e+01]

qfrc_actuator:
[-3.14911832e-06, 4.41342139e-05, 7.81314886e-05, 4.55749046e-05,
 -1.75727563e-06,-2.32771059e-04,-2.45063460e-04,-1.90938565e-05,
 -3.12161679e-05,-7.72336651e-05,-8.62979810e-05, 6.82044875e-06,
  2.13096509e-02,-1.37737198e-03, 6.56915620e-03,-3.37500913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000315564433014226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89497526e-14,  1.75910671e-13,  1.00000000e+00, -1.74063174e-26,
        1.00000000e+00, -1.75910671e-13, -1.00000000e+00,  0.00000000e+00,
        9.89497526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917759 , -0.08822532,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74569134e-06, 1.33364157e-05,-1.03274070e-05, 3.17060808e-05,
  2.66330725e-06, 4.90081466e-05,-1.00928516e-05, 4.81234548e-07,
 -1.48166262e-05,-5.52633695e-05, 4.23446123e-05, 1.54410035e-05,
 -1.44737446e-04,-3.47485866e-05,-7.18618117e-05,-3.39937910e-04,
  8.27624316e-08,-4.65034491e-07,-1.21644354e+00,-4.56771062e-04,
  8.70885155e-06,-5.51121419e-04]


--- Step 832 ---
qpos:
[ 1.20638198e-02,-1.19237082e-03, 2.47457439e-03, 4.19381914e-02,
  4.61341433e-03,-2.36444521e-03,-1.82298001e-02, 2.84707410e-02,
  1.31440280e-02, 4.43943042e-03,-1.03047254e-02, 2.64253371e-02,
  1.11982654e+00,-1.11478166e-03, 8.96661761e-01, 6.47030633e-02,
  9.35087533e-02,-7.01149996e-02, 1.30940467e-01, 5.01545876e-01,
  4.90491102e-01, 4.98416392e-01, 5.09363636e-01]

qacc:
[  6.90296123,  0.51779037, -1.86163404,  2.54535568, -2.74961953,
   1.08371218, -6.65020955, 18.27446199, -1.45434885,  1.42303105,
  -6.9794433 , 15.51125793, -1.2392457 ,  2.01061337,  5.86952675,
 -22.96963055,  0.0695941 ,  1.06563033,  0.49699751,  1.97633247,
   0.25418052,-15.33529923]

qfrc_actuator:
[ 3.71146908e-05, 4.19151235e-05, 6.87832146e-05, 4.61326600e-05,
 -1.80172905e-05,-2.41472221e-04,-2.40142915e-04, 1.54653695e-05,
 -3.92474435e-05,-4.66586017e-05,-8.41126521e-05, 3.24635531e-05,
  2.12524417e-02,-1.35671512e-03, 6.51163445e-03,-3.49564329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60885508, -0.29424405,  4.59945275, -0.29424405, 21.31418536,
        1.06870195,  4.59945275,  1.06870195,  4.67722391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031983139685579087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84411533e-13,  1.73563796e-13,  1.00000000e+00, -3.20071656e-26,
        1.00000000e+00, -1.73563796e-13, -1.00000000e+00,  0.00000000e+00,
        1.84411533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177696, -0.08822436,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04594134e-05, 4.46549437e-06,-6.77282923e-06, 1.38846483e-06,
 -1.61665548e-05, 1.66041480e-05, 1.38051727e-05, 3.63173316e-05,
 -8.47610762e-06, 9.09823990e-06,-3.47446129e-06, 2.50419929e-05,
 -1.53449702e-04,-1.73028195e-05,-1.34636006e-04,-1.50242466e-04,
 -1.97829598e-07,-4.94260834e-07,-1.21644272e+00,-4.56028579e-04,
  1.00453109e-05,-5.51219313e-04]


--- Step 833 ---
qpos:
[ 1.20644099e-02,-1.19235216e-03, 2.47458119e-03, 4.19379274e-02,
  4.61287104e-03,-2.36332963e-03,-1.82295793e-02, 2.84714961e-02,
  1.31434532e-02, 4.43905769e-03,-1.03051767e-02, 2.64254814e-02,
  1.12033054e+00,-1.11426560e-03, 8.97063117e-01, 6.46981609e-02,
  9.34927556e-02,-7.01141067e-02, 1.30941966e-01, 5.01597723e-01,
  4.90419723e-01, 4.98370742e-01, 5.09425974e-01]

qacc:
[ -1.89080903,  1.32089759, -4.62446332,  5.62218852, -1.68015432,
  -0.16770996,  0.36744013,  0.59798372,  2.21547155,  1.47505898,
  -2.93617515, -3.0090907 , -0.65117247,  0.89079308,-21.91163253,
  72.21168339,  0.07252633,  1.04891345,  0.34414787,  1.86919223,
   0.29287589,-15.11150176]

qfrc_actuator:
[ 2.49746037e-05, 4.05744868e-05, 4.53384105e-05, 4.65658169e-05,
 -2.74443108e-05,-2.47162708e-04,-2.37317737e-04, 1.77607516e-05,
 -2.58828748e-05,-2.80640833e-05,-1.18314561e-04, 1.18397549e-05,
  2.11999938e-02,-1.34465378e-03, 6.47331366e-03,-3.15374801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61299181, -0.49924169,  4.58589699, -0.49924169, 36.37308507,
        3.4575488 ,  4.58589699,  3.4575488 ,  4.98939636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032097498224134546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26990856e-13, -3.45890828e-13,  1.00000000e+00,  7.85140552e-26,
        1.00000000e+00,  3.45890828e-13, -1.00000000e+00,  0.00000000e+00,
        2.26990856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177775, -0.0882242 ,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09874092e-05,-1.72910733e-07,-2.33142987e-05, 4.15205038e-07,
 -9.88443699e-06, 7.95459191e-06, 9.19722652e-06, 4.18791527e-06,
  1.31239995e-05, 2.40552894e-05,-3.18794089e-05,-1.98665521e-05,
 -1.50258359e-04,-2.43867920e-05,-1.19068502e-04, 3.15763506e-04,
 -4.61652317e-07,-4.31274651e-07,-1.21644223e+00,-4.55316515e-04,
  1.12603769e-05,-5.51228978e-04]


--- Step 834 ---
qpos:
[ 1.20645052e-02,-1.19226199e-03, 2.47453237e-03, 4.19383397e-02,
  4.61221882e-03,-2.36216526e-03,-1.82292558e-02, 2.84712362e-02,
  1.31426980e-02, 4.43901634e-03,-1.03063326e-02, 2.64250405e-02,
  1.12083363e+00,-1.11389817e-03, 8.97463357e-01, 6.46975958e-02,
  9.34770562e-02,-7.01090731e-02, 1.30944329e-01, 5.01662701e-01,
  4.90334915e-01, 4.98341867e-01, 5.09471873e-01]

qacc:
[-4.34990905e+00, 1.65189732e+00,-8.59106502e+00, 2.03123041e+01,
 -9.52973230e-01,-2.30760660e+00, 1.26114830e+01,-3.03814778e+01,
 -1.61577540e+00, 1.20560793e+00,-1.18664535e+00,-8.06582024e+00,
 -2.82647727e-01,-1.52109273e-02,-1.47248630e+01, 4.91507107e+01,
  7.45750099e-02, 1.03518206e+00, 2.16064309e-01, 1.78128451e+00,
  3.24886344e-01,-1.49269124e+01]

qfrc_actuator:
[-1.69996157e-07, 5.74585665e-05, 4.92665018e-05, 8.24219375e-05,
 -3.27679495e-05,-2.51040401e-04,-2.35786285e-04,-3.44633262e-05,
 -3.55397263e-05,-1.69747031e-05,-1.56021018e-04,-1.81119942e-05,
  2.11557651e-02,-1.35554305e-03, 6.44131269e-03,-2.93263982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003196245874444864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71368903e-13, -1.73676098e-13,  1.00000000e+00,  4.71302923e-26,
        1.00000000e+00,  1.73676098e-13, -1.00000000e+00,  0.00000000e+00,
        2.71368903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177833, -0.08822468,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54563356e-05, 1.19834929e-05, 1.03545715e-06, 3.50510164e-05,
 -5.60335597e-06, 2.60140156e-06, 4.43535830e-06,-5.14877169e-05,
 -9.27508794e-06, 1.71259682e-05,-3.73433806e-05,-3.04097110e-05,
 -1.40680796e-04,-4.84944572e-05,-5.21030804e-05, 2.23315778e-04,
 -7.11730377e-07,-2.78881388e-07,-1.21644206e+00,-4.54627313e-04,
  1.23656891e-05,-5.51150117e-04]


--- Step 835 ---
qpos:
[ 1.20649881e-02,-1.19188226e-03, 2.47444009e-03, 4.19388034e-02,
  4.61150781e-03,-2.36098269e-03,-1.82288869e-02, 2.84700155e-02,
  1.31418331e-02, 4.43900484e-03,-1.03073001e-02, 2.64242210e-02,
  1.12133587e+00,-1.11368078e-03, 8.97863448e-01, 6.46969394e-02,
  9.34638676e-02,-7.01060522e-02, 1.30948367e-01, 5.01711886e-01,
  4.90266996e-01, 4.98313738e-01, 5.09516314e-01]

qacc:
[  3.399063  ,  0.60356368, -1.82497111,  2.58285637, -0.51480788,
  -2.07752442, 11.50223027,-28.2192204 , -0.95967692, -1.26452651,
   6.16809766,-13.04819897, -0.50491962,  0.39605071,  0.08049611,
  -0.54286036,  0.62772759, -0.50318654,  0.41873171,  8.66150853,
  -0.5372837 ,  7.68253357]

qfrc_actuator:
[ 2.05071796e-05, 8.52626717e-05, 5.16762578e-05, 8.56122205e-05,
 -3.56358881e-05,-2.53862031e-04,-2.35058416e-04,-8.28374365e-05,
 -4.09235042e-05,-1.05033661e-05,-1.42254523e-04,-3.55555666e-05,
  2.11164907e-02,-1.36213440e-03, 6.42906691e-03,-2.94437227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317495258995241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49681765e-13,  6.94933761e-07,  1.00000000e+00, -2.43005664e-19,
        1.00000000e+00, -6.94933761e-07, -1.00000000e+00,  0.00000000e+00,
        3.49681765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419467, -0.06060261,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99553293e-05, 3.62080828e-05, 6.22485858e-06, 4.42181099e-06,
 -3.02489762e-06,-2.70480695e-06, 1.33594167e-08,-4.91137113e-05,
 -5.63994649e-06, 7.04169360e-06, 1.16668083e-05,-1.85896949e-05,
 -1.34891485e-04,-4.69342572e-05,-1.56196866e-05,-6.96736274e-06,
 -9.50381491e-07,-3.93092970e-08,-1.21644219e+00,-4.53955142e-04,
  1.33703647e-05,-5.50982582e-04]


--- Step 836 ---
qpos:
[ 1.20664047e-02,-1.19128452e-03, 2.47467308e-03, 4.19392850e-02,
  4.61145780e-03,-2.35983383e-03,-1.82285212e-02, 2.84685799e-02,
  1.31412554e-02, 4.43879491e-03,-1.03077383e-02, 2.64235494e-02,
  1.12183727e+00,-1.11357048e-03, 8.98263111e-01, 6.46994429e-02,
  9.34534511e-02,-7.01108026e-02, 1.30949852e-01, 5.01725118e-01,
  4.90239055e-01, 4.98265169e-01, 5.09577665e-01]

qacc:
[  8.21178788, -0.60048011,  2.45555706, -2.79613488,  5.79383998,
  -0.48828243,  2.56377041, -6.22939864,  2.5474394 , -1.44195784,
   4.12727836, -2.2562515 , -0.35483364,  0.17451298,-10.1510086 ,
  34.63733262,  0.69300717, -1.94280019, -0.6383399 ,  9.42142703,
  -2.20968923, 28.37297306]

qfrc_actuator:
[ 6.79930947e-05, 1.01619506e-04, 7.09377334e-05, 8.73100548e-05,
 -1.53170531e-06,-2.56038969e-04,-2.34796496e-04,-9.30444622e-05,
 -2.59894007e-05,-2.43865089e-05,-1.15968008e-04,-2.77140503e-05,
  2.10802177e-02,-1.36608615e-03, 6.43927894e-03,-2.77356812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.60097642,  0.23364673,  4.59504007,  0.23364673, 10.85381034,
       -0.31794156,  4.59504007, -0.31794156,  4.61714298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031763675861476437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74762995e-13, -1.74762995e-13,  1.00000000e+00,  3.05421044e-26,
        1.00000000e+00,  1.74762995e-13, -1.00000000e+00,  0.00000000e+00,
        1.74762995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199278, -0.03149664,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80646280e-05, 3.80715792e-05, 2.76545895e-05, 3.54790605e-06,
  3.40190005e-05,-5.83711551e-06,-2.00986716e-06,-1.12789273e-05,
  1.47754375e-05,-8.32325726e-06, 2.85474917e-05, 8.18926026e-06,
 -1.28112547e-04,-4.26701523e-05,-5.05991703e-06, 1.66712405e-04,
 -6.14855739e-07,-1.25614147e-07,-1.21644146e+00,-4.53827118e-04,
  1.28694084e-05,-5.50802256e-04]


--- Step 837 ---
qpos:
[ 1.20683796e-02,-1.19069082e-03, 2.47553438e-03, 4.19397906e-02,
  4.61216195e-03,-2.35882326e-03,-1.82284096e-02, 2.84674096e-02,
  1.31408612e-02, 4.43836624e-03,-1.03080807e-02, 2.64230100e-02,
  1.12233772e+00,-1.11320587e-03, 8.98662310e-01, 6.47049882e-02,
  9.34454997e-02,-7.01175741e-02, 1.30952746e-01, 5.01722636e-01,
  4.90227878e-01, 4.98217462e-01, 5.09637504e-01]

qacc:
[ 4.9269217 ,-1.72237768, 6.0149641 ,-6.58281775, 6.60464897, 1.05885811,
 -5.18274028,10.30272864, 1.62141406,-0.28771534, 0.04282536, 2.25871407,
 -0.76430072, 1.12423399,-9.81454914,33.4604949 , 0.6162521 ,-0.50529799,
  0.35223731, 8.65381602,-0.51038278, 7.58912648]

qfrc_actuator:
[ 9.53577906e-05, 9.33110697e-05, 9.99588888e-05, 8.81254003e-05,
  3.63068394e-05,-2.75537068e-04,-2.52536241e-04,-8.07129814e-05,
 -1.69701906e-05,-5.02659920e-05,-1.18091080e-04,-2.28293040e-05,
  2.10351225e-02,-1.35068442e-03, 6.42038986e-03,-2.62072503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148934556657099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.65305543e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.65305543e-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([ 0.08419361, -0.06060274,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87418857e-05, 1.88325973e-05, 4.03997841e-05, 3.46708636e-06,
  3.88074267e-05,-2.36916648e-05,-1.95991949e-05, 1.17906857e-05,
  9.43335498e-06,-2.42685428e-05,-3.48508393e-08, 5.67742242e-06,
 -1.31456171e-04,-2.11827548e-05,-9.61885283e-06, 1.59864284e-04,
 -5.18308293e-08,-2.17528007e-07,-1.21644103e+00,-4.54102686e-04,
  1.16818218e-05,-5.50760909e-04]


--- Step 838 ---
qpos:
[ 1.20699778e-02,-1.19009353e-03, 2.47623760e-03, 4.19403561e-02,
  4.61296982e-03,-2.35825509e-03,-1.82286660e-02, 2.84667893e-02,
  1.31405781e-02, 4.43809528e-03,-1.03088700e-02, 2.64225230e-02,
  1.12283720e+00,-1.11237634e-03, 8.99061657e-01, 6.47047235e-02,
  9.34393146e-02,-7.01201689e-02, 1.30956475e-01, 5.01727626e-01,
  4.90208235e-01, 4.98192421e-01, 5.09675963e-01]

qacc:
[ -3.31611283,  0.57678266, -2.29128568,  3.56668983,  0.90539462,
   1.57296673, -8.78319904, 19.2201101 ,  0.96013988,  1.56337501,
  -5.49638264,  7.00496026, -1.41314476,  2.42731876, 17.84451897,
 -61.90009619,  0.44160468,  1.04417392,  0.20888567,  7.14598572,
   0.7410818 ,-14.93209001]

qfrc_actuator:
[ 7.51463258e-05, 7.03383246e-05, 8.11448164e-05, 8.83980446e-05,
  4.05231703e-05,-3.23062453e-04,-2.80825009e-04,-5.52523825e-05,
 -1.15110770e-05,-2.99857086e-05,-1.37038020e-04,-1.97619975e-05,
  2.09901008e-02,-1.32398920e-03, 6.36275557e-03,-2.94137294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031437503634282327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76576206e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.76576206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629491, -0.08836815,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93918524e-05,-3.97683724e-06,-9.84968604e-06, 2.53879689e-06,
  5.31531598e-06,-6.43385618e-05,-3.52007651e-05, 2.39950884e-05,
  5.71660698e-06, 6.96806174e-06,-2.37583310e-05, 2.13903486e-06,
 -1.28602375e-04,-6.48694356e-06,-5.11718302e-05,-3.14585617e-04,
  1.01717349e-07,-1.13941199e-07,-1.21644086e+00,-4.54024249e-04,
  1.17162510e-05,-5.50826411e-04]


--- Step 839 ---
qpos:
[ 1.20709767e-02,-1.18952729e-03, 2.47646945e-03, 4.19409477e-02,
  4.61313252e-03,-2.35825526e-03,-1.82289137e-02, 2.84664696e-02,
  1.31403624e-02, 4.43811409e-03,-1.03100063e-02, 2.64223976e-02,
  1.12333580e+00,-1.11147959e-03, 8.99460523e-01, 6.47002857e-02,
  9.34348857e-02,-7.01186352e-02, 1.30960591e-01, 5.01740027e-01,
  4.90180161e-01, 4.98189774e-01, 5.09693343e-01]

qacc:
[ -5.28096602,  1.34098055, -4.93243996,  6.13988669, -5.6446162 ,
  -0.14611538, -1.81940771,  7.40619865,  0.57866533,  2.09577571,
  -8.44562225, 15.04687902, -0.88492874,  1.23084393, 11.93304777,
 -42.66634525,  0.43903365,  1.03212723,  0.09678756,  7.02657485,
   0.75449416,-14.76527303]

qfrc_actuator:
[ 4.48536106e-05, 5.63136070e-05, 5.19172971e-05, 8.82994275e-05,
  7.16232767e-06,-3.51539515e-04,-2.79722194e-04,-4.00579403e-05,
 -8.18895049e-06,-5.11474173e-08,-1.47822309e-04,-5.64250293e-09,
  2.09398335e-02,-1.32633545e-03, 6.34041940e-03,-3.14792241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003119956230520915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77922853e-13,  1.77922853e-13,  1.00000000e+00, -3.16565415e-26,
        1.00000000e+00, -1.77922853e-13, -1.00000000e+00,  0.00000000e+00,
        1.77922853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629507, -0.08836889,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08482203e-05,-1.82173215e-05,-3.11915575e-05,-5.64032033e-07,
 -3.32312601e-05,-7.07119273e-05,-1.56948360e-05, 1.16866616e-05,
  3.48608234e-06, 2.90364434e-05,-1.21843279e-05, 1.92776949e-05,
 -1.30094802e-04,-3.14223915e-05,-8.80435310e-05,-2.32323397e-04,
 -7.47414979e-09,-1.09252829e-07,-1.21644033e+00,-4.53654949e-04,
  1.23381464e-05,-5.50822342e-04]


--- Step 840 ---
qpos:
[ 1.20719494e-02,-1.18889221e-03, 2.47632054e-03, 4.19408240e-02,
  4.61323875e-03,-2.35846238e-03,-1.82290142e-02, 2.84659324e-02,
  1.31398433e-02, 4.43840967e-03,-1.03112962e-02, 2.64224977e-02,
  1.12383356e+00,-1.11082854e-03, 8.99857555e-01, 6.46981213e-02,
  9.34322041e-02,-7.01130122e-02, 1.30964721e-01, 5.01759783e-01,
  4.90143685e-01, 4.98209300e-01, 5.09689888e-01]

qacc:
[-2.43732886e-01,-3.17595364e-01, 4.28329122e+00,-1.61025246e+01,
 -4.86890479e-01,-1.13075201e+00, 4.55495567e+00,-8.40251919e+00,
 -2.67982913e+00, 1.26429508e+00,-4.91996868e+00, 8.85348221e+00,
 -2.31846836e-01,-1.58403045e-01,-9.56054930e+00, 2.95285357e+01,
  4.36831184e-01, 1.02232893e+00, 3.28452873e-03, 6.92972130e+00,
  7.64836131e-01,-1.46291243e+01]

qfrc_actuator:
[ 4.43906509e-05, 6.54435370e-05, 3.45708709e-05, 5.24826802e-05,
  5.22048189e-06,-3.32779409e-04,-2.61214063e-04,-4.87464065e-05,
 -2.39025817e-05, 1.77282017e-05,-1.53630183e-04, 1.16813646e-05,
  2.08864446e-02,-1.34589486e-03, 6.27540405e-03,-3.01903627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003079418967494446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629498, -0.08837006,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34779114e-06,-7.56287403e-06,-2.49809359e-05,-3.76894027e-05,
 -2.91427249e-06,-2.35307699e-05, 2.37838071e-06,-1.20318070e-05,
 -1.56058921e-05, 3.23394084e-05,-6.30776152e-07, 1.28875181e-05,
 -1.39930829e-04,-5.36855388e-05,-1.36018982e-04, 1.03546371e-04,
 -9.59135533e-08,-4.11538141e-08,-1.21644015e+00,-4.53303835e-04,
  1.26809421e-05,-5.50724638e-04]


--- Step 841 ---
qpos:
[ 1.20725637e-02,-1.18822251e-03, 2.47592983e-03, 4.19402666e-02,
  4.61401027e-03,-2.35864664e-03,-1.82293203e-02, 2.84656349e-02,
  1.31391402e-02, 4.43864749e-03,-1.03119297e-02, 2.64223784e-02,
  1.12433040e+00,-1.11037193e-03, 9.00252860e-01, 6.46978281e-02,
  9.34319860e-02,-7.01093908e-02, 1.30969665e-01, 5.01764240e-01,
  4.90123596e-01, 4.98229534e-01, 5.09685039e-01]

qacc:
[ -3.1578375 , -0.16533699,  2.4961592 , -9.64920275,  5.82440131,
   1.08601976, -4.85989067,  9.33859378, -1.59844934, -2.35922282,
   9.2326806 ,-14.04114262, -0.34743866,  0.05729477, -8.18125088,
  24.94991652,  0.61587997, -0.50040544,  0.20375272,  8.38818941,
  -0.52913637,  7.45818247]

qfrc_actuator:
[ 2.59868819e-05, 7.06261659e-05, 2.44510379e-05, 3.14713324e-05,
  3.95520268e-05,-3.21316334e-04,-2.67909984e-04,-3.58615459e-05,
 -3.29410435e-05, 1.03588851e-05,-1.21001529e-04, 7.65650242e-07,
  2.08365380e-02,-1.35774352e-03, 6.19557173e-03,-2.92445028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030241811115278526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83557628e-13, -4.36467917e-07,  1.00000000e+00,  8.01170157e-20,
        1.00000000e+00,  4.36467917e-07, -1.00000000e+00,  0.00000000e+00,
        1.83557628e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0841902 , -0.06060167,  0.06199135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84440128e-05,-5.84586844e-06,-1.60690714e-05,-2.29342486e-05,
  3.42406107e-05,-1.71074185e-06,-1.16746861e-05, 1.17265932e-05,
 -9.47143488e-06, 1.11341128e-05, 3.96885059e-05,-9.29829843e-06,
 -1.47220432e-04,-5.25717063e-05,-1.31234867e-04, 8.27902870e-05,
 -1.64909481e-07, 8.91685321e-08,-1.21644032e+00,-4.52968593e-04,
  1.27545204e-05,-5.50533406e-04]


--- Step 842 ---
qpos:
[ 1.20726075e-02,-1.18738646e-03, 2.47532372e-03, 4.19394425e-02,
  4.61484240e-03,-2.35887831e-03,-1.82299892e-02, 2.84658592e-02,
  1.31386792e-02, 4.43847828e-03,-1.03116799e-02, 2.64221587e-02,
  1.12482625e+00,-1.10978433e-03, 9.00647010e-01, 6.46979145e-02,
  9.34344842e-02,-7.01134233e-02, 1.30971373e-01, 5.01733502e-01,
  4.90142673e-01, 4.98229730e-01, 5.09696762e-01]

qacc:
[ -5.02288678,  0.28258014,  0.4537242 , -4.86441939,  0.52101002,
   2.02257001, -9.50881381, 19.15808268,  2.16634425, -3.21700155,
  11.10624259,-13.94684383, -0.77933468,  1.0394239 , -2.80569532,
   7.44409633,  0.67907133, -1.91347942, -0.80919286,  9.21626595,
  -2.17963671, 27.79415622]

qfrc_actuator:
[-2.83870800e-06, 9.11997169e-05, 1.86804977e-05, 1.93476577e-05,
  4.16905398e-05,-3.32131133e-04,-2.89434240e-04,-1.04026905e-05,
 -2.02197509e-05,-2.96284302e-05,-8.38121766e-05,-5.60443850e-06,
  2.07940831e-02,-1.34716606e-03, 6.14951194e-03,-2.90420931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53789304,  0.0248829 ,  4.53782482,  0.0248829 , 13.48759657,
       -0.04907518,  4.53782482, -0.04907518,  4.53816214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002992192997897658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08198207, -0.03148785,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93523582e-05, 1.29759019e-05,-9.75255705e-06,-1.33752492e-05,
  3.11458493e-06,-1.36574303e-05,-2.29049296e-05, 2.52101410e-05,
  1.24549485e-05,-2.59678290e-05, 4.40605855e-05,-4.69923714e-06,
 -1.43884435e-04,-3.15956314e-05,-9.79838989e-05, 7.80565001e-06,
 -7.23221711e-08, 4.75055900e-08,-1.21644012e+00,-4.53121338e-04,
  1.25430863e-05,-5.50374564e-04]


--- Step 843 ---
qpos:
[ 1.20726503e-02,-1.18652158e-03, 2.47525253e-03, 4.19380992e-02,
  4.61534910e-03,-2.35924925e-03,-1.82305605e-02, 2.84656763e-02,
  1.31383738e-02, 4.43856545e-03,-1.03117833e-02, 2.64222105e-02,
  1.12532107e+00,-1.10879894e-03, 9.01039949e-01, 6.47011707e-02,
  9.34387567e-02,-7.01133207e-02, 1.30973600e-01, 5.01710239e-01,
  4.90153187e-01, 4.98252407e-01, 5.09687383e-01]

qacc:
[ 6.65615404e-03,-2.52724130e+00, 1.12558736e+01,-2.11140263e+01,
 -2.84713290e+00,-1.28855899e+00, 6.05714491e+00,-1.31696168e+01,
  1.35360956e+00, 1.88176157e+00,-7.36866253e+00, 1.24473150e+01,
 -9.05409503e-01, 1.44813689e+00,-1.12910439e+01, 3.70499280e+01,
  4.43578841e-01, 1.03378362e+00, 1.29720226e-01, 7.00615007e+00,
  7.88169460e-01,-1.48413423e+01]

qfrc_actuator:
[-2.05669738e-06, 1.03109617e-04, 5.10951232e-05,-5.18953889e-06,
  2.48517955e-05,-3.38498896e-04,-2.84110992e-04,-3.10355583e-05,
 -1.25479324e-05,-5.10334913e-08,-9.76336555e-05, 8.47424166e-06,
  2.07508127e-02,-1.32338058e-03, 6.12372650e-03,-2.73255343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002958669322448565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87622019e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87622019e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629465, -0.08837343,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94274323e-08, 1.65468516e-05, 3.34313158e-05,-2.45765249e-05,
 -1.67547952e-05,-1.76388051e-05, 5.63034087e-07,-2.15186828e-05,
  8.01470909e-06, 2.39625306e-05,-1.39224634e-05, 1.43986306e-05,
 -1.37764140e-04,-1.36903865e-05,-7.29652495e-05, 1.58806882e-04,
  2.34216189e-09, 1.25077378e-07,-1.21644021e+00,-4.53628902e-04,
  1.27143976e-05,-5.50398779e-04]


--- Step 844 ---
qpos:
[ 1.20727021e-02,-1.18596158e-03, 2.47599846e-03, 4.19368407e-02,
  4.61564983e-03,-2.35950600e-03,-1.82309280e-02, 2.84655525e-02,
  1.31378180e-02, 4.43884777e-03,-1.03123127e-02, 2.64220982e-02,
  1.12581507e+00,-1.10808893e-03, 9.01432367e-01, 6.47047145e-02,
  9.34447938e-02,-7.01091220e-02, 1.30975959e-01, 5.01694383e-01,
  4.90155202e-01, 4.98297335e-01, 5.09657130e-01]

qacc:
[  0.10980105, -2.51307352,  8.01639784, -7.62808516, -1.8007444 ,
  -0.29321649,  1.02086576, -0.41353656, -2.2209251 ,  1.11535127,
  -2.90240762,  0.59228207, -0.33739394,  0.01735896, -1.6251344 ,
   4.59579956,  0.44113711,  1.02404302,  0.03298526,  6.92320507,
   0.78711874,-14.69477343]

qfrc_actuator:
[-1.60396230e-06, 7.43870498e-05, 8.80040490e-05,-1.31032560e-06,
  1.47411280e-05,-3.06582352e-04,-2.62994476e-04,-2.53451116e-05,
 -2.56686628e-05,-2.45917139e-07,-1.23425969e-04,-1.01477960e-06,
  2.07017666e-02,-1.34524739e-03, 6.09950058e-03,-2.72152735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029318442902764863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78677349e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.78677349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629459, -0.08837417,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54373952e-07,-1.36444344e-05, 4.35876368e-05, 5.26763897e-06,
 -1.05938673e-05, 2.12618286e-05, 1.68100936e-05, 4.53844230e-06,
 -1.28845172e-05, 1.09460386e-05,-2.20597562e-05,-8.66410482e-06,
 -1.35281122e-04,-5.47729232e-05,-4.36824787e-05, 9.66905215e-06,
 -5.89567987e-08, 7.94413210e-08,-1.21644020e+00,-4.53518529e-04,
  1.25220559e-05,-5.50341263e-04]


--- Step 845 ---
qpos:
[ 1.20731037e-02,-1.18549617e-03, 2.47660621e-03, 4.19356782e-02,
  4.61617185e-03,-2.35969710e-03,-1.82310303e-02, 2.84654991e-02,
  1.31367649e-02, 4.43845041e-03,-1.03121896e-02, 2.64215664e-02,
  1.12630838e+00,-1.10795212e-03, 9.01824414e-01, 6.47034115e-02,
  9.34535722e-02,-7.01126358e-02, 1.30975335e-01, 5.01643072e-01,
  4.90196652e-01, 4.98322102e-01, 5.09643555e-01]

qacc:
[  3.07222177,  0.45307277, -2.21205664,  4.1744372 ,  1.94669207,
  -0.51293642,  1.65124387, -0.89840763, -4.34334702, -3.57714424,
  13.23730028,-21.05688818, -0.23692719, -0.33096973, 14.07820932,
 -50.05653283,  0.68535476, -1.92815483, -0.74556088,  9.28871901,
  -2.1858827 , 27.98513854]

qfrc_actuator:
[ 1.63942339e-05, 5.71124339e-05, 7.38555050e-05, 1.46970530e-06,
  2.64306442e-05,-3.05150866e-04,-2.50299864e-04,-2.19168148e-05,
 -5.09211081e-05,-7.16033910e-05,-1.02928662e-04,-2.43175024e-05,
  2.06652510e-02,-1.37623888e-03, 6.03891136e-03,-2.98279135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029053006935973735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91068523e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91068523e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08197687, -0.03148349,  0.06199169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80020909e-05,-1.57017025e-05,-1.14289239e-05, 3.80596874e-06,
  1.13938870e-05, 1.69979434e-05, 1.93220746e-05, 5.01156996e-06,
 -2.56131106e-05,-7.01744511e-05, 1.97445138e-05,-2.37643135e-05,
 -1.30505127e-04,-7.13086879e-05,-8.52237349e-05,-2.67656707e-04,
 -1.01048509e-07, 9.83901681e-08,-1.21644054e+00,-4.53421990e-04,
  1.20641276e-05,-5.50188722e-04]


--- Step 846 ---
qpos:
[ 1.20733729e-02,-1.18486346e-03, 2.47637486e-03, 4.19345738e-02,
  4.61682982e-03,-2.35981843e-03,-1.82309575e-02, 2.84654930e-02,
  1.31357620e-02, 4.43760428e-03,-1.03115968e-02, 2.64210883e-02,
  1.12680082e+00,-1.10790099e-03, 9.02215372e-01, 6.47009725e-02,
  9.34641592e-02,-7.01119898e-02, 1.30975471e-01, 5.01599295e-01,
  4.90229422e-01, 4.98369471e-01, 5.09608802e-01]

qacc:
[ -1.19381406,  2.68920541, -9.50734242, 11.72369373,  1.19597365,
  -0.30177609,  1.00591587, -0.51332586,  0.46434072, -1.79611168,
   5.31523094, -4.80440234, -0.57778746,  0.56903041,  1.85027425,
  -8.74268775,  0.45212323,  1.03995572,  0.18991385,  7.01236716,
   0.81313174,-14.93427171]

qfrc_actuator:
[ 9.06991883e-06, 6.43708917e-05, 2.97009236e-05, 3.54511065e-06,
  3.31027810e-05,-3.04254933e-04,-2.42801272e-04,-1.98806758e-05,
 -4.76003786e-05,-7.83458652e-05,-7.33184526e-05,-2.00820286e-05,
  2.06256202e-02,-1.37679195e-03, 6.00444150e-03,-3.02960466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002897435917615099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91587158e-13, -1.91587158e-13,  1.00000000e+00,  3.67056390e-26,
        1.00000000e+00,  1.91587158e-13, -1.00000000e+00,  0.00000000e+00,
        1.91587158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629451, -0.08837513,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.81921894e-06,-3.73608838e-06,-4.86849412e-05, 1.08073764e-06,
  7.00208254e-06, 1.46191892e-05, 1.35662089e-05, 3.53099337e-06,
  2.56748805e-06,-4.29224652e-05, 1.67288236e-05, 1.45153967e-06,
 -1.35394321e-04,-4.25330850e-05,-1.08136551e-04,-7.37837667e-05,
 -2.59821655e-07, 2.43037968e-07,-1.21644084e+00,-4.54044982e-04,
  1.28789128e-05,-5.50240112e-04]


--- Step 847 ---
qpos:
[ 1.20732074e-02,-1.18419764e-03, 2.47558036e-03, 4.19341919e-02,
  4.61721780e-03,-2.35971475e-03,-1.82313840e-02, 2.84651933e-02,
  1.31351509e-02, 4.43704555e-03,-1.03112535e-02, 2.64206188e-02,
  1.12729246e+00,-1.10791302e-03, 9.02604680e-01, 6.47016294e-02,
  9.34765412e-02,-7.01072267e-02, 1.30975943e-01, 5.01562969e-01,
  4.90253608e-01, 4.98439198e-01, 5.09553092e-01]

qacc:
[ -3.83724951,  3.11408934,-14.07370549, 27.43264445, -2.38610528,
   1.09244836, -2.21567125, -2.24372793,  3.43444642,  1.08845479,
  -3.37807567,  3.7281347 , -0.31598008,  0.15590179,-11.76285236,
  37.6496532 ,  0.44873989,  1.02929534,  0.08390341,  6.94014855,
   0.80154092,-14.77392242]

qfrc_actuator:
[-1.31054448e-05, 6.83724922e-05, 3.80417206e-06, 4.07025348e-05,
  1.90086668e-05,-3.03710699e-04,-2.73941531e-04,-3.64375863e-05,
 -2.74842829e-05,-2.85257388e-05,-7.38239017e-05,-1.73816937e-05,
  2.05948121e-02,-1.37709283e-03, 5.95376656e-03,-2.86075645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002883359752551967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62612299e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.62612299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629445, -0.08837552,  0.06199176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23703024e-05,-8.11869912e-06,-3.26294072e-05, 3.53357453e-05,
 -1.38899775e-05, 1.16787235e-05,-2.63270315e-05,-1.53924443e-05,
  2.01711540e-05, 2.93579052e-05,-7.25799164e-06, 1.46933280e-06,
 -1.22869941e-04,-3.78824216e-05,-1.11293684e-04, 1.50218970e-04,
 -2.94537742e-07, 1.45899691e-07,-1.21644107e+00,-4.54100706e-04,
  1.22324354e-05,-5.50173057e-04]


--- Step 848 ---
qpos:
[ 1.20734672e-02,-1.18353785e-03, 2.47446352e-03, 4.19342462e-02,
  4.61777891e-03,-2.35944296e-03,-1.82324603e-02, 2.84647160e-02,
  1.31347852e-02, 4.43717318e-03,-1.03111581e-02, 2.64201327e-02,
  1.12778341e+00,-1.10799157e-03, 9.02992922e-01, 6.47035594e-02,
  9.34914079e-02,-7.01044792e-02, 1.30977353e-01, 5.01511251e-01,
  4.90294236e-01, 4.98509709e-01, 5.09495924e-01]

qacc:
[ 3.72794804, 1.78469882,-8.22735855,16.30696888, 1.49399484, 1.66874126,
 -4.88311821, 2.72952213, 2.14043389, 1.56114178,-4.18688649, 3.79653364,
 -0.35560606, 0.26512076,-5.39767019,16.63840064, 0.62121284,-0.50391467,
  0.23476116, 8.45915763,-0.51450049, 7.46103537]

qfrc_actuator:
[ 9.42156584e-06, 7.04872611e-05,-1.10781946e-05, 6.27162784e-05,
  2.83116320e-05,-3.03560636e-04,-3.09908141e-04,-4.60756347e-05,
 -1.54052278e-05, 3.69226519e-05,-7.41147360e-05,-1.55789263e-05,
  2.05693225e-02,-1.37723066e-03, 5.90943562e-03,-2.79707310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002855781458010567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.53527825e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.53527825e-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([ 0.08418426, -0.06059997,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18863841e-05,-7.67259558e-06,-1.93520292e-05, 2.12268959e-05,
  8.91254326e-06, 5.80258965e-07,-3.73249219e-05,-1.03460902e-05,
  1.26611094e-05, 8.04515952e-05, 4.93240755e-06, 2.83891268e-06,
 -1.08575855e-04,-3.41790783e-05,-8.00659443e-05, 5.74503969e-05,
 -3.10792711e-07, 1.14763917e-07,-1.21644165e+00,-4.54168919e-04,
  1.13230476e-05,-5.50010371e-04]


--- Step 849 ---
qpos:
[ 1.20739949e-02,-1.18302342e-03, 2.47326039e-03, 4.19338749e-02,
  4.61913683e-03,-2.35910476e-03,-1.82333860e-02, 2.84637389e-02,
  1.31345676e-02, 4.43757241e-03,-1.03106686e-02, 2.64200253e-02,
  1.12827349e+00,-1.10775017e-03, 9.03380818e-01, 6.47025014e-02,
  9.35089892e-02,-7.01093801e-02, 1.30975468e-01, 5.01424205e-01,
  4.90373950e-01, 4.98560411e-01, 5.09455270e-01]

qacc:
[  2.35310169, -0.83232327,  4.47654446,-11.58670522,  6.98719816,
  -1.37391968,  7.11296242,-16.02485542,  1.31077011,  0.03494589,
  -1.20777931,  6.93941298, -1.04741495,  1.70916519,  8.57445197,
 -30.58396268,  0.67861484, -1.91210432, -0.82414469,  9.29907732,
  -2.06991787, 27.7398386 ]

qfrc_actuator:
[ 2.25786363e-05, 5.37431962e-05,-1.93674710e-05, 4.01357773e-05,
  6.90703585e-05,-2.85927550e-04,-2.95162464e-04,-6.93136389e-05,
 -8.15881864e-06, 4.02235602e-05,-5.64260858e-05, 3.45983118e-06,
  2.05257409e-02,-1.35948938e-03, 5.87956950e-03,-2.95567788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028336412392941657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95900421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.95900421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08197073, -0.03148003,  0.0619919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37759794e-05,-2.41267222e-05,-1.15190423e-05,-2.31656507e-05,
  4.10150900e-05, 9.81153417e-06, 9.91994287e-06,-2.47034763e-05,
  7.63429593e-06, 4.94289943e-05, 3.50103209e-05, 2.27123627e-05,
 -1.17098305e-04,-1.24255389e-05,-6.35600031e-05,-1.66466327e-04,
 -4.99886883e-07, 1.43294249e-07,-1.21644209e+00,-4.54638560e-04,
  1.14793106e-05,-5.49907008e-04]


--- Step 850 ---
qpos:
[ 1.20739867e-02,-1.18307249e-03, 2.47243323e-03, 4.19332582e-02,
  4.62062782e-03,-2.35863895e-03,-1.82341581e-02, 2.84621370e-02,
  1.31347841e-02, 4.43771431e-03,-1.03096775e-02, 2.64202083e-02,
  1.12876264e+00,-1.10697352e-03, 9.03768226e-01, 6.47021066e-02,
  9.35269352e-02,-7.01101206e-02, 1.30974902e-01, 5.01350578e-01,
  4.90439751e-01, 4.98628070e-01, 5.09398170e-01]

qacc:
[ -4.68744148, -2.29238518,  8.14315834,-12.58992143,  1.16848928,
  -1.54774487,  8.3985771 ,-19.54860468,  3.8402971 , -1.15194328,
   2.37531984,  2.04994859, -1.10654926,  1.94444237, -2.6468968 ,
   8.39071364,  0.09118584,  1.04009956,  0.33004589,  1.64083038,
   0.41800107,-15.16736554]

qfrc_actuator:
[-5.40414391e-06, 8.07293647e-06,-6.05537587e-06, 2.69913872e-05,
  7.47516982e-05,-2.75522821e-04,-2.86035098e-04,-1.00318455e-04,
  1.39398683e-05,-1.13764447e-05,-4.62451162e-05, 1.46987202e-05,
  2.04819954e-02,-1.33138052e-03, 5.89563633e-03,-2.90660371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028490193832171606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09599193e-13,  1.94843010e-13,  1.00000000e+00, -2.13546367e-26,
        1.00000000e+00, -1.94843010e-13, -1.00000000e+00,  0.00000000e+00,
        1.09599193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178197, -0.0882327 ,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75981842e-05,-6.25344965e-05, 6.11604701e-06,-1.50258121e-05,
  6.85531788e-06, 1.68967089e-05, 1.15285845e-05,-3.07200719e-05,
  2.23322242e-05,-1.57718537e-05, 2.54786426e-05, 1.50084426e-05,
 -1.17717946e-04, 3.42866875e-07,-3.71459784e-05, 3.03601189e-05,
 -1.00373228e-06, 4.92147980e-07,-1.21644297e+00,-4.55383014e-04,
  1.32561976e-05,-5.50034367e-04]


--- Step 851 ---
qpos:
[ 1.20736433e-02,-1.18347845e-03, 2.47171314e-03, 4.19324811e-02,
  4.62148616e-03,-2.35841100e-03,-1.82347093e-02, 2.84612547e-02,
  1.31352638e-02, 4.43786197e-03,-1.03091215e-02, 2.64198663e-02,
  1.12925093e+00,-1.10583960e-03, 9.04154910e-01, 6.47010105e-02,
  9.35452481e-02,-7.01067462e-02, 1.30975173e-01, 5.01290195e-01,
  4.90491835e-01, 4.98712479e-01, 5.09324811e-01]

qacc:
[ -2.93706394, -1.09591901,  3.90961835, -6.6039714 , -5.53360512,
   0.55932472, -5.47060415, 17.72622493,  2.30181459,  0.13835494,
   1.72630572,-10.11162261, -0.95039891,  1.56690414,  1.11147352,
  -5.29493099,  0.09172363,  1.02871978,  0.20921107,  1.63358337,
   0.4033145 ,-14.97664752]

qfrc_actuator:
[-2.18690463e-05,-1.21886316e-06, 2.03716026e-06, 1.94986198e-05,
  4.19790060e-05,-3.05048146e-04,-2.80342018e-04,-6.46477492e-05,
  2.68520222e-05,-2.44861863e-05,-7.63391884e-05,-1.43105150e-05,
  2.04381893e-02,-1.31514702e-03, 5.84342405e-03,-2.94840979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002852316164897867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09472516e-13,  1.94617805e-13,  1.00000000e+00, -2.13053007e-26,
        1.00000000e+00, -1.94617805e-13, -1.00000000e+00,  0.00000000e+00,
        1.09472516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178203, -0.08823253,  0.06199185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72703720e-05,-4.36386318e-05,-4.57849411e-06,-1.02482609e-05,
 -3.25704380e-05,-1.90138688e-05, 9.54721563e-06, 3.61998480e-05,
  1.35409829e-05,-1.60319843e-05,-2.97087286e-05,-2.85152783e-05,
 -1.14629466e-04,-9.52157001e-06,-7.18362901e-05,-4.62560026e-05,
 -8.66849580e-07, 2.42969534e-07,-1.21644289e+00,-4.55634516e-04,
  1.20417134e-05,-5.50071241e-04]


--- Step 852 ---
qpos:
[ 1.20731049e-02,-1.18422050e-03, 2.47133954e-03, 4.19319460e-02,
  4.62160045e-03,-2.35881441e-03,-1.82346798e-02, 2.84608329e-02,
  1.31355494e-02, 4.43849295e-03,-1.03094143e-02, 2.64184564e-02,
  1.12973836e+00,-1.10445816e-03, 9.04540488e-01, 6.46978239e-02,
  9.35639304e-02,-7.00992944e-02, 1.30975876e-01, 5.01242912e-01,
  4.90530364e-01, 4.98813468e-01, 5.09235338e-01]

qacc:
[ -1.69620792, -0.9113132 ,  1.58936142,  2.28473843, -6.49195131,
  -1.49621859,  2.20143128,  5.28275208, -1.7434687 ,  0.8164243 ,
   2.53099372,-20.01937887, -0.90730663,  1.40588075,  4.73340448,
 -18.80161813,  0.09236963,  1.0193771 ,  0.10801197,  1.63053594,
   0.38927936,-14.82088473]

qfrc_actuator:
[-3.14094327e-05,-6.41741950e-06, 2.48691114e-05, 3.31626843e-05,
  4.59902058e-06,-3.58217064e-04,-2.59085591e-04,-4.33241343e-05,
  1.64968936e-05, 2.08433572e-05,-1.12109683e-04,-6.67695902e-05,
  2.03890478e-02,-1.30607484e-03, 5.76626039e-03,-3.06139730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028361740787112566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66985261e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.66985261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178203, -0.08823291,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00441573e-05,-3.09664057e-05, 1.29154128e-05, 1.14416333e-05,
 -3.83175623e-05,-6.02892681e-05, 1.97647409e-05, 2.15476821e-05,
 -9.97264927e-06, 2.90008056e-05,-4.37355688e-05,-5.47302981e-05,
 -1.20812022e-04,-1.76663110e-05,-1.19734009e-04,-1.25815175e-04,
 -7.25187080e-07, 8.89865968e-08,-1.21644312e+00,-4.55893384e-04,
  1.07581651e-05,-5.50015200e-04]


--- Step 853 ---
qpos:
[ 1.20728011e-02,-1.18520064e-03, 2.47115517e-03, 4.19326126e-02,
  4.62126513e-03,-2.35934313e-03,-1.82342392e-02, 2.84599260e-02,
  1.31360540e-02, 4.43933288e-03,-1.03101545e-02, 2.64171266e-02,
  1.13022488e+00,-1.10289230e-03, 9.04924722e-01, 6.46968805e-02,
  9.35829853e-02,-7.00877953e-02, 1.30976673e-01, 5.01208607e-01,
  4.90555474e-01, 4.98930900e-01, 5.09129862e-01]

qacc:
[ 2.07265101e+00, 1.62770108e+00,-1.13366176e+01, 3.20066693e+01,
 -3.92598930e+00,-2.30345989e+00, 1.00350289e+01,-1.90089461e+01,
  1.90913776e+00, 1.68755263e+00,-5.96084903e+00, 7.91457985e+00,
 -6.74148281e-01, 9.21661845e-01,-8.71048712e+00, 2.76908953e+01,
  9.31147204e-02, 1.01180061e+00, 2.34583737e-02, 1.63110930e+00,
  3.75766741e-01,-1.46949966e+01]

qfrc_actuator:
[-1.90487187e-05,-9.03808185e-06, 3.85098213e-05, 9.46878873e-05,
 -1.74282664e-05,-3.36320335e-04,-2.28939338e-04,-6.61428271e-05,
  2.80386426e-05, 2.97460616e-05,-1.32945492e-04,-6.15350777e-05,
  2.03367359e-02,-1.30133262e-03, 5.74342163e-03,-2.93138193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028047457553417865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23699160e-14, -1.97918657e-13,  1.00000000e+00,  2.44823717e-27,
        1.00000000e+00,  1.97918657e-13, -1.00000000e+00,  0.00000000e+00,
        1.23699160e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091782  , -0.08823372,  0.06199198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20660001e-05,-1.67486242e-05, 9.24601753e-06, 6.08723211e-05,
 -2.31430032e-05,-6.80908221e-06, 2.08804300e-05,-2.42957887e-05,
  1.12740049e-05, 1.37216798e-05,-2.21261480e-05, 3.90175210e-06,
 -1.30145032e-04,-2.46774140e-05,-9.41591222e-05, 1.07094720e-04,
 -5.78509151e-07, 2.64128602e-08,-1.21644362e+00,-4.56160397e-04,
  9.40430863e-06,-5.49867311e-04]


--- Step 854 ---
qpos:
[ 1.20729925e-02,-1.18603649e-03, 2.47074874e-03, 4.19332995e-02,
  4.62101281e-03,-2.35973275e-03,-1.82338263e-02, 2.84584033e-02,
  1.31366931e-02, 4.44011806e-03,-1.03110748e-02, 2.64162304e-02,
  1.13071056e+00,-1.10151299e-03, 9.05308338e-01, 6.46973607e-02,
  9.35980358e-02,-7.00839736e-02, 1.30976366e-01, 5.01162119e-01,
  4.90590149e-01, 4.99005805e-01, 5.09068800e-01]

qacc:
[  4.34191606,  0.84504199, -2.83645059,  3.45234112,  0.72383511,
  -1.00654938,  6.45389854,-17.16689637,  1.17934104,  1.32094255,
  -6.64974609, 14.4865536 , -0.36721656,  0.13093801, -5.19244658,
  16.87798955, -1.00106938, -1.91935461, -0.27606305,-16.52005206,
   0.84132547, 27.04909388]

qfrc_actuator:
[ 6.10106666e-06, 7.67706566e-06, 2.89018289e-05, 9.51100825e-05,
 -1.24881115e-05,-3.22895630e-04,-2.29027113e-04,-9.69328620e-05,
  3.46304810e-05, 1.68737050e-05,-1.44882443e-04,-4.01578621e-05,
  2.02878837e-02,-1.31697692e-03, 5.73726166e-03,-2.85434127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027795474728965763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.99712909e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.99712909e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957374, -0.03387354,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54874631e-05, 1.19083104e-05,-9.81076571e-06, 1.21011429e-06,
  4.27781029e-06, 1.28968013e-05, 2.41214519e-07,-3.08289946e-05,
  6.91931245e-06,-9.61561103e-06,-1.16910146e-05, 2.12779723e-05,
 -1.33175541e-04,-4.89006634e-05,-3.99977750e-05, 7.03438274e-05,
 -4.26560747e-07, 5.22190774e-08,-1.21644442e+00,-4.56436387e-04,
  7.97876432e-06,-5.49628455e-04]


--- Step 855 ---
qpos:
[ 1.20727940e-02,-1.18667723e-03, 2.47024403e-03, 4.19329352e-02,
  4.62082144e-03,-2.35991578e-03,-1.82337457e-02, 2.84565361e-02,
  1.31370614e-02, 4.44088316e-03,-1.03118686e-02, 2.64155716e-02,
  1.13119530e+00,-1.10026714e-03, 9.05691590e-01, 6.47003405e-02,
  9.36091360e-02,-7.00876941e-02, 1.30974308e-01, 5.01103509e-01,
  4.90634234e-01, 4.99039054e-01, 5.09051416e-01]

qacc:
[ -3.43319895, -1.62623018, 10.6187664 ,-28.80456682,  0.51994858,
   0.49139946,  0.09735062, -5.6803344 , -2.37911234,  0.11319316,
  -1.43626303,  5.34815855, -0.43841977,  0.2568449 , -8.06017769,
  27.46889527, -0.98758518, -1.88551889, -0.43778475,-16.16925522,
   0.90413126, 26.59573244]

qfrc_actuator:
[-1.46879802e-05, 1.79539134e-05, 2.34328433e-05, 4.18185304e-05,
 -9.47289150e-06,-3.14768417e-04,-2.46980941e-04,-1.14428328e-04,
  2.04965893e-05, 2.66217056e-05,-1.33815870e-04,-2.72332254e-05,
  2.02358075e-02,-1.32680329e-03, 5.74641781e-03,-2.72039996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48909814, -0.51740432,  4.45918097, -0.51740432, 40.84130723,
        4.21799209,  4.45918097,  4.21799209,  4.97851702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002838056777607345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95595633e-13,  9.77978166e-14,  1.00000000e+00, -1.91288259e-26,
        1.00000000e+00, -9.77978166e-14, -1.00000000e+00,  0.00000000e+00,
        1.95595633e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957156, -0.03387623,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00565200e-05, 1.50031474e-05,-4.16386444e-06,-5.30971244e-05,
  3.14301654e-06, 1.40819301e-05,-1.63239950e-05,-1.75312260e-05,
 -1.39397028e-05, 2.85659174e-06, 8.38053152e-06, 1.25242884e-05,
 -1.43217987e-04,-4.87378174e-05,-6.79559435e-06, 1.31471242e-04,
 -4.52427806e-07, 1.25986416e-07,-1.21644212e+00,-4.57049491e-04,
  1.01982185e-05,-5.49499920e-04]


--- Step 856 ---
qpos:
[ 1.20720035e-02,-1.18733563e-03, 2.46974717e-03, 4.19319554e-02,
  4.62066770e-03,-2.35991935e-03,-1.82336612e-02, 2.84551444e-02,
  1.31376027e-02, 4.44125482e-03,-1.03121292e-02, 2.64161284e-02,
  1.13167911e+00,-1.09913384e-03, 9.06074414e-01, 6.47036246e-02,
  9.36163317e-02,-7.00988443e-02, 1.30969953e-01, 5.01032833e-01,
  4.90687599e-01, 4.99031357e-01, 5.09077091e-01]

qacc:
[ -5.20318648, -1.30289059,  7.22514652,-17.89003849,  0.32721635,
   1.20324778, -5.955654  , 14.04860867,  1.54722067,  0.48930184,
  -7.63761289, 28.12144612, -0.56960065,  0.49788799, -1.51934148,
   4.46798988, -0.9761365 , -1.85746358, -0.57399371,-15.88029575,
   0.9532425 , 26.21989044]

qfrc_actuator:
[-4.46007292e-05, 6.50662466e-06, 2.04123007e-05, 1.06200901e-05,
 -7.62377343e-06,-2.92190195e-04,-2.39833460e-04,-8.84666961e-05,
  2.97841172e-05,-3.32875355e-06,-1.09181678e-04, 3.39005770e-05,
  2.01871610e-02,-1.33311738e-03, 5.70617941e-03,-2.71373743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49735463, -0.79772871,  4.42603972, -0.79772871, 36.91501709,
        5.84280796,  4.42603972,  5.84280796,  5.55043503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002864938116053928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93760385e-13, -4.84400962e-14,  1.00000000e+00,  9.38577170e-27,
        1.00000000e+00,  4.84400962e-14, -1.00000000e+00,  0.00000000e+00,
        1.93760385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10957031, -0.03387736,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04731057e-05,-6.16877455e-06,-2.25620271e-06,-3.17290453e-05,
  1.94507383e-06, 2.63407095e-05, 7.44398428e-06, 2.56633816e-05,
  8.89310439e-06,-2.61058617e-05, 2.66926023e-05, 6.17921245e-05,
 -1.45328247e-04,-4.77063352e-05,-3.56559065e-05, 1.15100068e-05,
 -3.36741552e-07, 3.32447164e-07,-1.21644111e+00,-4.57738741e-04,
  1.15159228e-05,-5.49615186e-04]


--- Step 857 ---
qpos:
[ 1.20715504e-02,-1.18806482e-03, 2.46923781e-03, 4.19306179e-02,
  4.62019256e-03,-2.35998939e-03,-1.82331667e-02, 2.84551135e-02,
  1.31382509e-02, 4.44136311e-03,-1.03123946e-02, 2.64181250e-02,
  1.13216202e+00,-1.09810775e-03, 9.06456880e-01, 6.47059549e-02,
  9.36196614e-02,-7.01173318e-02, 1.30962844e-01, 5.00950133e-01,
  4.90750133e-01, 4.98983293e-01, 5.09145308e-01]

qacc:
[  2.96623837, -0.80143227,  4.22092042,-10.32728867, -2.80203451,
   1.57118925,-11.46713178, 34.40255303,  0.94653989,  2.62706719,
 -15.954192  , 41.07636374, -0.60783184,  0.58708408,  2.38092205,
  -9.02582529, -0.96648041, -1.8342869 , -0.68868461,-15.64328932,
   0.99134965, 25.91034739]

qfrc_actuator:
[-2.63716180e-05,-8.77891349e-08, 1.87940090e-05,-7.33783318e-06,
 -2.42280190e-05,-2.96502141e-04,-2.17828542e-04,-1.93604687e-05,
  3.50362753e-05,-2.12116265e-05,-1.12369478e-04, 1.05133956e-04,
  2.01459326e-02,-1.33729162e-03, 5.68425513e-03,-2.76449403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4978018 , -1.10403611,  4.36019785, -1.10403611, 45.62346903,
       10.41333976,  4.36019785, 10.41333976,  7.13454066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028663842399377637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93662631e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93662631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10956979, -0.03387722,  0.0619918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73642255e-05,-1.18456995e-05,-4.25045441e-06,-1.89116944e-05,
 -1.65409403e-05, 1.30580335e-05, 2.92527104e-05, 7.09949432e-05,
  5.49308119e-06,-2.43264836e-05,-3.15680270e-06, 7.22390402e-05,
 -1.39442283e-04,-4.55963712e-05,-4.30753045e-05,-5.61017831e-05,
 -8.28106231e-08, 6.64582194e-07,-1.21644131e+00,-4.58511775e-04,
  1.19847225e-05,-5.49973081e-04]


--- Step 858 ---
qpos:
[ 1.20713191e-02,-1.18897519e-03, 2.46899540e-03, 4.19297611e-02,
  4.61917715e-03,-2.35997474e-03,-1.82326815e-02, 2.84555752e-02,
  1.31386119e-02, 4.44169560e-03,-1.03131026e-02, 2.64198914e-02,
  1.13264412e+00,-1.09744086e-03, 9.06838801e-01, 6.47063407e-02,
  9.36231999e-02,-7.01313734e-02, 1.30958989e-01, 5.00880946e-01,
  4.90799401e-01, 4.98953160e-01, 5.09195415e-01]

qacc:
[ 1.96117405e+00, 4.75088632e-04,-2.38372130e+00, 1.04135630e+01,
 -4.73686342e+00, 1.15994068e+00,-6.03803202e+00, 1.44990567e+01,
 -2.54623736e+00, 1.06426708e+00,-2.38411433e+00,-1.06721363e+00,
 -3.58725669e-01,-4.03368336e-04, 5.07496824e+00,-1.89003630e+01,
  5.21917434e-02, 1.11144764e+00, 8.13362689e-01, 2.44450418e+00,
  5.26319639e-02,-1.56862628e+01]

qfrc_actuator:
[-1.54553875e-05,-3.71028799e-06, 3.57869110e-05, 1.81423390e-05,
 -5.15603107e-05,-2.99021419e-04,-2.22821945e-04, 3.54650428e-06,
  2.01114505e-05, 3.67862128e-06,-1.31925711e-04, 9.29536413e-05,
  2.01038595e-02,-1.35789491e-03, 5.64669958e-03,-2.86631829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002965574249625541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50972189e-14, -3.74370335e-13,  1.00000000e+00, -1.31393576e-26,
        1.00000000e+00,  3.74370335e-13, -1.00000000e+00,  0.00000000e+00,
       -3.50972189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178745, -0.08823087,  0.06199152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14101461e-05,-1.18920312e-05, 1.33854620e-05, 2.44626088e-05,
 -2.78036910e-05, 1.38585232e-05, 3.75944552e-06, 2.58602435e-05,
 -1.47796684e-05, 1.37291235e-05,-2.24726495e-05,-1.19303554e-05,
 -1.36467073e-04,-6.01881690e-05,-6.95458314e-05,-1.11869567e-04,
  3.06966010e-07, 1.11789118e-06,-1.21644267e+00,-4.59373847e-04,
  1.16449471e-05,-5.50572342e-04]


--- Step 859 ---
qpos:
[ 1.20708756e-02,-1.19006927e-03, 2.46923831e-03, 4.19295463e-02,
  4.61818651e-03,-2.35940048e-03,-1.82329540e-02, 2.84552632e-02,
  1.31391362e-02, 4.44213319e-03,-1.03134185e-02, 2.64204192e-02,
  1.13312554e+00,-1.09759460e-03, 9.07219758e-01, 6.47061702e-02,
  9.36269844e-02,-7.01410697e-02, 1.30957582e-01, 5.00825094e-01,
  4.90835458e-01, 4.98940577e-01, 5.09227924e-01]

qacc:
[ -1.84534738, -0.27354925, -2.07967191, 12.54063394,  0.18334197,
   1.2638835 , -0.1665904 ,-12.42578959,  1.44695173, -3.50904182,
  17.93775614,-40.07133252,  0.21055787, -1.30108779,  0.22250797,
  -2.92638405,  0.06150061,  1.08633463,  0.61216956,  2.27763686,
   0.11393945,-15.40489184]

qfrc_actuator:
[-2.66988614e-05,-5.41093337e-06, 6.36720803e-05, 5.12374117e-05,
 -4.94767166e-05,-2.65084386e-04,-2.61511791e-04,-3.64474858e-05,
  2.89371993e-05, 1.83452515e-05,-1.07605450e-04, 3.18191224e-05,
  2.00613032e-02,-1.40581338e-03, 5.60512074e-03,-2.89089518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5535542 ,  0.64053802,  4.50827759,  0.64053802, 18.18385763,
       -1.93659939,  4.50827759, -1.93659939,  4.82870707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030393975212757163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14149167e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14149167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09178915, -0.08822937,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09212749e-05,-4.49537547e-06, 2.79388661e-05, 3.35289419e-05,
  1.29412052e-06, 4.35544907e-05,-3.44752121e-05,-3.87677116e-05,
  8.41271005e-06, 1.71790287e-05, 2.39768012e-05,-6.15583437e-05,
 -1.38820376e-04,-8.94968099e-05,-9.07155328e-05,-4.08476647e-05,
  1.85983832e-07, 7.28332254e-07,-1.21644157e+00,-4.58989045e-04,
  1.17204300e-05,-5.50853154e-04]


--- Step 860 ---
qpos:
[ 1.20706459e-02,-1.19113806e-03, 2.46950128e-03, 4.19293897e-02,
  4.61757332e-03,-2.35850360e-03,-1.82333947e-02, 2.84548095e-02,
  1.31397621e-02, 4.44247418e-03,-1.03130789e-02, 2.64202177e-02,
  1.13360593e+00,-1.09771614e-03, 9.07600099e-01, 6.47049428e-02,
  9.36310442e-02,-7.01465038e-02, 1.30957947e-01, 5.00782422e-01,
  4.90858361e-01, 4.98945230e-01, 5.09243254e-01]

qacc:
[  1.8782851 ,  0.09359104, -0.53721052,  1.50071565,  3.29729142,
   0.59816259, -0.92678562, -1.48302569,  0.91693389, -3.46254185,
  15.2371754 ,-28.83331243, -0.81481178,  1.00103031,  2.32832561,
  -9.35743426,  0.06882328,  1.06554924,  0.44293358,  2.14523865,
   0.16138484,-15.16916712]

qfrc_actuator:
[-1.53876697e-05,-5.88346821e-06, 6.22621963e-05, 5.30425248e-05,
 -3.00925416e-05,-2.45287640e-04,-2.66409485e-04,-4.21022082e-05,
  3.39249469e-05, 9.15450515e-06,-7.53695697e-05,-4.32962243e-06,
  2.00131498e-02,-1.39850533e-03, 5.58781418e-03,-2.94074470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56639211,  0.51686152,  4.53704651,  0.51686152, 28.48533894,
       -2.72485265,  4.53704651, -2.72485265,  4.87680803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003077337260978391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70580439e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.70580439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179046, -0.08822874,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09996592e-05, 4.25598778e-06, 2.27392778e-06, 3.23474887e-06,
  1.94392947e-05, 3.53534160e-05,-1.49240464e-06,-5.73558267e-06,
  5.23552438e-06, 2.72180133e-06, 3.66053186e-05,-3.57826535e-05,
 -1.52524358e-04,-4.04880062e-05,-6.66431597e-05,-6.45079210e-05,
  8.81789126e-08, 4.37703790e-07,-1.21644080e+00,-4.58653522e-04,
  1.16784569e-05,-5.51042115e-04]


--- Step 861 ---
qpos:
[ 1.20702087e-02,-1.19226466e-03, 2.46951779e-03, 4.19292859e-02,
  4.61754249e-03,-2.35777068e-03,-1.82334522e-02, 2.84550063e-02,
  1.31400983e-02, 4.44259995e-03,-1.03122629e-02, 2.64196123e-02,
  1.13408538e+00,-1.09779907e-03, 9.07979810e-01, 6.47017671e-02,
  9.36354024e-02,-7.01477442e-02, 1.30959515e-01, 5.00752798e-01,
  4.90868163e-01, 4.98966858e-01, 5.09241746e-01]

qacc:
[ -1.83049049,  0.72489084, -2.91135273,  4.25276698,  5.11951233,
   0.04097641, -3.22508091, 14.01132376, -2.53179005, -2.44233263,
  10.00929389,-17.61092838, -0.81015386,  1.02885124,  4.99460793,
 -18.7204223 ,  0.07460014,  1.048426  ,  0.30085656,  2.04045116,
   0.19793971,-14.97278454]

qfrc_actuator:
[-2.63899294e-05,-2.35072692e-05, 4.35464060e-05, 5.41532907e-05,
 -6.90593446e-07,-2.69467183e-04,-2.51318255e-04,-9.72324822e-06,
  1.88535390e-05,-1.41910108e-05,-5.65571402e-05,-2.55006270e-05,
  1.99723446e-02,-1.39409119e-03, 5.55311961e-03,-3.04053978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56947882, -0.34993797, -4.55605971, -0.34993797, 38.7944129 ,
       -2.6287197 , -4.55605971, -2.6287197 ,  4.77138329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003086361170623192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14754202e-13,  1.79859544e-13,  1.00000000e+00, -5.66115472e-26,
        1.00000000e+00, -1.79859544e-13, -1.00000000e+00,  0.00000000e+00,
        3.14754202e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179144, -0.08822882,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06849222e-05,-1.45949979e-05,-1.74351287e-05, 1.43647574e-06,
  2.99690775e-05,-4.98369219e-06, 2.20061714e-05, 3.37299616e-05,
 -1.49203059e-05,-1.58076700e-05, 2.26382088e-05,-2.04853392e-05,
 -1.42104675e-04,-3.70295656e-05,-7.73679369e-05,-1.13068632e-04,
  9.13953407e-09, 2.42180719e-07,-1.21644035e+00,-4.58356785e-04,
  1.15301572e-05,-5.51139506e-04]


--- Step 862 ---
qpos:
[ 1.20692982e-02,-1.19335902e-03, 2.46926730e-03, 4.19291864e-02,
  4.61855433e-03,-2.35711665e-03,-1.82335701e-02, 2.84552644e-02,
  1.31405963e-02, 4.44244127e-03,-1.03108944e-02, 2.64191071e-02,
  1.13456399e+00,-1.09813674e-03, 9.08358366e-01, 6.46974508e-02,
  9.36400773e-02,-7.01448470e-02, 1.30961810e-01, 5.00736110e-01,
  4.90864916e-01, 4.99005245e-01, 5.09223672e-01]

qacc:
[ -4.1683918 ,  0.80629348, -2.81710847,  3.28022076,  9.1381934 ,
   0.17278086, -1.05719   ,  2.30626612,  1.44655902, -1.71618517,
   5.1455019 , -4.07860068, -0.40083422,  0.14344287,  1.75469514,
  -8.58002378,  0.07917641,  1.03440559,  0.1818513 ,  1.95781766,
   0.22593723,-14.81037746]

qfrc_actuator:
[-5.04445044e-05,-1.58436036e-05, 3.24582068e-05, 5.48296513e-05,
  5.21187512e-05,-2.84169698e-04,-2.60223052e-04,-8.51755151e-06,
  2.76027476e-05,-2.81194947e-05,-2.81293432e-05,-1.99661235e-05,
  1.99306531e-02,-1.40918534e-03, 5.49203844e-03,-3.09797759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003072311849277032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71023031e-13, -9.03410102e-14,  1.00000000e+00, -2.44844944e-26,
        1.00000000e+00,  9.03410102e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71023031e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179217, -0.08822944,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43594280e-05,-3.99931750e-06,-1.61864858e-05,-5.20958111e-07,
  5.36601592e-05,-1.15143794e-05,-6.06591284e-06, 2.40679818e-06,
  8.32084227e-06,-1.89867788e-05, 2.72333827e-05, 5.24163735e-06,
 -1.36145435e-04,-5.34082232e-05,-1.13679581e-04,-7.47000510e-05,
 -5.43897855e-08, 1.38556906e-07,-1.21644020e+00,-4.58091122e-04,
  1.12836843e-05,-5.51145718e-04]


--- Step 863 ---
qpos:
[ 1.20684513e-02,-1.19434659e-03, 2.46854640e-03, 4.19291003e-02,
  4.61984648e-03,-2.35644611e-03,-1.82334902e-02, 2.84544691e-02,
  1.31415402e-02, 4.44209058e-03,-1.03097479e-02, 2.64187143e-02,
  1.13504154e+00,-1.09805016e-03, 9.08735942e-01, 6.46936993e-02,
  9.36450835e-02,-7.01378577e-02, 1.30964436e-01, 5.00732263e-01,
  4.90848662e-01, 4.99060215e-01, 5.09189251e-01]

qacc:
[  0.5429566 ,  1.48286523, -5.13993994,  6.04523409,  2.46211602,
  -2.70173529, 14.10562272,-32.65613938,  3.919848  ,  0.58979389,
  -2.95868219,  5.41289236, -1.09049721,  1.7628176 , -3.0793922 ,
   8.83891506,  0.08282237,  1.02301682,  0.08242732,  1.89299163,
   0.24720866,-14.6773616 ]

qfrc_actuator:
[-4.64764089e-05,-1.08269961e-05, 8.31304812e-06, 5.52726168e-05,
  6.50213891e-05,-2.75452852e-04,-2.47729866e-04,-6.11920642e-05,
  5.03085886e-05,-5.39950798e-05,-4.74567400e-05,-1.65034918e-05,
  1.98831267e-02,-1.38244866e-03, 5.47377875e-03,-3.05901888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003040074979026447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.73896951e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.73896951e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917927 , -0.08823051,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27811637e-06,-5.48478257e-07,-2.69649661e-05,-2.94136696e-07,
  1.44293811e-05, 1.12400538e-06, 9.44188679e-06,-5.33350261e-05,
  2.29351032e-05,-3.06477083e-05,-1.97264520e-05, 3.69145561e-06,
 -1.42389524e-04,-1.32862089e-05,-8.10122261e-05, 1.96917278e-05,
 -1.04803323e-07, 1.24167863e-07,-1.21644033e+00,-4.57850883e-04,
  1.09449586e-05,-5.51061175e-04]


--- Step 864 ---
qpos:
[ 1.20676584e-02,-1.19529923e-03, 2.46751993e-03, 4.19293634e-02,
  4.62059393e-03,-2.35584988e-03,-1.82330150e-02, 2.84540825e-02,
  1.31424038e-02, 4.44181753e-03,-1.03089587e-02, 2.64183411e-02,
  1.13551801e+00,-1.09735722e-03, 9.09112684e-01, 6.46939800e-02,
  9.36504327e-02,-7.01268129e-02, 1.30967059e-01, 5.00741179e-01,
  4.90819441e-01, 4.99131625e-01, 5.09138655e-01]

qacc:
[ 4.64745475e-01, 1.61907474e+00,-7.18012091e+00, 1.36852726e+01,
 -4.76023974e+00,-3.52456408e-01,-5.95611924e-01, 7.07496323e+00,
 -7.19335584e-01, 1.14337844e+00,-4.00838176e+00, 4.85977152e+00,
 -1.09414580e+00, 1.90155379e+00,-1.33209069e+01, 4.50008530e+01,
  8.57493720e-02, 1.01386218e+00,-4.01038286e-04, 1.84250703e+00,
  2.63190696e-01,-1.45698121e+01]

qfrc_actuator:
[-4.37950103e-05,-7.48607800e-06,-5.60344539e-06, 7.33174479e-05,
  3.65726609e-05,-2.70500873e-04,-2.22632000e-04,-3.85886990e-05,
  4.55343832e-05,-3.37596807e-05,-5.93786939e-05,-1.43361772e-05,
  1.98374768e-02,-1.34894320e-03, 5.48123791e-03,-2.83920294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002993722892122713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47672154e-14, -1.85425149e-13,  1.00000000e+00, -6.44671608e-27,
        1.00000000e+00,  1.85425149e-13, -1.00000000e+00,  0.00000000e+00,
       -3.47672154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179308, -0.08823192,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77945256e-06,-2.50008065e-06,-1.73400935e-05, 1.70866773e-05,
 -2.80349084e-05, 5.22659116e-06, 2.46400354e-05, 2.19397476e-05,
 -4.13265550e-06,-8.08360445e-07,-2.05630425e-05, 2.41544057e-07,
 -1.34663545e-04,-3.51809096e-07,-3.12744969e-05, 2.09672399e-04,
 -1.43853655e-07, 1.96815374e-07,-1.21644075e+00,-4.57631949e-04,
  1.05182199e-05,-5.50886289e-04]


--- Step 865 ---
qpos:
[ 1.20665591e-02,-1.19632470e-03, 2.46662129e-03, 4.19301696e-02,
  4.62133962e-03,-2.35514291e-03,-1.82329161e-02, 2.84550351e-02,
  1.31428584e-02, 4.44181774e-03,-1.03078997e-02, 2.64179270e-02,
  1.13599357e+00,-1.09629179e-03, 9.09489231e-01, 6.46945198e-02,
  9.36561344e-02,-7.01117418e-02, 1.30969406e-01, 5.00762793e-01,
  4.90777280e-01, 4.99219359e-01, 5.09072016e-01]

qacc:
[-2.68804920e+00, 6.70288637e-01,-4.81153993e+00, 1.40463343e+01,
 -2.82677714e-02, 3.95098599e+00,-1.95308796e+01, 4.32264489e+01,
 -3.59485416e+00,-4.70374480e-01, 2.38604592e+00,-3.73972748e+00,
 -9.77601312e-01, 1.59318925e+00,-1.00544082e+00, 3.25109256e+00,
  8.81224882e-02, 1.00660602e+00,-6.91897274e-02, 1.80359702e+00,
  2.75009966e-01,-1.44843644e+01]

qfrc_actuator:
[-5.96540795e-05,-5.12143368e-06, 4.39323052e-06, 1.01582191e-04,
  3.72838983e-05,-2.67723583e-04,-2.43505811e-04, 2.81406365e-05,
  2.46199880e-05, 1.39494527e-05,-3.11277962e-05,-1.28983111e-05,
  1.97983180e-02,-1.32948092e-03, 5.46154409e-03,-2.83411346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002936637322238228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54430586e-14, -1.89029646e-13,  1.00000000e+00, -6.69978880e-27,
        1.00000000e+00,  1.89029646e-13, -1.00000000e+00,  0.00000000e+00,
       -3.54430586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09179333, -0.08823359,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57768617e-05,-1.83377019e-06, 7.95907262e-06, 2.78941470e-05,
 -8.85211906e-08, 1.16935294e-05,-1.60104714e-05, 6.82325147e-05,
 -2.10313993e-05, 4.30226682e-05, 2.55553350e-05, 6.96446163e-07,
 -1.19752870e-04,-1.05537291e-05,-1.60693897e-05, 1.15367176e-05,
 -1.72815125e-07, 3.54696795e-07,-1.21644145e+00,-4.57431341e-04,
  1.00064392e-05,-5.50621434e-04]


--- Step 866 ---
qpos:
[ 1.20663131e-02,-1.19726096e-03, 2.46554673e-03, 4.19306177e-02,
  4.62208765e-03,-2.35419354e-03,-1.82331041e-02, 2.84564113e-02,
  1.31434039e-02, 4.44196727e-03,-1.03067484e-02, 2.64175608e-02,
  1.13646834e+00,-1.09501558e-03, 9.09865529e-01, 6.46941291e-02,
  9.36579711e-02,-7.01042966e-02, 1.30970271e-01, 5.00772749e-01,
  4.90744602e-01, 4.99264662e-01, 5.09049297e-01]

qacc:
[ 7.49181600e+00,-1.42677743e-01, 2.16559035e+00,-8.11936241e+00,
  7.61335789e-03, 1.99297411e+00,-8.43100185e+00, 1.60442375e+01,
  8.00189712e-01, 3.67848125e-02,-4.98291617e-02, 6.24748523e-01,
 -8.04992462e-01, 1.22012103e+00, 2.49240956e+00,-9.13365743e+00,
 -9.66249073e-01,-1.90651078e+00,-3.70591057e-01,-1.65279614e+01,
  6.49572257e-01, 2.67430016e+01]

qfrc_actuator:
[-1.52879689e-05,-3.24875491e-06,-7.07864224e-06, 8.23874480e-05,
  3.74134189e-05,-2.48653817e-04,-2.55843893e-04, 4.92410984e-05,
  2.98875098e-05, 6.90563000e-06,-3.25154607e-05,-1.18454016e-05,
  1.97630776e-02,-1.31845321e-03, 5.44150849e-03,-2.88468902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002902875247469544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56140834e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56140834e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955729, -0.03387525,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39191648e-05, 3.73011582e-06,-9.88283388e-06,-1.84515980e-05,
  1.28881204e-07, 2.51968436e-05,-9.54560701e-06, 2.23715905e-05,
  4.68495324e-06, 2.23059464e-05, 1.06608725e-05, 3.79393586e-06,
 -1.09420205e-04,-1.75082455e-05,-3.30814680e-05,-5.36034573e-05,
 -1.92605669e-07, 5.96340427e-07,-1.21644241e+00,-4.57246934e-04,
  9.41162653e-06,-5.50266933e-04]


--- Step 867 ---
qpos:
[ 1.20666006e-02,-1.19813458e-03, 2.46435967e-03, 4.19304863e-02,
  4.62248671e-03,-2.35331682e-03,-1.82332704e-02, 2.84573585e-02,
  1.31436633e-02, 4.44231927e-03,-1.03061945e-02, 2.64175972e-02,
  1.13694239e+00,-1.09386296e-03, 9.10241303e-01, 6.46921625e-02,
  9.36559706e-02,-7.01043489e-02, 1.30969063e-01, 5.00771005e-01,
  4.90721267e-01, 4.99268407e-01, 5.09069834e-01]

qacc:
[  4.68406696, -0.80534589,  5.41989829,-15.29239741, -3.05693116,
  -1.033215  ,  5.36738957,-12.78662997, -2.54027993,  2.77056143,
 -11.18150569, 18.94496186, -0.48202699,  0.4325679 ,  4.00674133,
 -15.08689829, -0.95927543, -1.87434716, -0.51806835,-16.16529264,
   0.75101024, 26.33836142]

qfrc_actuator:
[ 1.09180985e-05,-1.80417387e-06,-1.34263907e-05, 5.31536580e-05,
  1.94378840e-05,-2.73242405e-04,-2.62999345e-04, 2.55913601e-05,
  1.50226511e-05, 2.52993215e-06,-6.93691264e-05, 6.65670424e-06,
  1.97195586e-02,-1.33022617e-03, 5.40530223e-03,-2.96757767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52053492, -0.12818016, -4.51871728, -0.12818016, 35.56337783,
       -0.88057657, -4.51871728, -0.88057657,  4.54551379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002938631585956142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88901363e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88901363e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955501, -0.03387661,  0.0619916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74619747e-05, 7.60154350e-07,-7.41184785e-06,-2.97733803e-05,
 -1.79636115e-05,-1.15468521e-05,-2.36475066e-06,-2.24696171e-05,
 -1.47229740e-05, 1.04479378e-05,-3.08157153e-05, 1.98985508e-05,
 -1.13364480e-04,-3.91879634e-05,-6.36194938e-05,-9.15752548e-05,
 -1.91446540e-07, 2.09576970e-07,-1.21644060e+00,-4.57827405e-04,
  1.05189239e-05,-5.50263537e-04]


--- Step 868 ---
qpos:
[ 1.20661657e-02,-1.19908567e-03, 2.46338830e-03, 4.19306916e-02,
  4.62232248e-03,-2.35265050e-03,-1.82336795e-02, 2.84573613e-02,
  1.31430527e-02, 4.44274969e-03,-1.03060273e-02, 2.64175117e-02,
  1.13741572e+00,-1.09283806e-03, 9.10615317e-01, 6.46926674e-02,
  9.36501573e-02,-7.01117921e-02, 1.30965287e-01, 5.00757535e-01,
  4.90707158e-01, 4.99231301e-01, 5.09133071e-01]

qacc:
[-6.34056211e+00, 3.68736898e-04,-1.54871541e+00, 7.06177295e+00,
 -4.94184671e+00,-1.53192264e+00, 9.06362377e+00,-2.48825866e+01,
 -7.66873857e+00, 9.47986905e-01,-2.68868072e+00, 1.10944029e+00,
 -2.33612176e-01,-8.19374519e-03,-1.00469645e+01, 3.13950347e+01,
 -9.53227846e-01,-1.84773647e+00,-6.42202141e-01,-1.58703444e+01,
  8.27930062e-01, 2.60027169e+01]

qfrc_actuator:
[-2.70513267e-05,-6.25562637e-07, 1.05991112e-06, 7.15188102e-05,
 -9.05031636e-06,-3.06055292e-04,-2.84991798e-04,-2.42251302e-05,
 -2.93335571e-05,-3.57762601e-07,-9.13444733e-05,-2.50773404e-07,
  1.96817458e-02,-1.33767684e-03, 5.32214679e-03,-2.83805235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52301922, -0.09342003,  4.52205435, -0.09342003, 25.59444381,
        0.43530949,  4.52205435,  0.43530949,  4.53201217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029463800561935205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955369, -0.03387661,  0.06199158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71823466e-05,-1.14836906e-06, 1.27233259e-05, 1.75654209e-05,
 -2.90035963e-05,-4.07595510e-05,-2.54559973e-05,-5.08334179e-05,
 -4.47687562e-05,-2.58141818e-06,-2.29341300e-05,-7.14017152e-06,
 -1.15296288e-04,-3.98305932e-05,-1.27326121e-04, 1.15147324e-04,
 -5.91140328e-08,-4.02647905e-08,-1.21644004e+00,-4.58451286e-04,
  1.07522287e-05,-5.50494816e-04]


--- Step 869 ---
qpos:
[ 1.20656244e-02,-1.20005720e-03, 2.46258422e-03, 4.19311110e-02,
  4.62216292e-03,-2.35230449e-03,-1.82343307e-02, 2.84571273e-02,
  1.31422604e-02, 4.44271883e-03,-1.03053438e-02, 2.64173511e-02,
  1.13788836e+00,-1.09193377e-03, 9.10988027e-01, 6.46956296e-02,
  9.36405517e-02,-7.01265385e-02, 1.30958524e-01, 5.00732319e-01,
  4.90702173e-01, 4.99153911e-01, 5.09238545e-01]

qacc:
[-9.29583189e-01,-5.18726232e-02,-7.54457890e-01, 4.20297472e+00,
  3.88192959e-02,-2.34117902e-01, 1.22033792e+00,-4.69575201e+00,
 -1.57437536e+00,-2.20344533e+00, 7.29381638e+00,-9.08241998e+00,
 -2.29873767e-01, 8.33717263e-03,-9.33189279e+00, 2.98716503e+01,
 -9.48080801e-01,-1.82579955e+00,-7.46652736e-01,-1.56318356e+01,
  8.85257962e-01, 2.57263172e+01]

qfrc_actuator:
[-3.14729153e-05, 5.08528944e-07, 1.00108287e-05, 8.22538195e-05,
 -7.98692675e-06,-3.25883308e-04,-2.97877889e-04,-3.57968979e-05,
 -3.74284416e-05,-3.78148626e-05,-6.88593572e-05,-4.28784084e-06,
  1.96527091e-02,-1.34248057e-03, 5.28018721e-03,-2.70876410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51834095, -0.33479406,  4.50592032, -0.33479406, 36.38790127,
        2.36793792,  4.50592032,  2.36793792,  4.69428094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002931765143397991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78687572e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.78687572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10955314, -0.03387555,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47706897e-06, 3.90633365e-06, 1.09124446e-05, 1.14734056e-05,
  2.25006294e-07,-5.00866907e-05,-2.62015735e-05,-1.51880136e-05,
 -9.36498542e-06,-4.39788822e-05, 1.88743750e-05,-5.07959191e-06,
 -1.08057092e-04,-3.76205017e-05,-8.80122971e-05, 1.19260740e-04,
  2.04362423e-07,-1.60837425e-07,-1.21644067e+00,-4.59134919e-04,
  1.01596646e-05,-5.50961939e-04]


--- Step 870 ---
qpos:
[ 1.20650343e-02,-1.20146928e-03, 2.46212575e-03, 4.19313526e-02,
  4.62270695e-03,-2.35235500e-03,-1.82348618e-02, 2.84570862e-02,
  1.31417221e-02, 4.44203144e-03,-1.03045520e-02, 2.64175427e-02,
  1.13836025e+00,-1.09106817e-03, 9.11360474e-01, 6.46969926e-02,
  9.36310894e-02,-7.01368268e-02, 1.30954869e-01, 5.00720411e-01,
  4.90684377e-01, 4.99094421e-01, 5.09325702e-01]

qacc:
[ -0.40978968, -1.9139758 ,  6.73001321,-10.03318168,  6.17733921,
  -0.47459637,  0.09641818,  3.36462727,  2.24952762, -0.44976928,
  -1.15020214,  7.56471772, -0.58931559,  0.67110846,  4.4701768 ,
 -16.12877815,  0.03583423,  1.11454089,  0.77705046,  2.65669486,
  -0.07178763,-15.56356844]

qfrc_actuator:
[-3.38454747e-05,-5.16680370e-05, 1.56026394e-05, 7.06459839e-05,
  2.82173786e-05,-3.37726335e-04,-2.87451195e-04,-2.47516584e-05,
 -2.41068373e-05,-9.55052838e-05,-7.37040159e-05, 1.11517730e-05,
  1.96129831e-02,-1.34565216e-03, 5.26829330e-03,-2.79362412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.54697065,   1.32557579,   4.34945869,   1.32557579,
        43.71135293, -11.93605014,   4.34945869, -11.93605014,
         8.18469668,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003019679815447346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03405078e-13, -1.83831249e-13,  1.00000000e+00,  1.90090846e-26,
        1.00000000e+00,  1.83831249e-13, -1.00000000e+00,  0.00000000e+00,
        1.03405078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180096, -0.08823374,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52411123e-06,-4.72030468e-05, 8.16026609e-06,-1.08362279e-05,
  3.61949338e-05,-4.59186072e-05,-3.66785401e-06, 7.69777013e-06,
  1.30402004e-05,-7.86148816e-05,-1.17877357e-05, 1.41082787e-05,
 -1.13504145e-04,-3.41222932e-05,-4.13947605e-05,-9.00734564e-05,
  5.98957040e-07,-1.57168030e-07,-1.21644244e+00,-4.59889297e-04,
  8.77728062e-06,-5.51665135e-04]


--- Step 871 ---
qpos:
[ 1.20644203e-02,-1.20311556e-03, 2.46195433e-03, 4.19317768e-02,
  4.62333556e-03,-2.35261835e-03,-1.82350917e-02, 2.84574861e-02,
  1.31413473e-02, 4.44096622e-03,-1.03041665e-02, 2.64175731e-02,
  1.13883130e+00,-1.09017461e-03, 9.11732280e-01, 6.46970175e-02,
  9.36218180e-02,-7.01427604e-02, 1.30953538e-01, 5.00721680e-01,
  4.90653714e-01, 4.99052450e-01, 5.09395116e-01]

qacc:
[ -0.19744951, -0.73587287,  1.40512053,  1.46542506,  0.75474674,
  -0.2171436 , -1.49880321,  8.80957899,  1.43293448,  0.30115828,
  -1.12227254, -0.73608844, -0.69950098,  0.86562524,  3.13351379,
 -12.24347407,  0.04774377,  1.08866117,  0.58097949,  2.43523989,
   0.02125787,-15.3070104 ]

qfrc_actuator:
[-3.50037578e-05,-4.66395543e-05, 3.66863834e-05, 8.14438736e-05,
  3.15475763e-05,-3.26821403e-04,-2.63302139e-04,-4.71171184e-07,
 -1.60509129e-05,-1.11698018e-04,-9.47451363e-05, 2.37491556e-06,
  1.95615479e-02,-1.34787814e-03, 5.23178573e-03,-2.86187846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56892179,  0.87655154,  4.48404993,  0.87655154, 21.27994469,
       -3.26670603,  4.48404993, -3.26670603,  5.20750438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003084735496658997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34965748e-13,  1.79954331e-13,  1.00000000e+00, -2.42876709e-26,
        1.00000000e+00, -1.79954331e-13, -1.00000000e+00,  0.00000000e+00,
        1.34965748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180314, -0.08823266,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24154711e-06,-2.00894453e-05, 1.19856054e-05, 8.85087776e-06,
  4.34642846e-06,-1.51795568e-05, 1.44844211e-05, 2.23354204e-05,
  8.39753055e-06,-6.19668576e-05,-3.82465238e-05,-1.22804526e-05,
 -1.27605130e-04,-3.37818329e-05,-7.14476998e-05,-7.99675424e-05,
  3.18414703e-07,-2.89282613e-07,-1.21644151e+00,-4.59048981e-04,
  9.72412842e-06,-5.51789710e-04]


--- Step 872 ---
qpos:
[ 1.20641417e-02,-1.20446788e-03, 2.46205532e-03, 4.19326043e-02,
  4.62399951e-03,-2.35307265e-03,-1.82350128e-02, 2.84578245e-02,
  1.31407272e-02, 4.43933058e-03,-1.03037210e-02, 2.64178360e-02,
  1.13930146e+00,-1.08927551e-03, 9.12103161e-01, 6.46945897e-02,
  9.36127744e-02,-7.01444246e-02, 1.30953872e-01, 5.00736011e-01,
  4.90610148e-01, 4.99027682e-01, 5.09447252e-01]

qacc:
[  2.9518131 ,  0.4520397 , -2.75969662,  9.09660383,  0.32270539,
  -1.24174792,  4.31995964, -5.73492679, -2.14715989, -0.43852577,
  -0.50472441,  4.84494062, -0.73742862,  0.90575707,  6.07807919,
 -23.15405431,  0.05693907,  1.06734761,  0.41610956,  2.25777966,
   0.0952416 ,-15.0918647 ]

qfrc_actuator:
[-1.76861076e-05, 1.04344583e-05, 6.69855946e-05, 1.05396082e-04,
  3.32435005e-05,-3.37798037e-04,-2.48901511e-04,-4.08007353e-06,
 -2.89182315e-05,-1.38513512e-04,-8.95276783e-05, 1.49460162e-05,
  1.95137755e-02,-1.34958792e-03, 5.16990179e-03,-2.99080129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57943335,  0.78430272,  4.51177116,  0.78430272, 35.01605054,
       -5.29094246,  4.51177116, -5.29094246,  5.49918313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031152103300557954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67290867e-13,  1.78193911e-13,  1.00000000e+00,  4.76296049e-26,
        1.00000000e+00, -1.78193911e-13, -1.00000000e+00,  0.00000000e+00,
       -2.67290867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180481, -0.08823236,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72797755e-05, 4.87570054e-05, 2.79529067e-05, 2.36817917e-05,
  1.81308987e-06,-1.55031193e-05, 1.38270108e-05,-3.32353533e-06,
 -1.26512826e-05,-6.98585386e-05,-1.27112540e-05, 8.35421311e-06,
 -1.32576865e-04,-3.62693163e-05,-1.08004612e-04,-1.43575100e-04,
  6.29153101e-08,-3.33143135e-07,-1.21644091e+00,-4.58268666e-04,
  1.05345006e-05,-5.51831844e-04]


--- Step 873 ---
qpos:
[ 1.20633830e-02,-1.20543057e-03, 2.46220154e-03, 4.19333694e-02,
  4.62467864e-03,-2.35360265e-03,-1.82350857e-02, 2.84584799e-02,
  1.31406474e-02, 4.43731499e-03,-1.03030438e-02, 2.64185558e-02,
  1.13977082e+00,-1.08866371e-03, 9.12472610e-01, 6.46922911e-02,
  9.36039869e-02,-7.01418893e-02, 1.30955316e-01, 5.00763304e-01,
  4.90553658e-01, 4.99019853e-01, 5.09482491e-01]

qacc:
[ -4.22502705,  0.26847237,  0.06716015, -1.51996581,  0.12977057,
   0.97548547, -4.96212462, 10.7451149 ,  4.76884512, -0.21879851,
  -1.89362408,  9.72727764, -0.28577762, -0.07439057, -2.49585404,
   5.67629216,  0.06401507,  1.04987861,  0.27775694,  2.11539009,
   0.15425847,-14.91267369]

qfrc_actuator:
[-4.28906388e-05, 2.72907989e-05, 6.72086516e-05, 1.01441802e-04,
  3.39742677e-05,-3.44087719e-04,-2.58230639e-04, 1.14087136e-05,
 -7.38105710e-07,-1.35853665e-04,-6.88586974e-05, 3.99966521e-05,
  1.94682333e-02,-1.36872939e-03, 5.11414387e-03,-2.97694913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.58036192, -0.65797322, -4.53285633, -0.65797322, 30.83034169,
       -3.81035319, -4.53285633, -3.81035319,  5.13345916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031178820189967094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11572132e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.11572132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180608, -0.08823271,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46940154e-05, 5.09629352e-05, 1.45687802e-05,-4.37034786e-07,
  7.76653812e-07,-1.22299434e-05,-1.09395329e-05, 1.52381542e-05,
  2.77917920e-05,-3.86260312e-05, 4.97539872e-06, 2.17821343e-05,
 -1.34358750e-04,-5.50840403e-05,-1.24176033e-04,-8.66843163e-06,
 -1.72625277e-07,-2.90179610e-07,-1.21644063e+00,-4.57534275e-04,
  1.12239640e-05,-5.51789654e-04]


--- Step 874 ---
qpos:
[ 1.20626734e-02,-1.20607067e-03, 2.46185493e-03, 4.19337826e-02,
  4.62467155e-03,-2.35438005e-03,-1.82352086e-02, 2.84596763e-02,
  1.31415953e-02, 4.43545941e-03,-1.03023334e-02, 2.64188226e-02,
  1.14023932e+00,-1.08825986e-03, 9.12841347e-01, 6.46900014e-02,
  9.35954771e-02,-7.01352114e-02, 1.30957408e-01, 5.00803474e-01,
  4.90484228e-01, 4.99028748e-01, 5.09501140e-01]

qacc:
[  0.41050734,  1.07852448, -1.74296539, -3.79503992, -6.01154871,
   0.93727337, -6.0814989 , 15.68723382,  9.04056838, -0.83119552,
   5.15233713,-13.12884486, -0.43449952,  0.21930042, -1.05779225,
   2.21820199,  0.06943856,  1.03565123,  0.16192896,  2.00098984,
   0.20152593,-14.76474206]

qfrc_actuator:
[-3.96691297e-05, 1.98032597e-05, 3.17515937e-05, 8.10479548e-05,
 -1.37329576e-06,-3.65356744e-04,-2.63707834e-04, 3.80023553e-05,
  5.13829396e-05,-9.77182960e-05,-5.68672687e-05, 1.89597593e-05,
  1.94240545e-02,-1.38028661e-03, 5.11007263e-03,-2.96779592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57362736, -0.49457426, -4.54680806, -0.49457426, 44.69650505,
       -4.36432377, -4.54680806, -4.36432377,  5.04835209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003098430589484613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180705, -0.08823356,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53895933e-06, 2.40270653e-05,-2.31413309e-05,-1.77136411e-05,
 -3.53298714e-05,-2.96956137e-05,-8.81804464e-06, 2.59874130e-05,
  5.28905046e-05, 1.85695850e-05, 5.39207733e-06,-2.20959091e-05,
 -1.38222556e-04,-5.16580533e-05,-6.32661020e-05,-7.54692184e-06,
 -3.92000689e-07,-1.61718462e-07,-1.21644065e+00,-4.56835262e-04,
  1.18042802e-05,-5.51661864e-04]


--- Step 875 ---
qpos:
[ 1.20626978e-02,-1.20660503e-03, 2.46115118e-03, 4.19343130e-02,
  4.62458566e-03,-2.35535086e-03,-1.82348120e-02, 2.84604449e-02,
  1.31424706e-02, 4.43380330e-03,-1.03017950e-02, 2.64184987e-02,
  1.14070690e+00,-1.08773912e-03, 9.13209747e-01, 6.46854411e-02,
  9.35872617e-02,-7.01244368e-02, 1.30959761e-01, 5.00856451e-01,
  4.90401845e-01, 4.99054188e-01, 5.09503447e-01]

qacc:
[  6.43743477,  1.36728081, -5.18808671,  7.73193035, -0.67132937,
  -2.58502912, 10.65614783,-18.75239575, -0.64719297, -0.47035041,
   4.55615256,-14.6546749 , -0.88216722,  1.22203908,  6.40770357,
 -23.01762879,  0.07357538,  1.02416048,  0.06521395,  1.90895526,
   0.23957124,-14.64401929]

qfrc_actuator:
[-1.97660259e-06, 1.53732289e-05, 1.09116964e-05, 8.66101758e-05,
 -4.41463409e-06,-3.59906129e-04,-2.31409748e-04, 1.76499872e-05,
  4.61545980e-05,-9.19434736e-05,-6.77291147e-05,-1.12499878e-05,
  1.93860539e-02,-1.36950509e-03, 5.08906800e-03,-3.08566179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003061602465832952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71971060e-13,  9.06570201e-14,  1.00000000e+00, -2.46560859e-26,
        1.00000000e+00, -9.06570201e-14, -1.00000000e+00,  0.00000000e+00,
        2.71971060e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180776, -0.08823482,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77771195e-05, 3.49651417e-06,-1.93286020e-05, 5.44743307e-06,
 -4.06018258e-06,-1.18481036e-05, 2.59866493e-05,-2.14235306e-05,
 -3.72356549e-06, 1.64056851e-05,-7.11481280e-06,-2.96574694e-05,
 -1.32961365e-04,-2.98469572e-05,-5.53120151e-05,-1.27422542e-04,
 -5.98045331e-07, 5.10650769e-08,-1.21644096e+00,-4.56163695e-04,
  1.22843433e-05,-5.51447602e-04]


--- Step 876 ---
qpos:
[ 1.20631738e-02,-1.20704069e-03, 2.46046510e-03, 4.19348807e-02,
  4.62480822e-03,-2.35604687e-03,-1.82342161e-02, 2.84605794e-02,
  1.31429320e-02, 4.43231919e-03,-1.03017135e-02, 2.64185296e-02,
  1.14117357e+00,-1.08709937e-03, 9.13576491e-01, 6.46803403e-02,
  9.35793531e-02,-7.01096023e-02, 1.30962053e-01, 5.00922175e-01,
  4.90306500e-01, 4.99096031e-01, 5.09489610e-01]

qacc:
[ 3.96723147e+00, 1.50204352e-01,-5.17090856e-01, 1.07623240e+00,
  2.70467095e+00,-1.50262856e+00, 8.55332629e+00,-2.00370504e+01,
 -3.65986323e+00, 2.24177574e+00,-9.14916590e+00, 1.58803978e+01,
 -7.28113677e-01, 9.63573208e-01,-7.68386042e-01,-7.63322693e-01,
  7.67120361e-02, 1.01498279e+00,-1.53074010e-02, 1.83481692e+00,
  2.70378864e-01,-1.45470059e+01]

qfrc_actuator:
[ 2.01887392e-05, 3.06181399e-05, 1.66561771e-05, 8.96649981e-05,
  1.15948319e-05,-3.20626122e-04,-2.12501221e-04,-1.23646965e-05,
  2.49583242e-05,-8.79358162e-05,-9.21109949e-05, 6.61344180e-06,
  1.93411445e-02,-1.36331460e-03, 4.98333418e-03,-3.11768966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003011350617442149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76509571e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.76509571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180829, -0.08823638,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32441461e-05, 1.34805397e-05, 4.28641300e-06, 2.64190438e-06,
  1.58893612e-05, 3.71315847e-05, 1.89262501e-05,-3.00404707e-05,
 -2.12995723e-05, 1.04970675e-05,-2.28807563e-05, 1.77466654e-05,
 -1.31913291e-04,-2.88838956e-05,-1.50812039e-04,-4.74879946e-05,
 -7.92881015e-07, 3.47164210e-07,-1.21644155e+00,-4.55513569e-04,
  1.26708801e-05,-5.51146266e-04]


--- Step 877 ---
qpos:
[ 1.20642571e-02,-1.20742418e-03, 2.46014003e-03, 4.19354623e-02,
  4.62487614e-03,-2.35657790e-03,-1.82339420e-02, 2.84607486e-02,
  1.31431357e-02, 4.43091320e-03,-1.03019242e-02, 2.64191204e-02,
  1.14163937e+00,-1.08637627e-03, 9.13941390e-01, 6.46762017e-02,
  9.35717607e-02,-7.00907368e-02, 1.30964016e-01, 5.01000599e-01,
  4.90198178e-01, 4.99154160e-01, 5.09459783e-01]

qacc:
[  5.34717077, -0.92235383,  3.31175561, -3.66741773, -1.36829791,
   1.19103404, -4.07276983,  5.06218956, -2.27772099,  2.07671799,
  -9.61108167, 19.70172223, -0.60338586,  0.72612133, -5.59237865,
  15.68744102,  0.07907265,  1.00776245, -0.08213482,  1.77502024,
   0.29550642,-14.47067722]

qfrc_actuator:
[ 5.07792401e-05, 3.98801216e-05, 3.81193279e-05, 9.12484123e-05,
  3.17378222e-06,-3.32449862e-04,-2.37019312e-04,-1.22942574e-05,
  1.23043880e-05,-8.50407821e-05,-1.06498565e-04, 3.48588528e-05,
  1.92974470e-02,-1.35992761e-03, 4.90678049e-03,-3.06353119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000295095443935689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52841433e-13, -5.64337597e-13,  1.00000000e+00,  8.62541667e-26,
        1.00000000e+00,  5.64337597e-13, -1.00000000e+00,  0.00000000e+00,
        1.52841433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180866, -0.08823818,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12581654e-05, 1.78281018e-05, 2.48774504e-05, 2.36085392e-06,
 -7.95437284e-06, 1.15855776e-05,-1.55562795e-05, 1.73121804e-06,
 -1.32598473e-05, 4.84600423e-06,-1.44058158e-05, 2.82529783e-05,
 -1.30644964e-04,-3.08518415e-05,-1.51185154e-04, 3.21458111e-05,
 -9.78100490e-07, 7.25739069e-07,-1.21644242e+00,-4.54880310e-04,
  1.29689727e-05,-5.50757424e-04]


--- Step 878 ---
qpos:
[ 1.20650090e-02,-1.20786281e-03, 2.46014439e-03, 4.19360742e-02,
  4.62484299e-03,-2.35723915e-03,-1.82338267e-02, 2.84609449e-02,
  1.31435307e-02, 4.42971166e-03,-1.03023761e-02, 2.64200251e-02,
  1.14210428e+00,-1.08559651e-03, 9.14305888e-01, 6.46708119e-02,
  9.35672184e-02,-7.00799450e-02, 1.30965031e-01, 5.01041996e-01,
  4.90131706e-01, 4.99190352e-01, 5.09447565e-01]

qacc:
[ -2.90059982, -0.92577532,  3.0765025 , -3.0473739 , -0.88864452,
   0.3284447 , -1.53194455,  2.34554186,  1.67266587,  1.5871226 ,
  -6.59796619, 12.27178044, -0.74956674,  0.96067521,  3.22856008,
 -12.05285671,  0.76248891, -2.01843584, -0.23725631,  9.57690336,
  -2.59871355, 29.66415278]

qfrc_actuator:
[ 3.28306069e-05, 2.78067839e-05, 5.09106404e-05, 9.19575354e-05,
 -1.81323123e-06,-3.57183310e-04,-2.51646660e-04,-1.23405717e-05,
  2.25377912e-05,-6.50356000e-05,-1.14871486e-04, 5.12338606e-05,
  1.92545076e-02,-1.35823466e-03, 4.92237263e-03,-3.11872117e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029516787746251827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40331850e-14, -1.88066370e-13,  1.00000000e+00,  1.76844797e-26,
        1.00000000e+00,  1.88066370e-13, -1.00000000e+00,  0.00000000e+00,
        9.40331850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819308 , -0.03150668,  0.06199156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70528192e-05, 3.15994952e-06, 1.96241299e-05, 2.37837639e-06,
 -5.20930652e-06,-2.13808988e-05,-1.40877019e-05,-5.38574567e-08,
  9.85321609e-06, 2.09982257e-05,-8.15039748e-06, 1.66369568e-05,
 -1.29416834e-04,-3.27288583e-05,-4.98764716e-05,-7.27048081e-05,
 -1.15490398e-06, 1.18610418e-06,-1.21644356e+00,-4.54260402e-04,
  1.31824513e-05,-5.50280753e-04]


--- Step 879 ---
qpos:
[ 1.20645055e-02,-1.20842349e-03, 2.46011330e-03, 4.19363791e-02,
  4.62475046e-03,-2.35834139e-03,-1.82334776e-02, 2.84614978e-02,
  1.31440449e-02, 4.42888063e-03,-1.03030055e-02, 2.64207475e-02,
  1.14256829e+00,-1.08476720e-03, 9.14670007e-01, 6.46644069e-02,
  9.35656241e-02,-7.00770950e-02, 1.30964409e-01, 5.01046782e-01,
  4.90106277e-01, 4.99205351e-01, 5.09452625e-01]

qacc:
[-11.03135507, -0.67319019,  3.49872327, -8.70430321, -0.50531749,
  -0.50130118, -0.56236277,  6.68324394,  1.03695551,  0.60822563,
  -0.69185151, -2.44898193, -0.75103573,  0.94673092,  2.54920713,
  -9.6275889 ,  0.73703874, -1.98544115, -0.40894162,  9.54232285,
  -2.39144582, 29.09225495]

qfrc_actuator:
[-3.12984155e-05, 3.01868022e-06, 4.06333942e-05, 7.43674118e-05,
 -4.73153142e-06,-3.89433381e-04,-2.42621362e-04, 5.28954731e-06,
  2.84050295e-05,-3.49219225e-05,-1.19569760e-04, 4.27560004e-05,
  1.92067289e-02,-1.35756480e-03, 4.91330186e-03,-3.16668111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54348948,  1.98689498, -4.08601823,  1.98689498, 17.39982194,
        6.25160754, -4.08601823,  6.25160754,  7.58343862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030091803848009135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84472661e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84472661e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192954, -0.03151035,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.46126831e-05,-1.88594444e-05,-7.12167490e-06,-1.67293054e-05,
 -3.07378243e-06,-4.70979582e-05, 2.87797135e-06, 1.62263355e-05,
  6.15005502e-06, 4.09368603e-05,-7.71741783e-07,-7.53488597e-06,
 -1.33125553e-04,-3.42793438e-05,-4.54565090e-05,-5.96454684e-05,
 -5.01169852e-07, 3.64491717e-07,-1.21644118e+00,-4.55312648e-04,
  1.18989577e-05,-5.49863140e-04]


--- Step 880 ---
qpos:
[ 1.20628922e-02,-1.20899526e-03, 2.45994091e-03, 4.19361191e-02,
  4.62462359e-03,-2.35982068e-03,-1.82330183e-02, 2.84622581e-02,
  1.31446256e-02, 4.42826146e-03,-1.03036031e-02, 2.64206779e-02,
  1.14303136e+00,-1.08365414e-03, 9.15032644e-01, 6.46628661e-02,
  9.35668957e-02,-7.00820762e-02, 1.30961574e-01, 5.01015311e-01,
  4.90121215e-01, 4.99199752e-01, 5.09474690e-01]

qacc:
[ -9.75757036, -0.76405019,  5.11868817,-14.6916678 , -0.29093052,
  -0.37843346, -0.24873533,  3.93970731,  0.58160624, -1.4403064 ,
   8.88412672,-22.79676649, -0.64073253,  0.91730247,-16.82375623,
  55.78198901,  0.71645384, -1.95782328, -0.553448  ,  9.50733649,
  -2.22570711, 28.61914524]

qfrc_actuator:
[-8.65738440e-05, 6.19595737e-06, 3.45007573e-05, 4.61229839e-05,
 -6.40987202e-06,-4.08077932e-04,-2.37486123e-04, 1.54325183e-05,
  3.16481507e-05,-3.44962330e-05,-1.22030521e-04, 1.98444846e-06,
  1.91667319e-02,-1.33977170e-03, 4.86814258e-03,-2.90824391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55156349,  2.14558178, -4.01412619,  2.14558178, 27.69479255,
       12.3702366 , -4.01412619, 12.3702366 , 11.16355153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030334543562618443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82996494e-13, -4.57491235e-13,  1.00000000e+00,  8.37192922e-26,
        1.00000000e+00,  4.57491235e-13, -1.00000000e+00,  0.00000000e+00,
        1.82996494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192821, -0.03151208,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71174428e-05,-9.55777547e-06,-1.14748219e-05,-2.96210179e-05,
 -1.78324649e-06,-4.36581130e-05,-3.66930221e-06, 8.54052515e-06,
  3.42935171e-06, 2.28751033e-05, 5.65524892e-06,-3.91890824e-05,
 -1.27833995e-04,-1.83517836e-05,-7.82429167e-05, 2.48009849e-04,
 -1.01580220e-07, 2.12666796e-08,-1.21644009e+00,-4.56137091e-04,
  1.13000543e-05,-5.49661792e-04]


--- Step 881 ---
qpos:
[ 1.20613183e-02,-1.20957921e-03, 2.45967014e-03, 4.19355198e-02,
  4.62447720e-03,-2.36116998e-03,-1.82329611e-02, 2.84624135e-02,
  1.31455856e-02, 4.42788861e-03,-1.03042851e-02, 2.64208148e-02,
  1.14349351e+00,-1.08207515e-03, 9.15394428e-01, 6.46666595e-02,
  9.35709667e-02,-7.00947967e-02, 1.30956039e-01, 5.00947874e-01,
  4.90175961e-01, 4.99174036e-01, 5.09513529e-01]

qacc:
[ 3.43215459e-01,-4.40803097e-01, 2.97869029e+00,-8.68188384e+00,
 -1.86277594e-01, 5.08935925e-02, 2.62295569e+00,-1.25463959e+01,
  3.33103377e+00, 9.80323686e-01,-3.90640818e+00, 7.44692783e+00,
 -7.87974166e-01, 1.31829749e+00,-1.73004443e+01, 5.88326062e+01,
  6.99845178e-01,-1.93480765e+00,-6.75013965e-01, 9.47412396e+00,
 -2.09275379e+00, 2.82298488e+01]

qfrc_actuator:
[-8.29226304e-05, 8.33767363e-06, 3.09749084e-05, 2.96191880e-05,
 -7.34552463e-06,-3.82941460e-04,-2.52407367e-04,-1.44155561e-05,
  5.10745112e-05,-1.63676392e-05,-1.23287029e-04, 1.35298661e-05,
  1.91314398e-02,-1.31195869e-03, 4.86002686e-03,-2.63121529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5507596 , -2.33377817,  3.90677519, -2.33377817, 19.75708951,
        9.08375811,  3.90677519,  9.08375811,  9.97709599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003031049726310159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83141671e-13, -3.20497925e-13,  1.00000000e+00,  5.86965255e-26,
        1.00000000e+00,  3.20497925e-13, -1.00000000e+00,  0.00000000e+00,
        1.83141671e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819268 , -0.03151225,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02668420e-06,-6.83383926e-06,-7.92498123e-06,-1.78819337e-05,
 -1.00196217e-06, 3.77122501e-07,-2.40851015e-05,-3.16791473e-05,
  1.95305968e-05, 3.04418183e-05, 2.82406912e-06, 1.19615495e-05,
 -1.16087216e-04,-4.10902524e-06,-1.87833581e-05, 2.80280701e-04,
  6.26457956e-08, 1.33866764e-07,-1.21644021e+00,-4.56781200e-04,
  1.13627694e-05,-5.49667333e-04]


--- Step 882 ---
qpos:
[ 1.20598001e-02,-1.21034676e-03, 2.45940024e-03, 4.19350880e-02,
  4.62397574e-03,-2.36236687e-03,-1.82331526e-02, 2.84621962e-02,
  1.31464260e-02, 4.42775234e-03,-1.03049643e-02, 2.64207385e-02,
  1.14395488e+00,-1.08044349e-03, 9.15756379e-01, 6.46696995e-02,
  9.35777837e-02,-7.01151801e-02, 1.30947394e-01, 5.00844709e-01,
  4.90270050e-01, 4.99128582e-01, 5.09568949e-01]

qacc:
[ 0.49222402, 0.09880311,-1.41214501, 4.44364533,-3.12271549, 0.13574289,
  1.39279672,-7.56966608,-1.05671615,-0.13202688, 1.8281476 ,-5.70027143,
 -0.67036189, 0.86294331, 2.56090393,-8.50622886, 0.68649068,-1.91572399,
 -0.77724423, 9.44415992,-1.98564419,27.91183509]

qfrc_actuator:
[-8.01259925e-05,-7.88902540e-06, 2.90267261e-05, 3.79128553e-05,
 -2.55892834e-05,-3.67397845e-04,-2.61141809e-04,-3.20236188e-05,
  4.43661081e-05,-5.48913179e-06,-1.23717409e-04, 2.52579742e-06,
  1.90883513e-02,-1.31393467e-03, 4.84750507e-03,-2.68274765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54291254, -2.53072076,  3.772732  , -2.53072076, 26.29541175,
       14.59141582,  3.772732  , 14.59141582, 14.3307265 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003007435333677172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84579700e-13,  3.69159400e-13,  1.00000000e+00, -6.81393315e-26,
        1.00000000e+00, -3.69159400e-13, -1.00000000e+00,  0.00000000e+00,
        1.84579700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192534, -0.0315112 ,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85522375e-06,-2.24199645e-05,-4.94167015e-06, 7.38208576e-06,
 -1.82699160e-05, 9.46970431e-06,-1.27046748e-05,-1.90392152e-05,
 -6.14535002e-06, 2.90287193e-05, 6.63172378e-06,-9.36757458e-06,
 -1.12966817e-04,-2.87584027e-05, 4.80002341e-06,-3.95366020e-05,
  5.44272687e-09, 6.85624741e-07,-1.21644150e+00,-4.57279703e-04,
  1.20686754e-05,-5.49872518e-04]


--- Step 883 ---
qpos:
[ 1.20586722e-02,-1.21136490e-03, 2.45942614e-03, 4.19347470e-02,
  4.62360462e-03,-2.36370607e-03,-1.82331292e-02, 2.84628110e-02,
  1.31468348e-02, 4.42760287e-03,-1.03052143e-02, 2.64198431e-02,
  1.14441576e+00,-1.07969556e-03, 9.16118574e-01, 6.46664958e-02,
  9.35849653e-02,-7.01311413e-02, 1.30942565e-01, 5.00755693e-01,
  4.90349626e-01, 4.99101193e-01, 5.09606691e-01]

qacc:
[  3.44410061, -0.97781333,  2.61030412, -1.31273992,  1.15204016,
   0.92070721, -7.0738528 , 21.24100157, -3.7845352 , -2.89577069,
  13.77122237,-28.6382755 ,  0.07838704, -1.01763811, 19.17436535,
 -66.62888895,  0.09117208,  1.10555111,  0.9537894 ,  1.91225236,
   0.3573382 ,-16.08241843]

qfrc_actuator:
[-6.01214627e-05,-1.72078791e-05, 4.57178984e-05, 4.29613670e-05,
 -1.83692842e-05,-3.75437002e-04,-2.48403987e-04, 1.09799889e-05,
  2.23240553e-05,-1.68021065e-05,-1.05953030e-04,-3.94234875e-05,
  1.90512568e-02,-1.36906242e-03, 4.81097534e-03,-3.01622577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031131915351471917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11443415e-14, -1.78309463e-13,  1.00000000e+00,  1.98714155e-27,
        1.00000000e+00,  1.78309463e-13, -1.00000000e+00,  0.00000000e+00,
        1.11443415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181187, -0.08823394,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00806222e-05,-2.25229967e-05, 1.17214196e-05, 4.06416704e-06,
  6.70347338e-06,-6.14398169e-06, 1.24875730e-05, 4.26036607e-05,
 -2.22075341e-05, 5.90203361e-06, 2.42641661e-05,-4.06557122e-05,
 -1.11064696e-04,-8.59079927e-05,-4.66566711e-05,-3.36912650e-04,
 -2.63004044e-07, 1.66474378e-06,-1.21644391e+00,-4.57658078e-04,
  1.34033224e-05,-5.50271736e-04]


--- Step 884 ---
qpos:
[ 1.20584828e-02,-1.21253052e-03, 2.45964320e-03, 4.19341177e-02,
  4.62332282e-03,-2.36527525e-03,-1.82328627e-02, 2.84636002e-02,
  1.31473214e-02, 4.42715740e-03,-1.03048535e-02, 2.64191668e-02,
  1.14487610e+00,-1.07987607e-03, 9.16480471e-01, 6.46618958e-02,
  9.35925141e-02,-7.01427743e-02, 1.30940647e-01, 5.00680521e-01,
  4.90414994e-01, 4.99091465e-01, 5.09627177e-01]

qacc:
[  8.2553193 , -1.33947232,  5.68112222,-10.83521305,  0.79456864,
  -0.62589173,  1.05162212,  1.75026084,  0.70878467, -1.64816159,
   4.38099946, -1.34263316,  0.33492615, -1.52192921,  3.73236749,
 -13.79712531,  0.0917861 ,  1.08204528,  0.72772567,  1.85407086,
   0.35657247,-15.72325149]

qfrc_actuator:
[-1.23965397e-05,-2.22415684e-05, 5.55447574e-05, 2.83196880e-05,
 -1.39670362e-05,-3.97392058e-04,-2.40899580e-04, 1.82843232e-05,
  2.69468916e-05,-4.12748081e-05,-7.76993291e-05,-2.82381248e-05,
  1.90177602e-02,-1.41966063e-03, 4.83458908e-03,-3.06926381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61015892, -3.00793965,  3.49368921, -3.00793965,  8.88072637,
        3.67680363,  3.49368921,  3.67680363,  7.77575344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032019248215053864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73368066e-13,  8.66840328e-14,  1.00000000e+00, -1.50282431e-26,
        1.00000000e+00, -8.66840328e-14, -1.00000000e+00,  0.00000000e+00,
        1.73368066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181235, -0.08823154,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82909626e-05,-1.49854714e-05, 6.77144524e-06,-1.51195917e-05,
  4.58903750e-06,-2.09362520e-05, 9.26152538e-06, 8.30354632e-06,
  3.99376384e-06,-1.78985714e-05, 3.10627647e-05, 1.14905213e-05,
 -1.20374566e-04,-9.17113360e-05,-4.17170294e-05,-7.93035615e-05,
 -2.68892102e-07, 1.14165242e-06,-1.21644261e+00,-4.57599674e-04,
  1.31468494e-05,-5.50634543e-04]


--- Step 885 ---
qpos:
[ 1.20588669e-02,-1.21364782e-03, 2.45987361e-03, 4.19336503e-02,
  4.62240602e-03,-2.36678475e-03,-1.82328447e-02, 2.84637775e-02,
  1.31478593e-02, 4.42662865e-03,-1.03047510e-02, 2.64186631e-02,
  1.14533558e+00,-1.08032816e-03, 9.16841372e-01, 6.46600274e-02,
  9.36004320e-02,-7.01501579e-02, 1.30940878e-01, 5.00618938e-01,
  4.90466410e-01, 4.99099058e-01, 5.09630757e-01]

qacc:
[  5.04011748,  0.35009448, -1.85538755,  4.61680071, -5.57482286,
  -0.47439344,  4.40906214,-14.66697333,  0.44524847,  0.96581748,
  -4.33337111,  7.79499279, -0.23752181, -0.17362005, -9.70820379,
  31.84199928,  0.0922905 ,  1.06236277,  0.53741793,  1.80783928,
   0.35452722,-15.42380611]

qfrc_actuator:
[ 1.57511296e-05,-6.95442466e-06, 6.12393537e-05, 3.77120126e-05,
 -4.67718258e-05,-3.92046795e-04,-2.54402079e-04,-1.32586443e-05,
  2.94793115e-05,-5.56026433e-05,-9.67631143e-05,-2.13879179e-05,
  1.89704675e-02,-1.43163766e-03, 4.80911610e-03,-2.92088261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003249938099846861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70806795e-13,  8.54033977e-14,  1.00000000e+00, -1.45874807e-26,
        1.00000000e+00, -8.54033977e-14, -1.00000000e+00,  0.00000000e+00,
        1.70806795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181269, -0.08823025,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95202185e-05, 7.71666992e-06, 2.92078691e-06, 8.69184184e-06,
 -3.26819164e-05,-4.03964510e-06,-1.63854470e-05,-3.19571759e-05,
  2.63673625e-06,-1.74116217e-05,-1.85344847e-05, 7.38322804e-06,
 -1.40506071e-04,-5.66254230e-05,-5.88615214e-05, 1.37352890e-04,
 -2.64078131e-07, 7.31169417e-07,-1.21644166e+00,-4.57559082e-04,
  1.28010374e-05,-5.50899791e-04]


--- Step 886 ---
qpos:
[ 1.20595857e-02,-1.21450561e-03, 2.46006251e-03, 4.19332751e-02,
  4.62179309e-03,-2.36828666e-03,-1.82330329e-02, 2.84642701e-02,
  1.31480783e-02, 4.42613389e-03,-1.03049319e-02, 2.64182326e-02,
  1.14579412e+00,-1.08067830e-03, 9.17201289e-01, 6.46557213e-02,
  9.36087209e-02,-7.01533576e-02, 1.30942620e-01, 5.00570732e-01,
  4.90504092e-01, 4.99123692e-01, 5.09617718e-01]

qacc:
[  2.93560302,  0.64343073, -2.19545399,  3.67721212,  2.65694287,
   1.22908629, -5.70857021, 11.4989247 , -2.81557439,  0.99304625,
  -3.77489734,  5.45834982, -0.86011044,  1.16134378,  5.95711095,
 -22.83274542,  0.09273239,  1.04597184,  0.37752564,  1.77149387,
   0.35152118,-15.1751542 ]

qfrc_actuator:
[ 3.21419470e-05, 2.03884298e-05, 6.45559365e-05, 4.34372763e-05,
 -3.02017113e-05,-3.88271657e-04,-2.62361631e-04, 3.61709170e-06,
  1.30001600e-05,-4.61852498e-05,-1.08087483e-04,-1.71798353e-05,
  1.89309235e-02,-1.42072746e-03, 4.71165845e-03,-3.06352969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032650855024171643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12517985e-13,  8.50071938e-14,  1.00000000e+00,  1.80655575e-26,
        1.00000000e+00, -8.50071938e-14, -1.00000000e+00,  0.00000000e+00,
       -2.12517985e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181291, -0.08822985,  0.06199067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72362446e-05, 3.26816497e-05, 5.58082906e-06, 6.32782362e-06,
  1.56384652e-05,-3.19496725e-06,-1.18996723e-05, 1.55180257e-05,
 -1.64115419e-05,-3.80971728e-06,-1.69418746e-05, 2.96636842e-06,
 -1.36566139e-04,-3.14934469e-05,-1.12996308e-04,-1.43415166e-04,
 -2.49731223e-07, 4.25914586e-07,-1.21644104e+00,-4.57534224e-04,
  1.23698884e-05,-5.51069255e-04]


--- Step 887 ---
qpos:
[ 1.20601508e-02,-1.21514000e-03, 2.46005270e-03, 4.19322962e-02,
  4.62241799e-03,-2.36985088e-03,-1.82330214e-02, 2.84649414e-02,
  1.31480981e-02, 4.42559043e-03,-1.03049798e-02, 2.64181825e-02,
  1.14625173e+00,-1.08065907e-03, 9.17560341e-01, 6.46493260e-02,
  9.36173823e-02,-7.01524276e-02, 1.30945335e-01, 5.00535724e-01,
  4.90528218e-01, 4.99165135e-01, 5.09588290e-01]

qacc:
[ -1.36130724, -0.38999057,  4.37016737,-14.66542293, 10.85658699,
  -0.29363278,  0.1358108 ,  2.72495066, -1.74766642,  0.35085453,
  -2.94521207,  9.34818825, -1.07685495,  1.73892102,  5.09782416,
 -19.52828855,  0.09314617,  1.03241499,  0.24349999,  1.74335561,
   0.3477948 ,-14.96981692]

qfrc_actuator:
[ 2.37354603e-05, 1.92289127e-05, 4.87426000e-05, 1.14619040e-05,
  3.30611009e-05,-3.85410359e-04,-2.49185715e-04, 1.33563212e-05,
  3.21639688e-06,-4.03572932e-05,-9.68870653e-05, 3.22598154e-06,
  1.88960657e-02,-1.39634982e-03, 4.68288624e-03,-3.16368545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032539584641674835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27946819e-13,  8.52978792e-14,  1.00000000e+00, -1.09135923e-26,
        1.00000000e+00, -8.52978792e-14, -1.00000000e+00,  0.00000000e+00,
        1.27946819e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181304, -0.08823015,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90262073e-06, 1.85735526e-05,-8.14909362e-06,-3.02574889e-05,
  6.37076096e-05,-6.57050613e-07, 1.16052061e-05, 9.49460320e-06,
 -1.02526412e-05, 3.41059065e-07, 8.43909521e-06, 1.97172746e-05,
 -1.24881538e-04,-1.16142062e-05,-9.91068232e-05,-1.23214734e-04,
 -2.26697633e-07, 2.20019627e-07,-1.21644074e+00,-4.57523622e-04,
  1.18562421e-05,-5.51144433e-04]


--- Step 888 ---
qpos:
[ 1.20599212e-02,-1.21575514e-03, 2.46019366e-03, 4.19312897e-02,
  4.62345143e-03,-2.37134284e-03,-1.82331805e-02, 2.84657325e-02,
  1.31480001e-02, 4.42537722e-03,-1.03055989e-02, 2.64180318e-02,
  1.14670856e+00,-1.08087840e-03, 9.17918440e-01, 6.46456367e-02,
  9.36264180e-02,-7.01474124e-02, 1.30948577e-01, 5.00513766e-01,
  4.90538939e-01, 4.99223194e-01, 5.09542659e-01]

qacc:
[ -6.979539  , -0.43940729,  1.74372888, -2.50256314,  3.5741738 ,
   0.81100279, -3.27101528,  5.57567439, -1.06044215,  1.82754123,
  -5.45421625,  4.37755251, -0.20522085, -0.16704452, -9.56712624,
  31.44003396,  0.09355649,  1.0212979 ,  0.13145439,  1.72205386,
   0.34352796,-14.80150249]

qfrc_actuator:
[-1.69475037e-05, 1.86529275e-05, 5.71303784e-05, 1.07830437e-05,
  5.22734990e-05,-3.83030500e-04,-2.59157214e-04, 1.88240493e-05,
 -2.54226099e-06,-1.88612953e-05,-1.25732659e-04,-2.49146570e-06,
  1.88480756e-02,-1.41745782e-03, 4.69002431e-03,-3.00693578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 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: -0.0003222073726114605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61419631e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.61419631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181309, -0.08823101,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.08975050e-05, 6.85160201e-06, 1.01832660e-05,-7.50211189e-07,
  2.10285306e-05, 4.89387484e-06,-8.33499024e-06, 6.02522628e-06,
 -6.05277155e-06, 2.42917311e-05,-2.70459851e-05,-5.02523735e-06,
 -1.26332558e-04,-5.05985070e-05,-5.51704117e-05, 1.36467605e-04,
 -1.95580387e-07, 1.08820886e-07,-1.21644073e+00,-4.57526254e-04,
  1.12620442e-05,-5.51126577e-04]


--- Step 889 ---
qpos:
[ 1.20592058e-02,-1.21646963e-03, 2.46071686e-03, 4.19313178e-02,
  4.62401798e-03,-2.37299938e-03,-1.82330567e-02, 2.84662369e-02,
  1.31481789e-02, 4.42522939e-03,-1.03070555e-02, 2.64182125e-02,
  1.14716451e+00,-1.08151918e-03, 9.18275696e-01, 6.46438426e-02,
  9.36358296e-02,-7.01383481e-02, 1.30951970e-01, 5.00504736e-01,
  4.90536377e-01, 4.99297716e-01, 5.09480974e-01]

qacc:
[ -4.2544809 ,  0.93962922, -7.89137624, 25.23796247, -4.08054993,
  -1.58893509,  6.57460804,-11.88178128,  2.40890906,  3.10395271,
 -12.34888092, 19.3814347 , -0.16518319, -0.41654293, -6.96511226,
  22.55643968,  0.09398057,  1.01228053,  0.03806139,  1.70646638,
   0.33885398,-14.66490055]

qfrc_actuator:
[-4.07886004e-05, 1.85418329e-05, 7.97688381e-05, 6.40528263e-05,
  2.76371763e-05,-3.98801791e-04,-2.47221539e-04, 3.96376339e-06,
  1.18650641e-05,-4.15818157e-05,-1.77954924e-04, 1.19513679e-05,
  1.87869007e-02,-1.44764438e-03, 4.64951230e-03,-2.91303378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003174033840731838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62337237e-13, -8.74457457e-14,  1.00000000e+00, -2.29402753e-26,
        1.00000000e+00,  8.74457457e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62337237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181308, -0.08823231,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50005750e-05, 5.80100558e-06, 2.52916310e-05, 5.39060995e-05,
 -2.40347008e-05,-1.44363928e-05, 1.21450376e-05,-1.48206470e-05,
  1.42437987e-05,-1.49256299e-05,-5.06994663e-05, 1.44526507e-05,
 -1.48299379e-04,-6.82220583e-05,-5.45025211e-05, 9.35486947e-05,
 -1.56798581e-07, 8.86155117e-08,-1.21644102e+00,-4.57541457e-04,
  1.05885479e-05,-5.51016726e-04]


--- Step 890 ---
qpos:
[ 1.20585548e-02,-1.21712177e-03, 2.46119875e-03, 4.19319924e-02,
  4.62428497e-03,-2.37480453e-03,-1.82322410e-02, 2.84668740e-02,
  1.31488743e-02, 4.42458599e-03,-1.03085997e-02, 2.64182406e-02,
  1.14761949e+00,-1.08247503e-03, 9.18632585e-01, 6.46414748e-02,
  9.36456189e-02,-7.01252635e-02, 1.30955206e-01, 5.00508535e-01,
  4.90520632e-01, 4.99388574e-01, 5.09403346e-01]

qacc:
[  0.56361986,  1.52857917, -8.05944269, 19.26528772, -2.60118069,
  -1.85061896,  5.76210833, -4.47010312,  4.55081245, -0.73262032,
   2.29023838, -4.40727984, -0.46659616,  0.14612093,  1.20776631,
  -4.97085316,  0.09443009,  1.00506971, -0.03953076,  1.69567174,
   0.33387052,-14.55551851]

qfrc_actuator:
[-3.67630152e-05, 1.88205881e-05, 7.51606540e-05, 9.53826576e-05,
  1.29088919e-05,-3.89750576e-04,-2.04774102e-04, 1.27704783e-05,
  3.80244343e-05,-9.06994885e-05,-1.90450581e-04, 2.59339473e-06,
  1.87338290e-02,-1.46524713e-03, 4.62836676e-03,-2.94587527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003113664481521894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00283838e-13, -1.78282379e-13,  1.00000000e+00,  1.78788413e-26,
        1.00000000e+00,  1.78282379e-13, -1.00000000e+00,  0.00000000e+00,
        1.00283838e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181303, -0.08823394,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31482883e-06, 1.10696408e-05, 1.57403484e-06, 3.35042639e-05,
 -1.54187746e-05, 2.90111577e-06, 4.04666208e-05, 8.32314329e-06,
  2.65583662e-05,-6.72899149e-05,-2.13054490e-05,-1.14679596e-05,
 -1.57377999e-04,-6.41141860e-05,-3.99618026e-05,-3.55847261e-05,
 -1.10631769e-07, 1.56466527e-07,-1.21644159e+00,-4.57568839e-04,
  9.83646795e-06,-5.50815736e-04]


--- Step 891 ---
qpos:
[ 1.20576117e-02,-1.21745930e-03, 2.46128503e-03, 4.19323390e-02,
  4.62471781e-03,-2.37629210e-03,-1.82316578e-02, 2.84676153e-02,
  1.31491880e-02, 4.42328800e-03,-1.03096236e-02, 2.64177898e-02,
  1.14807344e+00,-1.08314630e-03, 9.18988867e-01, 6.46407019e-02,
  9.36557879e-02,-7.01081813e-02, 1.30958026e-01, 5.00525081e-01,
  4.90491781e-01, 4.99495667e-01, 5.09309861e-01]

qacc:
[ -2.58423522,  0.85134768, -1.03929805, -4.24460414,  1.44086818,
   1.28000804, -4.39956827,  6.34368221, -3.33158897, -3.29855681,
  12.53946676,-21.19054077, -0.90950984,  1.33768979, -5.64846911,
  18.60135474,  0.0949126 ,  0.99941297, -0.10376689,  1.68891167,
   0.32864817,-14.4695497 ]

qfrc_actuator:
[-5.18785041e-05, 3.69639150e-05, 5.44751406e-05, 7.80175700e-05,
  2.18974916e-05,-3.65755981e-04,-2.15552303e-04, 1.77200246e-05,
  1.76267316e-05,-1.19615400e-04,-1.61772419e-04,-2.06938160e-05,
  1.87016364e-02,-1.43973214e-03, 4.61882867e-03,-2.85777295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030441320387052107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02574468e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.02574468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09181294, -0.08823582,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50173375e-05, 2.61137514e-05,-1.70448688e-05,-1.61853502e-05,
  8.54781813e-06, 3.43813204e-05,-4.89541347e-06, 6.63748240e-06,
 -1.96689048e-05,-7.13843965e-05, 1.17826840e-05,-2.71274017e-05,
 -1.41072093e-04,-2.22125812e-05,-3.75626342e-05, 7.96822150e-05,
 -5.72533401e-08, 3.10046079e-07,-1.21644243e+00,-4.57608226e-04,
  9.00609709e-06,-5.50524300e-04]


--- Step 892 ---
qpos:
[ 1.20568400e-02,-1.21773364e-03, 2.46118563e-03, 4.19328384e-02,
  4.62525473e-03,-2.37726006e-03,-1.82315967e-02, 2.84684042e-02,
  1.31492546e-02, 4.42156898e-03,-1.03095916e-02, 2.64176860e-02,
  1.14852640e+00,-1.08329474e-03, 9.19344484e-01, 6.46410003e-02,
  9.36619984e-02,-7.00987949e-02, 1.30959797e-01, 5.00529407e-01,
  4.90472564e-01, 4.99560181e-01, 5.09260839e-01]

qacc:
[  1.49900511,  0.91444948, -3.78843933,  6.68622033,  0.88706059,
   2.24094497, -7.19842113,  8.47787508, -2.13310593, -2.78908419,
   7.67929342, -3.05909643, -1.10384679,  1.87231617, -4.13879049,
  13.23185091, -0.98960613, -1.92396284, -0.26251164,-16.53977118,
   0.847572  , 27.08818506]

qfrc_actuator:
[-4.26427446e-05, 3.00435295e-05, 4.22666815e-05, 8.54093078e-05,
  2.70180125e-05,-3.33202113e-04,-2.39865661e-04, 2.03308093e-05,
  5.49167669e-06,-1.00547721e-04,-9.12102316e-05, 1.30682925e-06,
  1.86660345e-02,-1.40657275e-03, 4.58433501e-03,-2.80555938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003050172611838292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09967374e-14,  2.27491843e-13,  1.00000000e+00, -2.07010155e-26,
        1.00000000e+00, -2.27491843e-13, -1.00000000e+00,  0.00000000e+00,
        9.09967374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951664, -0.03386944,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81992446e-06, 3.47655103e-06,-9.46991742e-06, 7.60631292e-06,
  5.37626433e-06, 5.11016478e-05,-1.75765421e-05, 4.04400336e-06,
 -1.27233801e-05,-1.95254095e-05, 5.63587560e-05, 1.88283301e-05,
 -1.24973693e-04,-2.65479982e-06,-4.82066548e-05, 5.06148787e-05,
  3.24428765e-09, 5.47508815e-07,-1.21644354e+00,-4.57659618e-04,
  8.09739600e-06,-5.50142971e-04]


--- Step 893 ---
qpos:
[ 1.20568750e-02,-1.21817098e-03, 2.46104326e-03, 4.19334419e-02,
  4.62550383e-03,-2.37751416e-03,-1.82319825e-02, 2.84695329e-02,
  1.31495194e-02, 4.42014471e-03,-1.03093037e-02, 2.64181536e-02,
  1.14897853e+00,-1.08333207e-03, 9.19699262e-01, 6.46416243e-02,
  9.36642995e-02,-7.00969635e-02, 1.30959850e-01, 5.00521579e-01,
  4.90462818e-01, 4.99583019e-01, 5.09255516e-01]

qacc:
[  7.09023905,  0.10543546, -1.15196594,  3.16898048, -2.54872793,
   2.89494773,-10.38020349, 16.44062332,  1.74766672,  0.84723032,
  -4.87432102, 14.14448125, -0.65719653,  0.86106298, -2.18089631,
   5.92353571, -0.97735882, -1.88873719, -0.4293174 ,-16.17600192,
   0.91035847, 26.61706372]

qfrc_actuator:
[-1.39016595e-06, 8.21048722e-06, 3.50927822e-05, 8.95529631e-05,
  1.20604686e-05,-2.78089121e-04,-2.54164835e-04, 3.93057499e-05,
  1.60848529e-05,-5.26616348e-05,-6.72719437e-05, 3.20932091e-05,
  1.86230946e-02,-1.40468407e-03, 4.53489517e-03,-2.79274602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57309658, -0.40878845,  4.55478916, -0.40878845, 43.77249176,
        3.51811231,  4.55478916,  3.51811231,  4.88884416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003096890100074412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96240251e-14, -1.34436038e-13,  1.00000000e+00,  1.20486988e-26,
        1.00000000e+00,  1.34436038e-13, -1.00000000e+00,  0.00000000e+00,
        8.96240251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1095146 , -0.03387151,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15056510e-05,-2.15036701e-05,-7.35524503e-06, 4.11250894e-06,
 -1.47858125e-05, 8.02662920e-05,-5.76049315e-06, 2.06354882e-05,
  1.02163828e-05, 4.94737527e-05, 2.75189021e-05, 3.22706681e-05,
 -1.18412699e-04,-2.62965106e-05,-7.08218663e-05, 8.32684430e-06,
 -9.65220249e-08, 2.32884037e-07,-1.21644117e+00,-4.58056821e-04,
  9.76611186e-06,-5.49969586e-04]


--- Step 894 ---
qpos:
[ 1.20577491e-02,-1.21864479e-03, 2.46076968e-03, 4.19340805e-02,
  4.62557212e-03,-2.37749940e-03,-1.82326166e-02, 2.84702330e-02,
  1.31499088e-02, 4.41938138e-03,-1.03097108e-02, 2.64186596e-02,
  1.14942982e+00,-1.08305809e-03, 9.20053227e-01, 6.46417210e-02,
  9.36627327e-02,-7.01025701e-02, 1.30957624e-01, 5.00501656e-01,
  4.90462406e-01, 4.99564918e-01, 5.09293249e-01]

qacc:
[  7.37049102,  0.37645354, -1.58470237,  2.45399859, -1.59735926,
   0.17021747,  1.72423651, -8.95004147,  1.06249223,  2.89297837,
  -9.2133526 , 10.50614747, -0.88968681,  1.40307554,  0.45056966,
  -3.18338435, -0.96699906, -1.85951339, -0.56969768,-15.87777678,
   0.95742975, 26.2259112 ]

qfrc_actuator:
[ 4.06160404e-05, 1.31360312e-05, 3.08711679e-05, 9.17352182e-05,
  3.15900076e-06,-2.98605885e-04,-2.80074510e-04, 1.45300380e-05,
  2.22158854e-05,-2.35371154e-05,-1.06435556e-04, 3.22825286e-05,
  1.85864241e-02,-1.38584997e-03, 4.49250458e-03,-2.82100826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57819791, -0.68162585,  4.52717155, -0.68162585, 39.51414921,
        5.26007182,  4.52717155,  5.26007182,  5.37017163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031116506289166623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91988816e-14,  1.78397763e-13,  1.00000000e+00, -1.59128810e-26,
        1.00000000e+00, -1.78397763e-13, -1.00000000e+00,  0.00000000e+00,
        8.91988816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951351, -0.033872  ,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31810324e-05,-8.41201573e-06,-9.42329115e-06, 1.08477148e-06,
 -9.29584319e-06, 2.40685031e-05,-9.32041830e-06,-2.11340785e-05,
  6.43198065e-06, 6.39094015e-05,-2.44259117e-05, 3.89082465e-06,
 -1.13902531e-04,-1.24111359e-05,-7.76968479e-05,-3.77493574e-05,
 -5.45623285e-08, 5.66741381e-08,-1.21644009e+00,-4.58527440e-04,
  1.05385961e-05,-5.50042036e-04]


--- Step 895 ---
qpos:
[ 1.20587751e-02,-1.21897099e-03, 2.46034537e-03, 4.19347176e-02,
  4.62518869e-03,-2.37796613e-03,-1.82329006e-02, 2.84703421e-02,
  1.31503686e-02, 4.41935429e-03,-1.03108994e-02, 2.64184701e-02,
  1.14988030e+00,-1.08254863e-03, 9.20406820e-01, 6.46423338e-02,
  9.36573325e-02,-7.01155181e-02, 1.30952647e-01, 5.00469692e-01,
  4.90471211e-01, 4.99506472e-01, 5.09373501e-01]

qacc:
[  1.3280734 ,  0.61081041, -1.89271203,  2.0033123 , -3.94028348,
  -2.82144982, 11.64627269,-22.09360628,  0.58209821,  1.72412895,
  -1.80105979, -9.52655419, -0.76240885,  1.14271298, -2.05644165,
   6.51360591, -0.95832019, -1.83535856, -0.68776493,-15.63456207,
   0.99189275, 25.9031731 ]

qfrc_actuator:
[ 4.72140431e-05, 3.40553868e-05, 2.85263647e-05, 9.27681148e-05,
 -1.98533438e-05,-3.64341068e-04,-2.77465103e-04,-1.81108780e-05,
  2.56640452e-05, 1.15989898e-05,-1.47106459e-04,-3.33460619e-06,
  1.85482212e-02,-1.37484589e-03, 4.50762927e-03,-2.78443001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57445952, -0.9886    ,  4.46635757, -0.9886    , 39.82075335,
        7.80154422,  4.46635757,  7.80154422,  6.30128199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031008435402046786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.68529275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.68529275e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951317, -0.03387122,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.82551029e-06, 1.43465364e-05,-5.20076472e-06, 3.65860396e-07,
 -2.32678498e-05,-5.51049142e-05, 5.70753590e-06,-3.23430498e-05,
  3.65129564e-06, 6.60305900e-05,-3.03308557e-05,-3.36464857e-05,
 -1.09734560e-04,-1.63806430e-05,-2.83640681e-05, 2.36660500e-05,
  1.25860343e-07, 1.05197002e-08,-1.21644022e+00,-4.59079621e-04,
  1.04682778e-05,-5.50358540e-04]


--- Step 896 ---
qpos:
[ 1.20595278e-02,-1.21932960e-03, 2.46026982e-03, 4.19346595e-02,
  4.62453195e-03,-2.37836210e-03,-1.82333545e-02, 2.84700247e-02,
  1.31508665e-02, 4.41973105e-03,-1.03128008e-02, 2.64185846e-02,
  1.15033000e+00,-1.08188688e-03, 9.20759968e-01, 6.46443474e-02,
  9.36481278e-02,-7.01357281e-02, 1.30944522e-01, 5.00425726e-01,
  4.90489133e-01, 4.99408155e-01, 5.09495827e-01]

qacc:
[ -2.3910235 , -2.44526005, 11.59633906,-24.16337979, -2.40223089,
  -0.30403566,  3.02889388,-10.19901601,  0.30567018,  3.15080757,
 -11.74408752, 17.84653032, -0.62147947,  0.84947351, -4.84460044,
  16.08841453, -0.9511307 , -1.81548096, -0.78702271,-15.43765829,
   1.01615935, 25.63907555]

qfrc_actuator:
[ 3.29186320e-05, 2.88962946e-05, 4.51322691e-05, 5.76286676e-05,
 -3.32363460e-05,-3.32296055e-04,-2.75995927e-04,-3.73844595e-05,
  2.75067571e-05, 1.44971164e-05,-1.88317373e-04, 1.12934094e-05,
  1.85091258e-02,-1.36858851e-03, 4.49866903e-03,-2.70977986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003069799003847101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71244882e-13, -1.35622441e-13,  1.00000000e+00,  3.67868930e-26,
        1.00000000e+00,  1.35622441e-13, -1.00000000e+00,  0.00000000e+00,
        2.71244882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10951343, -0.03386944,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40662421e-05, 1.81980906e-06, 1.89474483e-05,-3.46979056e-05,
 -1.40648256e-05, 1.03526209e-06,-1.03194546e-05,-2.20646715e-05,
  1.97078457e-06, 3.21336944e-05,-3.24565921e-05, 1.57564946e-05,
 -1.08423718e-04,-2.12922381e-05,-2.51496526e-05, 7.09856687e-05,
  4.42311804e-07, 8.87750826e-08,-1.21644152e+00,-4.59718538e-04,
  9.59563187e-06,-5.50917207e-04]


--- Step 897 ---
qpos:
[ 1.20604482e-02,-1.21964479e-03, 2.46063022e-03, 4.19345102e-02,
  4.62406440e-03,-2.37832387e-03,-1.82346017e-02, 2.84701653e-02,
  1.31513829e-02, 4.42002574e-03,-1.03147722e-02, 2.64199278e-02,
  1.15077892e+00,-1.08111822e-03, 9.21112426e-01, 6.46420595e-02,
  9.36390772e-02,-7.01514122e-02, 1.30940227e-01, 5.00395323e-01,
  4.90493965e-01, 4.99328025e-01, 5.09599563e-01]

qacc:
[ 1.48747137e+00,-1.35237718e+00, 5.28458121e+00,-7.58577674e+00,
  1.62609947e+00, 3.72732149e+00,-1.43970357e+01, 2.32743358e+01,
  1.63254346e-01, 2.61615046e+00,-1.46741764e+01, 3.61129918e+01,
 -8.59668847e-01, 1.22347947e+00, 1.20139422e+01,-4.33952960e+01,
  3.85333179e-02, 1.13146506e+00, 9.57261911e-01, 2.67318288e+00,
 -6.03492380e-02,-1.58350009e+01]

qfrc_actuator:
[ 4.19569563e-05, 4.37163580e-05, 7.26694079e-05, 5.47379346e-05,
 -2.30868368e-05,-2.95200487e-04,-3.10336112e-04,-1.30605202e-05,
  2.83904043e-05,-1.90965815e-06,-1.94103037e-04, 7.30999683e-05,
  1.84641955e-02,-1.36519016e-03, 4.40071672e-03,-2.95067789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003173555385167087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83912955e-14,  1.74917859e-13,  1.00000000e+00, -1.72103947e-26,
        1.00000000e+00, -1.74917859e-13, -1.00000000e+00,  0.00000000e+00,
        9.83912955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182125, -0.08823484,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.64069240e-06, 1.82716813e-05, 2.90511165e-05,-2.83106956e-06,
  9.75001051e-06, 3.46129035e-05,-3.61497285e-05, 2.35850260e-05,
  9.50780850e-07,-4.45593146e-06,-2.58258406e-06, 6.23704083e-05,
 -1.14464199e-04,-2.49013270e-05,-1.07285853e-04,-2.41490899e-04,
  8.93146502e-07, 2.88045093e-07,-1.21644394e+00,-4.60447230e-04,
  7.95088289e-06,-5.51716168e-04]


--- Step 898 ---
qpos:
[ 1.20618146e-02,-1.21970943e-03, 2.46119879e-03, 4.19350065e-02,
  4.62406721e-03,-2.37826789e-03,-1.82361637e-02, 2.84713071e-02,
  1.31519058e-02, 4.42030395e-03,-1.03165063e-02, 2.64216260e-02,
  1.15122697e+00,-1.07999840e-03, 9.21463696e-01, 6.46339628e-02,
  9.36302260e-02,-7.01626873e-02, 1.30938850e-01, 5.00378302e-01,
  4.90485708e-01, 4.99265644e-01, 5.09685336e-01]

qacc:
[ 3.92080224e+00, 1.07151437e+00,-6.07702313e+00, 1.67438542e+01,
  4.11289472e+00, 2.95350195e+00,-1.47396985e+01, 3.25733825e+01,
  6.49983118e-02, 4.54184691e-02,-1.69229981e+00, 7.46780270e+00,
 -1.18476589e+00, 1.93121609e+00, 1.58535979e+01,-5.78393715e+01,
  4.98279614e-02, 1.10225984e+00, 7.29770329e-01, 2.45029528e+00,
  2.91237110e-02,-1.55246481e+01]

qfrc_actuator:
[ 6.46637221e-05, 7.04610423e-05, 8.87859656e-05, 8.86232533e-05,
  8.29008513e-07,-3.08724226e-04,-3.29965404e-04, 3.67081757e-05,
  2.87028915e-05, 5.93028068e-06,-1.78991210e-04, 9.11567380e-05,
  1.84211185e-02,-1.34577012e-03, 4.31331678e-03,-3.25149432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.63111724,  0.84598532,  4.55319182,  0.84598532, 14.09017583,
       -1.75749781,  4.55319182, -1.75749781,  4.95766121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003259168317391592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51615287e-14, -8.51615287e-14,  1.00000000e+00, -7.25248597e-27,
        1.00000000e+00,  8.51615287e-14, -1.00000000e+00,  0.00000000e+00,
       -8.51615287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182342, -0.08823318,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29585630e-05, 4.28494682e-05, 2.33692933e-05, 3.56178416e-05,
  2.42065182e-05,-6.08054057e-07,-1.61033283e-05, 5.04622071e-05,
  3.34631461e-07, 7.49888878e-06, 1.60484715e-05, 1.89910905e-05,
 -1.18443222e-04,-1.02652240e-05,-1.66551547e-04,-3.28744317e-04,
  6.14634583e-07, 1.70820518e-08,-1.21644258e+00,-4.59650868e-04,
  8.98552183e-06,-5.51969698e-04]


--- Step 899 ---
qpos:
[ 1.20627528e-02,-1.21971777e-03, 2.46178626e-03, 4.19359430e-02,
  4.62401224e-03,-2.37887606e-03,-1.82370496e-02, 2.84727105e-02,
  1.31524283e-02, 4.42057140e-03,-1.03177357e-02, 2.64231624e-02,
  1.15167422e+00,-1.07864242e-03, 9.21813273e-01, 6.46275032e-02,
  9.36216089e-02,-7.01696500e-02, 1.30939626e-01, 5.00374508e-01,
  4.90464376e-01, 4.99220647e-01, 5.09753659e-01]

qacc:
[-3.76238525e+00, 9.35914904e-01,-5.07350714e+00, 1.26046389e+01,
 -4.73616205e-01,-2.22655098e+00, 5.56207529e+00,-1.62531666e+00,
  1.27421436e-02,-1.75748445e+00, 6.92827463e+00,-1.05246461e+01,
 -6.49402361e-01, 9.47069392e-01,-7.39676633e+00, 2.23450766e+01,
  5.85273258e-02, 1.07808626e+00, 5.38320237e-01, 2.27147164e+00,
  1.00135976e-01,-1.52638025e+01]

qfrc_actuator:
[ 4.19684742e-05, 5.08781282e-05, 8.03509360e-05, 1.08368553e-04,
 -2.85744995e-06,-3.70129400e-04,-3.05424056e-04, 4.77592692e-05,
  2.86773375e-05, 1.05328397e-05,-1.51620225e-04, 8.33459802e-05,
  1.83845150e-02,-1.33477672e-03, 4.29622735e-03,-3.14121803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64794552,  0.75422578,  4.58634288,  0.75422578, 19.91748565,
       -2.51108152,  4.58634288, -2.51108152,  5.0608938 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033040809252142533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26005883e-13,  1.68007844e-13,  1.00000000e+00,  2.11699767e-26,
        1.00000000e+00, -1.68007844e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26005883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182508, -0.08823248,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20300508e-05, 1.07301365e-05, 4.51718404e-06, 2.30794685e-05,
 -2.99763708e-06,-6.28866311e-05, 2.41923094e-05, 1.14497259e-05,
 -1.54274130e-08, 1.29330362e-05, 3.15675662e-05,-6.56495980e-06,
 -1.11761882e-04,-1.63017859e-05,-1.30605774e-04, 7.04892877e-05,
  3.64034740e-07,-1.60063088e-07,-1.21644158e+00,-4.58919587e-04,
  9.87470231e-06,-5.52138918e-04]


--- Step 900 ---
qpos:
[ 1.20630671e-02,-1.21984653e-03, 2.46211264e-03, 4.19371522e-02,
  4.62356869e-03,-2.37999088e-03,-1.82373271e-02, 2.84738752e-02,
  1.31526016e-02, 4.42064449e-03,-1.03182543e-02, 2.64249479e-02,
  1.15212075e+00,-1.07765535e-03, 9.22161208e-01, 6.46269573e-02,
  9.36132525e-02,-7.01723801e-02, 1.30941913e-01, 5.00383806e-01,
  4.90429989e-01, 4.99192732e-01, 5.09804952e-01]

qacc:
[-5.48829659e+00, 1.14313626e+00,-5.43798023e+00, 1.06398266e+01,
 -3.37805340e+00,-2.85277428e+00, 1.02206477e+01,-1.49649612e+01,
 -3.04697038e+00,-1.72456089e+00, 4.73491026e+00,-1.42802613e+00,
  1.52667250e-01,-8.47833566e-01,-2.02895693e+01, 6.74183821e+01,
  6.52044081e-02, 1.05816017e+00, 3.77528628e-01, 2.12781642e+00,
  1.56667605e-01,-1.50457106e+01]

qfrc_actuator:
[ 1.04802830e-05, 2.13452945e-05, 5.72909582e-05, 1.19576950e-04,
 -2.27653038e-05,-3.88578119e-04,-2.72997933e-04, 3.59188797e-05,
  1.07005845e-05,-4.55877248e-06,-1.17256058e-04, 9.58945818e-05,
  1.83358440e-02,-1.36437004e-03, 4.26815454e-03,-2.82491391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65253654,  0.62832263,  4.60991398,  0.62832263, 32.51030014,
       -3.79696092,  4.60991398, -3.79696092,  5.17005519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003316177337349402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.18487505e-14,  2.51092503e-13,  1.00000000e+00, -1.05079075e-26,
        1.00000000e+00, -2.51092503e-13, -1.00000000e+00,  0.00000000e+00,
        4.18487505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182635, -0.08823256,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21130824e-05,-2.16299556e-05,-1.94976194e-05, 1.22709876e-05,
 -2.00167608e-05,-4.80987681e-05, 2.28274337e-05,-1.34751704e-05,
 -1.79737864e-05,-1.61712383e-06, 4.07050941e-05, 1.40661620e-05,
 -1.20090058e-04,-5.71427056e-05,-8.03761954e-05, 3.03447488e-04,
  1.35650869e-07,-2.46066423e-07,-1.21644091e+00,-4.58238344e-04,
  1.06358900e-05,-5.52222351e-04]


--- Step 901 ---
qpos:
[ 1.20633465e-02,-1.22017317e-03, 2.46222997e-03, 4.19381482e-02,
  4.62323450e-03,-2.38103585e-03,-1.82377037e-02, 2.84745181e-02,
  1.31525580e-02, 4.42084236e-03,-1.03186992e-02, 2.64265277e-02,
  1.15256663e+00,-1.07728344e-03, 9.22508763e-01, 6.46264449e-02,
  9.36051775e-02,-7.01709429e-02, 1.30945171e-01, 5.00406083e-01,
  4.90382567e-01, 4.99181648e-01, 5.09839555e-01]

qacc:
[ -0.31105782, -0.11573278,  0.93401748, -4.14482363,  0.95377451,
  -0.70560293,  4.84988504,-13.76858118, -1.90913522, -0.46120999,
   2.75885554, -6.53624728,  0.04544182, -0.83091135, -0.6795943 ,
   1.5198808 ,  0.07030826,  1.04182427,  0.24280951,  2.01226611,
   0.2018436 ,-14.86460481]

qfrc_actuator:
[ 9.58856293e-06, 3.74935699e-06, 4.34810681e-05, 1.07902091e-04,
 -1.65468231e-05,-3.63392166e-04,-2.71548861e-04, 1.07394635e-05,
  5.47284954e-08, 4.22626393e-06,-1.14609186e-04, 8.48074805e-05,
  1.82959300e-02,-1.40005214e-03, 4.23887387e-03,-2.83374024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.64718587, -0.45911506, -4.62445131, -0.45911506, 39.42078737,
       -3.45231969, -4.62445131, -3.45231969,  4.98993183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033020730318822356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68110005e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.68110005e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918273 , -0.08823327,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81274048e-06,-3.32073118e-05,-2.02586017e-05,-1.30391343e-05,
  5.63036085e-06, 2.46102781e-06,-6.12566990e-06,-2.67117493e-05,
 -1.11592562e-05, 1.68854002e-05, 7.81539307e-06,-9.47642430e-06,
 -1.24633831e-04,-7.37753113e-05,-3.38686800e-05,-2.56342316e-06,
 -7.47772689e-08,-2.43248560e-07,-1.21644056e+00,-4.57595876e-04,
  1.12823316e-05,-5.52219059e-04]


--- Step 902 ---
qpos:
[ 1.20639577e-02,-1.22085488e-03, 2.46226259e-03, 4.19386632e-02,
  4.62297703e-03,-2.38170944e-03,-1.82385154e-02, 2.84748383e-02,
  1.31523868e-02, 4.42134744e-03,-1.03191509e-02, 2.64272538e-02,
  1.15301182e+00,-1.07738027e-03, 9.22856486e-01, 6.46243994e-02,
  9.35973991e-02,-7.01653916e-02, 1.30948950e-01, 5.00441243e-01,
  4.90322130e-01, 4.99187190e-01, 5.09857745e-01]

qacc:
[  2.9200933 , -1.22911874,  5.7206946 ,-13.63438987,  0.65226064,
   1.04061396, -1.63765924, -3.52417948, -1.1284316 , -1.32938749,
   8.93741027,-23.93085632, -0.19433272, -0.31508162,  4.87339   ,
 -16.69241985,  0.07419038,  1.02852608,  0.13024376,  1.91920622,
   0.23811671,-14.71553985]

qfrc_actuator:
[ 2.67154376e-05,-2.43114576e-05, 3.52736426e-05, 8.28741004e-05,
 -1.27476679e-05,-3.30151891e-04,-2.88221932e-04,-4.31234131e-06,
 -6.18514969e-06, 2.70959070e-05,-1.12887448e-04, 4.21414859e-05,
  1.82666176e-02,-1.42124106e-03, 4.25674607e-03,-2.90986170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003267303530580523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49494862e-14,  2.54848459e-13,  1.00000000e+00,  2.16492456e-26,
        1.00000000e+00, -2.54848459e-13, -1.00000000e+00,  0.00000000e+00,
       -8.49494862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091828  , -0.08823446,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70657940e-05,-5.13670665e-05,-1.80129434e-05,-2.74071320e-05,
  3.96197868e-06, 3.22493874e-05,-1.78285504e-05,-1.56766372e-05,
 -6.55047350e-06, 3.35107917e-05, 5.84414707e-06,-4.18589069e-05,
 -1.20632193e-04,-6.36000405e-05,-3.33412773e-06,-8.18581958e-05,
 -2.70441739e-07,-1.53576310e-07,-1.21644050e+00,-4.56983710e-04,
  1.18240905e-05,-5.52128453e-04]


--- Step 903 ---
qpos:
[ 1.20654594e-02,-1.22186923e-03, 2.46219930e-03, 4.19385271e-02,
  4.62276714e-03,-2.38209889e-03,-1.82392206e-02, 2.84742581e-02,
  1.31521423e-02, 4.42182262e-03,-1.03194269e-02, 2.64271485e-02,
  1.15345616e+00,-1.07745486e-03, 9.23203716e-01, 6.46231603e-02,
  9.35899293e-02,-7.01557691e-02, 1.30952875e-01, 5.00489206e-01,
  4.90248691e-01, 4.99209189e-01, 5.09859747e-01]

qacc:
[  7.82727506, -1.52822528,  7.53128064,-18.36901848,  0.41488462,
  -1.77428907, 10.67260401,-26.63362686, -0.63919858, -2.24103531,
  11.44571964,-26.09563182, -0.59507733,  0.67052222, -3.12583899,
   9.96080466,  0.07712555,  1.01780039,  0.03647561,  1.84416986,
   0.26741123,-14.59426465]

qfrc_actuator:
[ 7.20531627e-05,-4.06622246e-05, 3.03869601e-05, 5.01872690e-05,
 -1.04112244e-05,-3.10161112e-04,-2.79887463e-04,-4.87831342e-05,
 -9.78406794e-06, 4.92607568e-06,-1.11669489e-04,-9.88994246e-07,
  1.82277144e-02,-1.41588182e-03, 4.23896496e-03,-2.86503336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003216485579468631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15729054e-13,  2.58874864e-13,  1.00000000e+00, -5.58468295e-26,
        1.00000000e+00, -2.58874864e-13, -1.00000000e+00,  0.00000000e+00,
        2.15729054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182851, -0.08823602,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58091932e-05,-4.99432890e-05,-1.86587148e-05,-3.60447484e-05,
  2.46208546e-06, 3.37048577e-05, 1.22736508e-05,-4.40082749e-05,
 -3.77054220e-06,-4.03452366e-06, 7.40936754e-06,-4.23083274e-05,
 -1.25359113e-04,-3.41921210e-05,-3.57996922e-05, 3.81313288e-05,
 -4.53739523e-07, 2.13156412e-08,-1.21644073e+00,-4.56395441e-04,
  1.22688178e-05,-5.51950170e-04]


--- Step 904 ---
qpos:
[ 1.20668032e-02,-1.22341470e-03, 2.46240669e-03, 4.19383457e-02,
  4.62258692e-03,-2.38220920e-03,-1.82398005e-02, 2.84724580e-02,
  1.31515119e-02, 4.42205287e-03,-1.03199048e-02, 2.64276180e-02,
  1.15389963e+00,-1.07722711e-03, 9.23549779e-01, 6.46222592e-02,
  9.35827768e-02,-7.01421096e-02, 1.30956634e-01, 5.00549907e-01,
  4.90162262e-01, 4.99247507e-01, 5.09845736e-01]

qacc:
[ -1.3697472 , -1.5494108 ,  4.7009635 , -5.52951371,  0.25845673,
  -2.49026487, 14.5657078 ,-36.08303525, -3.39830719,  1.43040966,
  -7.98501187, 18.42207506, -0.8348446 ,  1.28962524, -2.68859387,
   7.02920391,  0.07932834,  1.00925499, -0.04137126,  1.78360003,
   0.29123612,-14.49711989]

qfrc_actuator:
[ 6.26156040e-05,-6.76199884e-05, 4.52904423e-05, 4.87729281e-05,
 -8.95394691e-06,-2.98181351e-04,-2.74668569e-04,-1.10198542e-04,
 -2.95543035e-05,-2.63005949e-05,-1.28686505e-04, 2.69315390e-05,
  1.81937482e-02,-1.39489714e-03, 4.15723893e-03,-2.85587715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003153455100838448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40081985e-14,  8.80163970e-14,  1.00000000e+00, -3.87344307e-27,
        1.00000000e+00, -8.80163970e-14, -1.00000000e+00,  0.00000000e+00,
        4.40081985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182886, -0.08823788,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.14621190e-06,-6.02357136e-05, 1.05155254e-06,-4.90069872e-06,
  1.54060818e-06, 3.15011960e-05, 1.21839371e-05,-6.03991184e-05,
 -1.98761044e-05,-3.37812294e-05,-1.84038733e-05, 2.71805171e-05,
 -1.16631506e-04,-1.37161001e-05,-9.92080819e-05, 5.47146517e-06,
 -6.26475512e-07, 2.80092229e-07,-1.21644124e+00,-4.55826191e-04,
  1.26223294e-05,-5.51683979e-04]


--- Step 905 ---
qpos:
[ 1.20669891e-02,-1.22546064e-03, 2.46305116e-03, 4.19384782e-02,
  4.62242569e-03,-2.38208300e-03,-1.82406446e-02, 2.84710048e-02,
  1.31506489e-02, 4.42260204e-03,-1.03208515e-02, 2.64287094e-02,
  1.15434251e+00,-1.07735533e-03, 9.23894921e-01, 6.46207570e-02,
  9.35759482e-02,-7.01244398e-02, 1.30959970e-01, 5.00623294e-01,
  4.90062845e-01, 4.99302034e-01, 5.09815853e-01]

qacc:
[-10.15335096, -1.21720686,  2.08979509,  2.97432392,  0.15428781,
   1.7631606 , -7.29870029, 13.54998074, -2.06585266,  3.01580867,
 -12.76036313, 24.03053752, -0.1300225 , -0.30134798,  0.45374588,
  -3.56817121,  0.08096611,  1.00255901, -0.10576287,  1.73466203,
   0.31077399,-14.42095435]

qfrc_actuator:
[ 3.25236893e-06,-8.28577869e-05, 7.17398066e-05, 6.57766380e-05,
 -8.02529687e-06,-2.91116856e-04,-2.89133106e-04,-9.23379067e-05,
 -4.09326748e-05, 2.60287941e-05,-1.38584338e-04, 6.09038903e-05,
  1.81627758e-02,-1.41808411e-03, 4.11711130e-03,-2.88573108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030813853866876184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50374947e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.50374947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918291 , -0.08823995,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.96111334e-05,-4.88678585e-05, 1.39820045e-05, 1.43675464e-05,
  9.85612943e-07, 2.46234780e-05,-8.53483861e-06, 1.84622548e-05,
 -1.19549265e-05, 3.07892589e-05,-1.82001467e-05, 3.24170748e-05,
 -1.04469897e-04,-5.14453898e-05,-8.72454674e-05,-4.27798013e-05,
 -7.90013517e-07, 6.21680585e-07,-1.21644203e+00,-4.55272223e-04,
  1.28890402e-05,-5.51329728e-04]


--- Step 906 ---
qpos:
[ 1.20668066e-02,-1.22733506e-03, 2.46320767e-03, 4.19381000e-02,
  4.62262210e-03,-2.38213260e-03,-1.82414936e-02, 2.84701576e-02,
  1.31496555e-02, 4.42420908e-03,-1.03222592e-02, 2.64290659e-02,
  1.15478481e+00,-1.07825406e-03, 9.24239535e-01, 6.46197705e-02,
  9.35694482e-02,-7.01027803e-02, 1.30962671e-01, 5.00709327e-01,
  4.89950438e-01, 4.99372683e-01, 5.09770205e-01]

qacc:
[ -3.25565936,  0.54530388,  0.55072329, -8.74557239,  3.13777315,
   1.02189232, -6.55103951, 17.18930214, -1.18124966,  1.175916  ,
   0.94256543,-13.70686049,  0.26413189, -1.28919367, -2.36994279,
   7.07696009,  0.08216926,  0.9974333 , -0.15881277,  1.69509506,
   0.32695116,-14.36305504]

qfrc_actuator:
[-1.39925270e-05,-5.53765436e-05, 5.15841153e-05, 4.02322414e-05,
  1.03376257e-05,-3.22575809e-04,-2.97315707e-04,-6.34957118e-05,
 -4.72750102e-05, 1.28025933e-04,-1.43863058e-04, 2.72197078e-05,
  1.81176290e-02,-1.46723668e-03, 4.12326561e-03,-2.84942402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030028883913045534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96412888e-13, -1.84859189e-13,  1.00000000e+00,  3.63087272e-26,
        1.00000000e+00,  1.84859189e-13, -1.00000000e+00,  0.00000000e+00,
        1.96412888e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09182925, -0.08824217,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89531934e-05, 3.70258053e-06,-2.80124082e-05,-2.68692853e-05,
  1.83992060e-05,-1.86523418e-05,-3.49742493e-06, 2.99662532e-05,
 -6.67087819e-06, 1.16826239e-04,-3.70746167e-08,-3.23648002e-05,
 -1.19959916e-04,-8.22078594e-05,-4.13637479e-05, 2.20935943e-05,
 -9.45388687e-07, 1.04523146e-06,-1.21644309e+00,-4.54730641e-04,
  1.30722902e-05,-5.50887303e-04]


--- Step 907 ---
qpos:
[ 1.20671082e-02,-1.22879338e-03, 2.46266876e-03, 4.19374014e-02,
  4.62234717e-03,-2.38225995e-03,-1.82424464e-02, 2.84696575e-02,
  1.31485941e-02, 4.42627744e-03,-1.03232859e-02, 2.64293788e-02,
  1.15522623e+00,-1.07914931e-03, 9.24583339e-01, 6.46212187e-02,
  9.35658838e-02,-7.00885958e-02, 1.30965023e-01, 5.00760571e-01,
  4.89877035e-01, 4.99423576e-01, 5.09740554e-01]

qacc:
[ 4.22428935, 1.82612311,-4.37485468,-0.34910307,-4.13279959, 0.90870262,
 -4.84072608,11.05417402,-0.59391828,-0.54345338, 3.00857397,-4.71406217,
 -0.49514686, 0.47724162,-8.51503476,28.11945439, 0.73389509,-1.86874482,
 -0.08728802, 9.25735509,-2.28258667,27.45072385]

qfrc_actuator:
[ 1.14597986e-05,-2.04883111e-05, 2.19682437e-05, 2.53633169e-05,
 -1.44430316e-05,-3.23573224e-04,-3.01882646e-04,-4.62151803e-05,
 -5.06047594e-05, 1.34688786e-04,-1.28438066e-04, 2.50600926e-05,
  1.80799760e-02,-1.46040116e-03, 4.09860320e-03,-2.72103878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002922240326682216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62384305e-07,  2.62384305e-07,  1.00000000e+00,  6.88455235e-14,
        1.00000000e+00, -2.62384305e-07, -1.00000000e+00,  0.00000000e+00,
       -2.62384305e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248393, -0.03491059,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49225211e-05, 3.00821987e-05,-3.32088708e-05,-1.61970167e-05,
 -2.42634376e-05,-1.08458615e-05,-7.80188618e-06, 1.69465030e-05,
 -3.47343470e-06, 7.05500811e-05, 3.84286658e-05, 2.21458550e-06,
 -1.28100793e-04,-3.62229504e-05,-4.59176682e-05, 1.23209214e-04,
 -1.09339125e-06, 1.55008184e-06,-1.21644441e+00,-4.54199179e-04,
  1.31745920e-05,-5.50356602e-04]


--- Step 908 ---
qpos:
[ 1.20670223e-02,-1.22971610e-03, 2.46186446e-03, 4.19375200e-02,
  4.62177740e-03,-2.38235794e-03,-1.82432233e-02, 2.84693349e-02,
  1.31478466e-02, 4.42810958e-03,-1.03234983e-02, 2.64300690e-02,
  1.15566669e+00,-1.07944527e-03, 9.24926321e-01, 6.46238903e-02,
  9.35652619e-02,-7.00823705e-02, 1.30965783e-01, 5.00775053e-01,
  4.89844707e-01, 4.99453398e-01, 5.09728176e-01]

qacc:
[ -3.42196817,  3.140172  ,-13.60442175, 27.75843649, -2.57895872,
  -0.08241847, -0.39099251,  3.15218576,  2.79214352, -1.81680411,
   4.42237701,  0.99021976, -1.13381048,  1.9803841 , -4.82585403,
  15.30771094,  0.7356245 , -1.98980409, -0.39783228,  9.60540205,
  -2.33355323, 29.11216995]

qfrc_actuator:
[-9.18510041e-06, 3.62835616e-05, 2.25841724e-05, 7.01715432e-05,
 -2.89186462e-05,-3.06321457e-04,-2.86426798e-04,-3.58550054e-05,
 -3.43846521e-05, 8.43244578e-05,-1.01248295e-04, 4.14179668e-05,
  1.80468656e-02,-1.42043858e-03, 4.05016939e-03,-2.66380034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53512567,  2.07366081, -4.03327357,  2.07366081,  9.27585932,
        2.4373932 , -4.03327357,  2.4373932 ,  5.7882831 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029837430546975074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.30226736e-14,  1.39534010e-13,  1.00000000e+00, -1.29798267e-26,
        1.00000000e+00, -1.39534010e-13, -1.00000000e+00,  0.00000000e+00,
        9.30226736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081889  , -0.03152479,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99180594e-05, 6.61088702e-05, 2.20288022e-06, 4.46376515e-05,
 -1.51719035e-05, 1.03099971e-05, 1.28556982e-05, 9.95977570e-06,
  1.61499632e-05,-2.94766628e-06, 4.65589369e-05, 2.07509344e-05,
 -1.17772197e-04, 4.18005028e-06,-6.01108446e-05, 5.72189702e-05,
 -5.17542977e-07, 6.40069459e-07,-1.21644186e+00,-4.55108640e-04,
  1.19334230e-05,-5.49900223e-04]


--- Step 909 ---
qpos:
[ 1.20659999e-02,-1.23000084e-03, 2.46126029e-03, 4.19381277e-02,
  4.62138330e-03,-2.38249001e-03,-1.82437615e-02, 2.84687971e-02,
  1.31472996e-02, 4.42958024e-03,-1.03234721e-02, 2.64306619e-02,
  1.15610619e+00,-1.07898200e-03, 9.25268536e-01, 6.46272198e-02,
  9.35675035e-02,-7.00839901e-02, 1.30964369e-01, 5.00753153e-01,
  4.89852777e-01, 4.99462727e-01, 5.09732794e-01]

qacc:
[-8.23445216, 1.30742733,-5.47355611,13.11492033, 1.54762502,-1.15719406,
  4.96434317,-9.03882594, 1.77791199,-1.34824754, 4.51871953,-6.3106713 ,
 -1.29732401, 2.38234428,-3.02262554, 9.15075199, 0.71586287,-1.96121713,
 -0.54374244, 9.55858067,-2.17903357,28.6357482 ]

qfrc_actuator:
[-5.68104715e-05, 8.81470460e-05, 4.11873094e-05, 9.65187288e-05,
 -1.94465734e-05,-3.13701445e-04,-2.76948110e-04,-4.73690439e-05,
 -2.45419334e-05, 3.57621142e-05,-1.03090689e-04, 3.29776285e-05,
  1.80058691e-02,-1.37894958e-03, 4.01413197e-03,-2.63126003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54421325,  2.1835461 , -3.98522277,  2.1835461 , 25.10004267,
       11.26275841, -3.98522277, 11.26275841, 10.71519884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003011367548897831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84338678e-13, -9.21693389e-14,  1.00000000e+00,  1.69903741e-26,
        1.00000000e+00,  9.21693389e-14, -1.00000000e+00,  0.00000000e+00,
        1.84338678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188788, -0.03152664,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.81671707e-05, 9.12352130e-05, 3.40951692e-05, 3.01289577e-05,
  9.04195945e-06, 1.47565617e-06, 1.35480622e-05,-1.04302301e-05,
  1.03035062e-05,-3.97662101e-05, 3.97958786e-06,-6.55780180e-06,
 -1.10565866e-04, 1.62909005e-05,-6.12947803e-05, 2.70855764e-05,
 -1.45035543e-07, 1.24568783e-07,-1.21644036e+00,-4.55898276e-04,
  1.12924232e-05,-5.49649284e-04]


--- Step 910 ---
qpos:
[ 1.20654494e-02,-1.22981114e-03, 2.46096282e-03, 4.19390596e-02,
  4.62076071e-03,-2.38256885e-03,-1.82444601e-02, 2.84677972e-02,
  1.31472203e-02, 4.43047122e-03,-1.03233301e-02, 2.64315324e-02,
  1.15654493e+00,-1.07828583e-03, 9.25609958e-01, 6.46322122e-02,
  9.35725447e-02,-7.00933593e-02, 1.30960289e-01, 5.00695188e-01,
  4.89900683e-01, 4.99452028e-01, 5.09754177e-01]

qacc:
[  4.14947091,  0.42961109, -2.00437113,  6.79106146, -2.0088275 ,
  -0.42797434,  3.58683556,-11.37642449,  4.12876807, -0.52644682,
  -0.42051089,  5.48110003, -0.64929321,  0.96003146, -6.14621282,
  19.901891  ,  0.69991606, -1.93740749, -0.66645475,  9.51610514,
  -2.05455135, 28.24310817]

qfrc_actuator:
[-3.11569157e-05, 1.01243608e-04, 5.24707897e-05, 1.11790561e-04,
 -3.14637259e-05,-3.18056159e-04,-2.88941496e-04,-7.16858891e-05,
 -7.85168056e-07,-1.14993111e-05,-1.04349780e-04, 4.54872493e-05,
  1.79655011e-02,-1.37244966e-03, 3.99088275e-03,-2.54245185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54438147, -2.3906414 ,  3.86474276, -2.3906414 , 20.76166926,
       10.03164298,  3.86474276, 10.03164298, 10.74972617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003011875569166461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.21537925e-14, -1.84307585e-13,  1.00000000e+00,  1.69846429e-26,
        1.00000000e+00,  1.84307585e-13, -1.00000000e+00,  0.00000000e+00,
        9.21537925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188664, -0.03152691,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43138689e-05, 7.24517637e-05, 3.53827291e-05, 2.09494955e-05,
 -1.17588285e-05,-1.16264970e-06,-1.03719010e-05,-2.39854858e-05,
  2.40405334e-05,-6.90109210e-05,-9.22985177e-06, 1.08103373e-05,
 -1.02949608e-04,-1.46024917e-05,-5.24854840e-05, 8.15002506e-05,
 -7.80648501e-09, 6.89883505e-08,-1.21644008e+00,-4.56512772e-04,
  1.13156934e-05,-5.49603491e-04]


--- Step 911 ---
qpos:
[ 1.20652106e-02,-1.22956084e-03, 2.46103970e-03, 4.19402167e-02,
  4.62034403e-03,-2.38281579e-03,-1.82446722e-02, 2.84668427e-02,
  1.31470814e-02, 4.43090991e-03,-1.03234863e-02, 2.64322136e-02,
  1.15698302e+00,-1.07775884e-03, 9.25951201e-01, 6.46335392e-02,
  9.35803343e-02,-7.01103991e-02, 1.30953130e-01, 5.00601414e-01,
  4.89987958e-01, 4.99421673e-01, 5.09792132e-01]

qacc:
[  2.74943973, -0.50809222,  0.96830728,  2.29458583,  1.82284003,
  -1.49093502,  4.79556865, -4.65463251, -0.52546234, -0.15324049,
   0.48033125, -2.94984204, -0.51802607,  0.48023571, 10.82410897,
 -38.19359751,  0.68709725, -1.91767163, -0.76961465,  9.47892465,
  -1.95374132, 27.92175655]

qfrc_actuator:
[-1.58277957e-05, 7.32357433e-05, 5.91758396e-05, 1.20386317e-04,
 -2.05352581e-05,-3.20669395e-04,-2.60256509e-04,-6.78460517e-05,
 -4.53257744e-06,-3.98647383e-05,-1.22984131e-04, 3.47256678e-05,
  1.79255267e-02,-1.38672055e-03, 3.95403330e-03,-2.74069840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.53743646, -2.60903989,  3.71230933, -2.60903989, 27.47828107,
       16.12300413,  3.71230933, 16.12300413, 15.86880924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000299080116684447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78409437e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78409437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188531, -0.03152595,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60433336e-05, 2.07185285e-05, 2.67520912e-05, 1.33289880e-05,
  1.05940594e-05,-6.42443780e-06, 2.63491206e-05, 2.96880600e-06,
 -3.08541502e-06,-6.84277080e-05,-3.36673324e-05,-1.38332396e-05,
 -1.04864611e-04,-3.99407006e-05,-5.59141248e-05,-2.01388483e-04,
 -9.20893481e-08, 4.55490606e-07,-1.21644097e+00,-4.56985217e-04,
  1.19839614e-05,-5.49756003e-04]


--- Step 912 ---
qpos:
[ 1.20644679e-02,-1.22948438e-03, 2.46141371e-03, 4.19408138e-02,
  4.61971650e-03,-2.38315385e-03,-1.82445677e-02, 2.84662885e-02,
  1.31465540e-02, 4.43092764e-03,-1.03238965e-02, 2.64327536e-02,
  1.15742048e+00,-1.07764947e-03, 9.26292301e-01, 6.46294404e-02,
  9.35885047e-02,-7.01230694e-02, 1.30949223e-01, 5.00521651e-01,
  4.90060788e-01, 4.99409107e-01, 5.09812754e-01]

qacc:
[ -4.4162577 , -2.20535551,  9.90621474,-19.95473414, -1.8362683 ,
  -0.17787481, -1.22443478,  7.70591308, -3.42022076, -0.13002288,
   0.26369539, -2.0022339 , -0.37638645,  0.06232653, 16.17359586,
 -56.86992265,  0.09519339,  1.09240619,  0.81290514,  1.81438645,
   0.38977   ,-15.8748188 ]

qfrc_actuator:
[-4.22270371e-05, 3.85419131e-05, 6.29435139e-05, 8.94405978e-05,
 -3.16876805e-05,-3.22037696e-04,-2.43252620e-04,-4.74350320e-05,
 -2.44423954e-05,-5.67880988e-05,-1.33923391e-04, 2.81098657e-05,
  1.78858060e-02,-1.41314500e-03, 3.93562587e-03,-3.01775161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030334707803096606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14372190e-14, -1.82995503e-13,  1.00000000e+00,  2.09295964e-27,
        1.00000000e+00,  1.82995503e-13, -1.00000000e+00,  0.00000000e+00,
        1.14372190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183104, -0.08824138,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59383259e-05,-1.70171332e-05, 1.17964797e-05,-2.88769796e-05,
 -1.08536563e-05, 6.26193050e-07, 1.90324584e-05, 2.11079138e-05,
 -2.00180646e-05,-6.27528358e-05,-2.97042436e-05,-1.09844161e-05,
 -1.12093114e-04,-5.73406719e-05,-7.16471494e-05,-2.96661070e-04,
 -3.87787188e-07, 1.27127272e-06,-1.21644300e+00,-4.57340045e-04,
  1.32821770e-05,-5.50101501e-04]


--- Step 913 ---
qpos:
[ 1.20647944e-02,-1.22941350e-03, 2.46151673e-03, 4.19410542e-02,
  4.61861503e-03,-2.38311581e-03,-1.82447059e-02, 2.84656162e-02,
  1.31454467e-02, 4.43080273e-03,-1.03243555e-02, 2.64338500e-02,
  1.15785701e+00,-1.07722593e-03, 9.26632069e-01, 6.46290099e-02,
  9.35970543e-02,-7.01314539e-02, 1.30947759e-01, 5.00455621e-01,
  4.90119466e-01, 4.99413977e-01, 5.09816398e-01]

qacc:
[ 9.38801937e+00,-2.95606536e-03, 1.47329179e+00,-7.17390449e+00,
 -4.16789726e+00, 9.40121478e-01,-2.11854942e+00, 1.71744386e-01,
 -5.10059881e+00, 1.10303093e+00,-6.53842014e+00, 1.63318736e+01,
 -7.27684045e-01, 1.07721452e+00,-1.29868460e+01, 4.26945678e+01,
  9.48016362e-02, 1.07143603e+00, 6.10842075e-01, 1.77736864e+00,
  3.81336347e-01,-1.55557268e+01]

qfrc_actuator:
[ 1.35433753e-05, 3.55519586e-05, 4.71236015e-05, 7.09702420e-05,
 -5.57542411e-05,-2.87163516e-04,-2.51034641e-04,-5.29594913e-05,
 -5.36967867e-05,-3.11913746e-05,-1.22417776e-04, 5.95142821e-05,
  1.78409326e-02,-1.39328759e-03, 3.92828693e-03,-2.80628329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000310399894360186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79433645e-13, -3.57675065e-13,  1.00000000e+00,  9.99464471e-26,
        1.00000000e+00,  3.57675065e-13, -1.00000000e+00,  0.00000000e+00,
        2.79433645e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918313 , -0.08823948,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50265439e-05,-1.13216701e-05,-1.88860227e-05,-1.93544655e-05,
 -2.43775897e-05, 4.00686594e-05,-4.57344464e-06,-4.42606568e-06,
 -2.98436360e-05,-1.61072319e-05,-5.49194177e-06, 2.74740159e-05,
 -1.25844782e-04,-1.60385202e-05,-7.80204030e-05, 1.84633115e-04,
 -3.60794867e-07, 8.22950844e-07,-1.21644196e+00,-4.57366560e-04,
  1.28996216e-05,-5.50394318e-04]


--- Step 914 ---
qpos:
[ 1.20661316e-02,-1.22938495e-03, 2.46142362e-03, 4.19410711e-02,
  4.61792356e-03,-2.38289132e-03,-1.82449010e-02, 2.84652399e-02,
  1.31439971e-02, 4.43071866e-03,-1.03247702e-02, 2.64349375e-02,
  1.15829248e+00,-1.07623216e-03, 9.26970560e-01, 6.46324399e-02,
  9.36059821e-02,-7.01356227e-02, 1.30948059e-01, 5.00403092e-01,
  4.90164238e-01, 4.99435987e-01, 5.09803354e-01]

qacc:
[ 8.87537211e+00, 1.45500785e-02, 7.80220882e-01,-4.27101073e+00,
  3.58855893e+00, 1.00665208e+00,-4.49348663e+00, 9.58077890e+00,
 -3.01203172e+00,-8.26574358e-02, 4.21104994e-01,-6.88360814e-01,
 -1.02573935e+00, 1.72881078e+00,-1.34622727e+01, 4.45319211e+01,
  9.45390564e-02, 1.05392936e+00, 4.40865668e-01, 1.74823776e+00,
  3.73191941e-01,-1.52902981e+01]

qfrc_actuator:
[ 6.39860727e-05, 3.37329881e-05, 3.77530404e-05, 6.00059027e-05,
 -3.39639692e-05,-2.84232519e-04,-2.55502959e-04,-3.81818420e-05,
 -7.04586550e-05,-1.56977842e-05,-1.15301510e-04, 5.98319133e-05,
  1.77876927e-02,-1.36397842e-03, 3.87444333e-03,-2.61042052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031386118332220325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21081621e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.21081621e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183147, -0.08823855,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.20053820e-05,-1.28665405e-05,-1.47099643e-05,-1.24828404e-05,
  2.11092533e-05, 2.41961839e-05, 3.09514119e-06, 1.62531622e-05,
 -1.76169636e-05, 6.52281017e-06, 4.06773634e-06,-2.80871399e-08,
 -1.32106629e-04,-1.86282910e-06,-7.14701202e-05, 1.95609225e-04,
 -3.25789478e-07, 4.82981129e-07,-1.21644126e+00,-4.57405233e-04,
  1.24339573e-05,-5.50590386e-04]


--- Step 915 ---
qpos:
[ 1.20673734e-02,-1.22932801e-03, 2.46144085e-03, 4.19409257e-02,
  4.61784349e-03,-2.38270151e-03,-1.82450387e-02, 2.84650643e-02,
  1.31430478e-02, 4.43020230e-03,-1.03245885e-02, 2.64356975e-02,
  1.15872754e+00,-1.07636787e-03, 9.27308074e-01, 6.46349135e-02,
  9.36152874e-02,-7.01356339e-02, 1.30949551e-01, 5.00363869e-01,
  4.90195309e-01, 4.99474894e-01, 5.09773859e-01]

qacc:
[ -0.83499876, -0.60370164,  2.89423498, -5.90199694,  5.36124299,
   0.19603128, -1.63167669,  5.06045534,  4.42888098, -2.92034975,
  10.95092858,-17.23509503,  0.64413809, -2.12918836,  1.37864781,
  -7.07651069,  0.09440019,  1.03940384,  0.2981691 ,  1.72575286,
   0.36531524,-15.07057453]

qfrc_actuator:
[ 5.76052220e-05, 5.04082136e-05, 5.00382587e-05, 5.35546801e-05,
 -3.10657776e-06,-3.00428220e-04,-2.58071755e-04,-2.93422316e-05,
 -4.42252453e-05,-5.96504062e-05,-9.31398963e-05, 4.18402649e-05,
  1.77561064e-02,-1.43589573e-03, 3.79273993e-03,-2.67411754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000314431802525883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.4136082e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.4136082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183155, -0.08823841,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90473369e-06, 5.92082775e-06, 7.38116135e-06,-7.75670421e-06,
  3.14671753e-05,-1.32707315e-06, 3.37229149e-06, 1.02998513e-05,
  2.57345201e-05,-3.94712663e-05, 2.40116770e-05,-1.75727798e-05,
 -1.10846073e-04,-1.01730235e-04,-9.55198238e-05,-6.26000504e-05,
 -2.83256761e-07, 2.44860831e-07,-1.21644088e+00,-4.57455497e-04,
  1.18874268e-05,-5.50691358e-04]


--- Step 916 ---
qpos:
[ 1.20678394e-02,-1.22907990e-03, 2.46181154e-03, 4.19403200e-02,
  4.61778933e-03,-2.38279422e-03,-1.82447501e-02, 2.84643123e-02,
  1.31424200e-02, 4.42952639e-03,-1.03244662e-02, 2.64359017e-02,
  1.15916196e+00,-1.07707320e-03, 9.27644699e-01, 6.46375379e-02,
  9.36249703e-02,-7.01315353e-02, 1.30951758e-01, 5.00337792e-01,
  4.90212848e-01, 4.99530497e-01, 5.09728104e-01]

qacc:
[ -6.80948249, -1.67029253,  8.2859935 ,-16.97750886,  0.24479418,
  -2.74934722, 11.69535749,-22.14435262,  2.82923576, -1.19467303,
   6.29130895,-15.68941469,  0.05306729, -0.79320019, -1.78685213,
   4.29848245,  0.09437821,  1.02744452,  0.17865466,  1.70888784,
   0.35767943,-14.88987826]

qfrc_actuator:
[ 1.78319395e-05, 7.81261758e-05, 7.50889209e-05, 3.20868649e-05,
 -2.67959677e-06,-3.27953391e-04,-2.41839871e-04,-5.95940016e-05,
 -2.84057026e-05,-6.78034294e-05,-9.80260314e-05, 1.31850466e-05,
  1.77268407e-02,-1.46056151e-03, 3.76890063e-03,-2.65949342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031269930433783233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54757702e-14, -3.55044929e-13,  1.00000000e+00,  1.96963909e-26,
        1.00000000e+00,  3.55044929e-13, -1.00000000e+00,  0.00000000e+00,
        5.54757702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183158, -0.08823888,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99108991e-05, 3.22136817e-05, 2.69127527e-05,-2.11096387e-05,
  1.32355428e-06,-2.71232157e-05, 1.67280767e-05,-2.99925388e-05,
  1.65353746e-05,-2.59978640e-05,-1.06896951e-05,-2.98601092e-05,
 -1.19393373e-04,-6.93360529e-05,-7.67113892e-05,-1.62587110e-06,
 -2.33529457e-07, 1.03427940e-07,-1.21644081e+00,-4.57517014e-04,
  1.12615353e-05,-5.50698610e-04]


--- Step 917 ---
qpos:
[ 1.20667903e-02,-1.22865986e-03, 2.46220926e-03, 4.19394867e-02,
  4.61808590e-03,-2.38311875e-03,-1.82442190e-02, 2.84625196e-02,
  1.31419866e-02, 4.42902516e-03,-1.03245713e-02, 2.64357294e-02,
  1.15959528e+00,-1.07717905e-03, 9.27980902e-01, 6.46392196e-02,
  9.36350310e-02,-7.01233659e-02, 1.30954281e-01, 5.00324727e-01,
  4.90216996e-01, 4.99602630e-01, 5.09666241e-01]

qacc:
[-13.31732339, -0.29135562,  2.37406602, -6.53170407,  3.0850311 ,
  -3.12939599, 15.09807207,-33.31292083,  1.70027192,  0.08815565,
   1.60456974, -7.879299  , -1.3556336 ,  2.29745257,  2.31783068,
  -8.7925024 ,  0.09446545,  1.01769396,  0.07882027,  1.69679103,
   0.35025463,-14.74258456]

qfrc_actuator:
[-5.90109112e-05, 7.67903711e-05, 7.20063360e-05, 1.97245794e-05,
  1.53353550e-05,-3.44261892e-04,-2.32471853e-04,-1.12603605e-04,
 -1.88557313e-05,-3.68238809e-05,-1.00971007e-04,-3.75622419e-06,
  1.76776992e-02,-1.42147918e-03, 3.75850400e-03,-2.70511708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003091548606082156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.61117969e-14, -3.59115500e-13,  1.00000000e+00,  2.01506160e-26,
        1.00000000e+00,  3.59115500e-13, -1.00000000e+00,  0.00000000e+00,
        5.61117969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183155, -0.08823985,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.79682850e-05, 2.13056272e-05, 6.15096597e-06,-1.04603916e-05,
  1.80438144e-05,-2.93037040e-05, 4.78778416e-06,-5.41756769e-05,
  1.00103850e-05, 1.29800455e-05,-1.06603198e-05,-1.90064246e-05,
 -1.36646025e-04,-1.18041742e-06,-4.87672605e-05,-5.62611272e-05,
 -1.76823144e-07, 5.45858668e-08,-1.21644103e+00,-4.57589638e-04,
  1.05572096e-05,-5.50613288e-04]


--- Step 918 ---
qpos:
[ 1.20655181e-02,-1.22824194e-03, 2.46236139e-03, 4.19388989e-02,
  4.61859574e-03,-2.38319250e-03,-1.82438216e-02, 2.84604148e-02,
  1.31420162e-02, 4.42853614e-03,-1.03247430e-02, 2.64364006e-02,
  1.16002784e+00,-1.07742713e-03, 9.28316692e-01, 6.46370218e-02,
  9.36454704e-02,-7.01111572e-02, 1.30956786e-01, 5.00324565e-01,
  4.90207865e-01, 4.99691159e-01, 5.09588387e-01]

qacc:
[-1.96815388e+00, 1.19373504e+00,-5.28960252e+00, 9.92571692e+00,
  1.86047681e+00, 5.89994079e-02, 1.58251231e+00,-6.94945149e+00,
  4.07255177e+00, 1.93055497e+00,-1.04353946e+01, 2.51460206e+01,
 -6.31749676e-01, 6.42072600e-01, 1.11298291e+01,-3.97523458e+01,
  9.46539388e-02, 1.00984428e+00,-4.33169784e-03, 1.68875329e+00,
  3.43009592e-01,-1.46239427e+01]

qfrc_actuator:
[-6.82826259e-05, 5.79650877e-05, 5.22288514e-05, 3.05298160e-05,
  2.58152482e-05,-3.00520199e-04,-2.27208983e-04,-1.25315307e-04,
  4.68360034e-06,-3.58931095e-05,-1.02559506e-04, 3.96317076e-05,
  1.76379995e-02,-1.43385239e-03, 3.71355647e-03,-2.91012465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003042077163174506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70243088e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.70243088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183149, -0.08824119,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14837763e-05,-6.13054323e-06,-1.49844292e-05, 1.17307041e-05,
  1.09864292e-05, 2.60382340e-05,-2.07381421e-06,-1.48534023e-05,
  2.38277612e-05, 5.19463277e-06,-8.71368535e-07, 4.32066657e-05,
 -1.21720253e-04,-4.29659028e-05,-7.88376697e-05,-2.15602495e-04,
 -1.13263317e-07, 9.50849978e-08,-1.21644154e+00,-4.57673374e-04,
  9.77492144e-06,-5.50436331e-04]


--- Step 919 ---
qpos:
[ 1.20648341e-02,-1.22815363e-03, 2.46271224e-03, 4.19384572e-02,
  4.61888243e-03,-2.38298922e-03,-1.82434859e-02, 2.84592006e-02,
  1.31426727e-02, 4.42809525e-03,-1.03249020e-02, 2.64368854e-02,
  1.16045953e+00,-1.07752267e-03, 9.28651445e-01, 6.46337129e-02,
  9.36519750e-02,-7.01065572e-02, 1.30957830e-01, 5.00312140e-01,
  4.90208291e-01, 4.99737688e-01, 5.09554548e-01]

qacc:
[  5.18051476, -0.70066514,  1.2324638 ,  1.23773468, -1.96194358,
   2.37351014,-11.68649254, 26.98761998,  5.51560496, -0.36640775,
   2.16711465, -5.4285983 , -0.78387135,  1.08362285,  1.87212807,
  -8.66081836, -0.983676  , -1.90218947, -0.36521273,-16.30226268,
   0.9101765 , 26.81714774]

qfrc_actuator:
[-3.76976516e-05, 2.87513851e-05, 5.82014847e-05, 3.71006472e-05,
  1.40186567e-05,-2.74396149e-04,-2.24130045e-04,-7.86552090e-05,
  3.62701762e-05,-3.51463545e-05,-1.03403942e-04, 2.93846333e-05,
  1.75986491e-02,-1.42333912e-03, 3.67452188e-03,-2.95891183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030391415986033565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82654047e-13, -1.36990535e-13,  1.00000000e+00,  2.50218757e-26,
        1.00000000e+00,  1.36990535e-13, -1.00000000e+00,  0.00000000e+00,
        1.82654047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948332, -0.03385724,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02548891e-05,-3.52501403e-05, 3.26308817e-06, 6.01884574e-06,
 -1.14734140e-05, 3.96262292e-05, 7.68828694e-06, 4.74186772e-05,
  3.22620072e-05, 5.34985183e-06, 1.62154336e-06,-9.21474886e-06,
 -1.22636135e-04,-2.47821758e-05,-1.03311577e-04,-7.18646960e-05,
 -4.29059953e-08, 2.22348192e-07,-1.21644232e+00,-4.57768352e-04,
  8.91478089e-06,-5.50168508e-04]


--- Step 920 ---
qpos:
[ 1.20652116e-02,-1.22836299e-03, 2.46370106e-03, 4.19380630e-02,
  4.61937063e-03,-2.38265752e-03,-1.82430488e-02, 2.84585624e-02,
  1.31437027e-02, 4.42786033e-03,-1.03251230e-02, 2.64368833e-02,
  1.16089039e+00,-1.07749101e-03, 9.28985057e-01, 6.46320939e-02,
  9.36545918e-02,-7.01094413e-02, 1.30956813e-01, 5.00287527e-01,
  4.90218125e-01, 4.99743011e-01, 5.09564033e-01]

qacc:
[  9.35420869, -2.0976758 ,  6.67564312, -6.61904508,  1.76752157,
   1.06747248, -5.99834728, 15.71664475,  3.28098577, -0.56308026,
   4.44740562,-12.9145704 , -0.59782327,  0.7573276 , -6.74619066,
  21.24216043, -0.97196304, -1.87102998, -0.51530744,-15.98278593,
   0.95913163, 26.39373349]

qfrc_actuator:
[ 1.60793385e-05, 2.91382366e-05, 9.70307640e-05, 4.11322262e-05,
  2.47125507e-05,-2.76721873e-04,-2.22379955e-04,-5.07078461e-05,
  5.45834112e-05,-1.67981968e-05,-1.03854652e-04, 5.40166784e-06,
  1.75595443e-02,-1.41708446e-03, 3.64975756e-03,-2.86192553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56335242, -0.79048373,  4.49436545, -0.79048373, 38.11605568,
        5.90135946,  4.49436545,  5.90135946,  5.60130287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030684139700205837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948189, -0.03385849,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46244739e-05,-1.83869334e-05, 3.21534549e-05, 2.75032847e-06,
  1.03781589e-05, 2.34407249e-05, 1.25196698e-05, 3.08364151e-05,
  1.92305625e-05, 2.13099648e-05, 5.40564217e-07,-2.38778873e-05,
 -1.18748634e-04,-2.56017831e-05,-8.23714133e-05, 7.92314816e-05,
 -8.80393436e-08, 8.67917290e-08,-1.21644059e+00,-4.58143469e-04,
  1.03031921e-05,-5.50081194e-04]


--- Step 921 ---
qpos:
[ 1.20662307e-02,-1.22853919e-03, 2.46502622e-03, 4.19376978e-02,
  4.61998340e-03,-2.38255327e-03,-1.82423967e-02, 2.84583027e-02,
  1.31449445e-02, 4.42785944e-03,-1.03256999e-02, 2.64373013e-02,
  1.16132032e+00,-1.07706515e-03, 9.29318075e-01, 6.46325214e-02,
  9.36533601e-02,-7.01197063e-02, 1.30953229e-01, 5.00250789e-01,
  4.90237243e-01, 4.99707773e-01, 5.09616264e-01]

qacc:
[  5.64847946, -0.84792604,  2.94510421, -2.98444738,  1.10259578,
  -0.12446023, -1.59475164,  7.97448009,  1.84849607,  2.16493092,
  -9.05003057, 16.72232397, -0.90720144,  1.44104733, -6.99186735,
  23.3319945 , -0.962111  , -1.84522788, -0.64157581,-15.72106671,
   0.99575986, 26.04355695]

qfrc_actuator:
[ 4.75575907e-05, 4.73853221e-05, 1.19550024e-04, 4.36803701e-05,
  3.08126973e-05,-3.13832313e-04,-2.21565576e-04,-3.40297296e-05,
  6.49352445e-05,-5.81891123e-06,-1.21752097e-04, 2.68101161e-05,
  1.75152897e-02,-1.39566802e-03, 3.64957945e-03,-2.75084223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56376042, -1.08829005,  4.43210265, -1.08829005, 35.85991707,
        7.68468122,  4.43210265,  7.68468122,  6.45071178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003069613822111461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04204152e-14,  1.35630623e-13,  1.00000000e+00, -1.22637772e-26,
        1.00000000e+00, -1.35630623e-13, -1.00000000e+00,  0.00000000e+00,
        9.04204152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948128, -0.03385834,  0.06199122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30241580e-05, 1.47392353e-05, 2.27656335e-05, 2.92321747e-06,
  6.40257490e-06,-2.01071049e-05, 8.25729555e-06, 1.87152732e-05,
  1.09056413e-05, 2.20053928e-05,-1.42495975e-05, 2.18760961e-05,
 -1.21265198e-04,-9.97908457e-06,-3.16227002e-05, 1.04372813e-04,
  7.97702381e-09, 8.33613744e-08,-1.21644010e+00,-4.58602580e-04,
  1.08246321e-05,-5.50240173e-04]


--- Step 922 ---
qpos:
[ 1.20669297e-02,-1.22858308e-03, 2.46657796e-03, 4.19373603e-02,
  4.62031989e-03,-2.38289160e-03,-1.82416047e-02, 2.84586242e-02,
  1.31463010e-02, 4.42795477e-03,-1.03266992e-02, 2.64376497e-02,
  1.16174922e+00,-1.07581126e-03, 9.29650639e-01, 6.46329524e-02,
  9.36483129e-02,-7.01372672e-02, 1.30946655e-01, 5.00201977e-01,
  4.90265538e-01, 4.99632492e-01, 5.09710759e-01]

qacc:
[ -2.80849613, -0.39581358,  1.55691368, -1.54517151, -2.40907223,
   0.22405709, -4.09371554, 14.24508468,  0.99437713,  1.16246647,
  -3.67024643,  3.0752036 , -1.44839503,  2.65231581, -0.57433994,
   1.28329258, -0.953901  , -1.82395107, -0.747747  ,-15.50796113,
   1.02243366, 25.75606673]

qfrc_actuator:
[ 3.01466651e-05, 5.83841612e-05, 1.32329704e-04, 4.53379737e-05,
  1.64003110e-05,-3.53756429e-04,-2.21466713e-04,-6.39348734e-06,
  7.05225772e-05,-1.71240422e-05,-1.49798864e-04, 2.14833688e-05,
  1.74733104e-02,-1.34771975e-03, 3.61621295e-03,-2.75660163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048467764368151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82095254e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82095254e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10948131, -0.03385708,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64680495e-05, 2.40688165e-05, 1.87142082e-05, 3.13031014e-06,
 -1.42378828e-05,-4.86689640e-05,-2.39815510e-06, 2.74231105e-05,
  5.90401271e-06,-9.91962916e-07,-2.44928329e-05,-4.45088001e-06,
 -1.16346579e-04, 1.88257559e-05,-4.13326361e-05,-5.16050601e-06,
  2.41938701e-07, 2.05557756e-07,-1.21644079e+00,-4.59150821e-04,
  1.05249746e-05,-5.50643317e-04]


--- Step 923 ---
qpos:
[ 1.20670697e-02,-1.22830515e-03, 2.46821802e-03, 4.19366850e-02,
  4.62013592e-03,-2.38334569e-03,-1.82409456e-02, 2.84595968e-02,
  1.31473691e-02, 4.42794955e-03,-1.03276745e-02, 2.64379265e-02,
  1.16217762e+00,-1.07514986e-03, 9.29982521e-01, 6.46316967e-02,
  9.36434733e-02,-7.01503755e-02, 1.30943416e-01, 5.00166711e-01,
  4.90280561e-01, 4.99575153e-01, 5.09787112e-01]

qacc:
[ -4.91465313, -0.5079679 ,  3.8701839 ,-10.11148371, -4.56331097,
   1.5662212 , -8.54090529, 20.09030733, -2.53497945, -0.34230942,
   1.33874381, -2.55204964,  0.07335737, -0.78349335,  4.06386907,
 -15.72927062,  0.05193018,  1.11313267,  0.83381093,  2.46492762,
   0.03823372,-15.70330893]

qfrc_actuator:
[ 1.85997247e-06, 8.26742684e-05, 1.39240873e-04, 2.86982032e-05,
 -9.96858380e-06,-3.41804766e-04,-2.21808220e-04, 2.74636075e-05,
  5.55109303e-05,-2.40029820e-05,-1.48221183e-04, 1.81896266e-05,
  1.74380635e-02,-1.39095970e-03, 3.56294206e-03,-2.84899492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003148749425835595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.30554752e-14, -1.76295868e-13,  1.00000000e+00, -5.82754368e-27,
        1.00000000e+00,  1.76295868e-13, -1.00000000e+00,  0.00000000e+00,
       -3.30554752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183679, -0.08823991,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87490611e-05, 4.17254857e-05, 1.42790711e-05,-1.49022491e-05,
 -2.67930608e-05,-1.45867035e-05,-9.74623893e-06, 3.22209501e-05,
 -1.48437266e-05,-1.26698870e-05,-1.78711364e-06,-4.26909030e-06,
 -1.00417021e-04,-6.52813055e-05,-7.80459738e-05,-9.91807013e-05,
  6.11561202e-07, 4.49266536e-07,-1.21644262e+00,-4.59791301e-04,
  9.43883936e-06,-5.51288584e-04]


--- Step 924 ---
qpos:
[ 1.20668697e-02,-1.22787509e-03, 2.46946773e-03, 4.19355256e-02,
  4.61929206e-03,-2.38359902e-03,-1.82407524e-02, 2.84612946e-02,
  1.31482489e-02, 4.42793364e-03,-1.03283906e-02, 2.64381335e-02,
  1.16260557e+00,-1.07552638e-03, 9.30313610e-01, 6.46286553e-02,
  9.36388758e-02,-7.01591341e-02, 1.30942684e-01, 5.00144808e-01,
  4.90282362e-01, 4.99535365e-01, 5.09845855e-01]

qacc:
[ -3.00380273,  0.3012718 ,  1.26994531, -9.14320737, -5.80125696,
   3.06880727,-13.60067663, 26.72733991, -1.64854366, -0.87918594,
   3.41483262, -5.03637596,  0.48826402, -1.80264932,  4.16340025,
 -16.39861913,  0.06050725,  1.08743318,  0.62685299,  2.28977572,
   0.10453848,-15.41521839]

qfrc_actuator:
[-1.48327175e-05, 6.14387994e-05, 1.07173293e-04, 1.43458899e-06,
 -4.31566933e-05,-3.16630043e-04,-2.39949598e-04, 6.47508019e-05,
  4.62497093e-05,-1.03152956e-05,-1.29146178e-04, 1.61456355e-05,
  1.74015199e-02,-1.45231799e-03, 3.52439439e-03,-2.93842184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.61531267,  0.68103373,  4.5647896 ,  0.68103373, 16.503693  ,
       -1.77366072,  4.5647896 , -1.77366072,  4.87993008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032161398221031146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63008984e-14,  1.72601797e-13,  1.00000000e+00,  1.48956901e-26,
        1.00000000e+00, -1.72601797e-13, -1.00000000e+00,  0.00000000e+00,
       -8.63008984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183846, -0.08823859,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74983896e-05, 4.37049604e-06,-2.22256282e-05,-2.52736452e-05,
 -3.39584203e-05, 1.63828386e-05,-2.12434865e-05, 3.69503962e-05,
 -9.68807873e-06, 6.05969670e-06, 1.61025796e-05,-2.72947274e-06,
 -1.12004029e-04,-9.64607858e-05,-8.85676173e-05,-1.05711309e-04,
  4.14317930e-07, 1.78017337e-07,-1.21644150e+00,-4.59222431e-04,
  1.00941433e-05,-5.51519818e-04]


--- Step 925 ---
qpos:
[ 1.20671611e-02,-1.22765420e-03, 2.47046740e-03, 4.19344319e-02,
  4.61840159e-03,-2.38361606e-03,-1.82407898e-02, 2.84627141e-02,
  1.31493557e-02, 4.42808193e-03,-1.03297454e-02, 2.64376635e-02,
  1.16303271e+00,-1.07604148e-03, 9.30643566e-01, 6.46265305e-02,
  9.36345469e-02,-7.01636279e-02, 1.30943763e-01, 5.00136111e-01,
  4.90270992e-01, 4.99512802e-01, 5.09887424e-01]

qacc:
[  4.31394053,  0.54934944, -2.65090705,  4.35494937, -0.4199877 ,
   0.38469479,  0.25845867, -4.88356592,  1.97387334,  0.60473404,
   1.01045491,-11.81979343, -0.39497158,  0.22075584, -4.42039028,
  13.07601493,  0.06713377,  1.06617577,  0.45281562,  2.14945111,
   0.15687121,-15.17396875]

qfrc_actuator:
[ 1.09409894e-05, 3.06815864e-05, 8.76670681e-05, 3.58320552e-06,
 -4.45834452e-05,-3.01544330e-04,-2.50632242e-04, 5.05035653e-05,
  5.82066498e-05,-1.98425325e-05,-1.70828172e-04,-2.06268783e-05,
  1.73642117e-02,-1.45285434e-03, 3.48938939e-03,-2.88327431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62663667,  0.55562808,  4.5931519 ,  0.55562808, 24.88272693,
       -2.45035494,  4.5931519 , -2.45035494,  4.92305317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032470548354883444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54792328e-14, -8.54792328e-14,  1.00000000e+00, -7.30669924e-27,
        1.00000000e+00,  8.54792328e-14, -1.00000000e+00,  0.00000000e+00,
       -8.54792328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09183974, -0.08823815,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52769572e-05,-3.40199914e-05,-2.22313771e-05, 1.07452117e-06,
 -2.39037931e-06, 2.14338475e-05,-8.63873019e-06,-1.35633357e-05,
  1.16825295e-05,-2.92150155e-06,-3.85319506e-05,-3.60070377e-05,
 -1.26879649e-04,-4.45288306e-05,-8.99855995e-05, 3.72896548e-05,
  2.39998791e-07, 2.53610171e-09,-1.21644073e+00,-4.58703799e-04,
  1.06220156e-05,-5.51662255e-04]


--- Step 926 ---
qpos:
[ 1.20677587e-02,-1.22748913e-03, 2.47141284e-03, 4.19336844e-02,
  4.61750038e-03,-2.38317832e-03,-1.82407676e-02, 2.84632124e-02,
  1.31502521e-02, 4.42838394e-03,-1.03316248e-02, 2.64367507e-02,
  1.16345888e+00,-1.07627182e-03, 9.30972476e-01, 6.46292983e-02,
  9.36305069e-02,-7.01639271e-02, 1.30946070e-01, 5.00140488e-01,
  4.90246498e-01, 4.99507196e-01, 5.09912174e-01]

qacc:
[  2.69100345,  0.78585028, -4.37860699, 10.50606954, -0.10055957,
  -1.45959662,  9.96699553,-26.33941023, -1.87078024,  0.761354  ,
  -0.54400537, -6.4007435 , -0.67147654,  0.94285091,-16.2621332 ,
  54.76145154,  0.07224452,  1.04867818,  0.30677422,  2.03699959,
   0.19824536,-14.97311176]

qfrc_actuator:
[ 2.59938446e-05, 4.77696691e-05, 9.34661256e-05, 2.30231258e-05,
 -4.50553400e-05,-2.57122598e-04,-2.39135849e-04, 6.04920631e-06,
  4.70492792e-05,-7.96408610e-06,-1.94912208e-04,-4.20962182e-05,
  1.73211679e-02,-1.43513433e-03, 3.48852396e-03,-2.61910152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62722865,  0.38738258,  4.61098468,  0.38738258, 46.40067901,
       -3.50951222,  4.61098468, -3.50951222,  4.92207324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003248659088531669
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27185107e-14,  1.70874043e-13,  1.00000000e+00,  7.29948463e-27,
        1.00000000e+00, -1.70874043e-13, -1.00000000e+00,  0.00000000e+00,
       -4.27185107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918407 , -0.08823842,  0.06199071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57594267e-05,-6.49152991e-06,-3.94214177e-06, 1.72327732e-05,
 -5.31686784e-07, 5.40389109e-05, 1.43877341e-05,-4.41016400e-05,
 -1.08244244e-05, 7.61503862e-07,-3.06636255e-05,-2.36250664e-05,
 -1.29316911e-04,-1.93134952e-05,-4.02060215e-05, 2.54209487e-04,
  8.42207150e-08,-8.04565087e-08,-1.21644027e+00,-4.58224388e-04,
  1.10355069e-05,-5.51715534e-04]


--- Step 927 ---
qpos:
[ 1.20681872e-02,-1.22719593e-03, 2.47205746e-03, 4.19328231e-02,
  4.61660023e-03,-2.38190194e-03,-1.82411038e-02, 2.84631528e-02,
  1.31506629e-02, 4.42882421e-03,-1.03335934e-02, 2.64362498e-02,
  1.16388441e+00,-1.07714953e-03, 9.31300592e-01, 6.46355472e-02,
  9.36267716e-02,-7.01600888e-02, 1.30949115e-01, 5.00157825e-01,
  4.90208922e-01, 4.99518324e-01, 5.09920393e-01]

qacc:
[-1.49782487e+00, 7.78955537e-01,-2.04616656e+00, 4.57815242e-01,
 -1.67084606e-02, 9.61918370e-01, 5.34388964e-01,-1.02348224e+01,
 -4.27819099e+00, 1.28811462e+00,-6.05186019e+00, 1.32035001e+01,
  2.73240466e-01,-1.22795487e+00,-1.17110731e+01, 3.91918675e+01,
  7.61797388e-02, 1.03436645e+00, 1.84528456e-01, 1.94688975e+00,
  2.31025711e-01,-1.48071488e+01]

qfrc_actuator:
[ 1.68501052e-05, 5.79899816e-05, 7.88472880e-05, 1.70256908e-05,
 -4.49715550e-05,-1.95412255e-04,-2.50035276e-04,-2.02700507e-05,
  2.23698924e-05, 1.67025789e-05,-1.90543531e-04,-1.88418110e-05,
  1.72800515e-02,-1.47783894e-03, 3.44959141e-03,-2.44688793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003226957688456378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72023177e-13,  8.60115883e-14,  1.00000000e+00,  1.47959866e-26,
        1.00000000e+00, -8.60115883e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72023177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184141, -0.08823925,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.69957098e-06, 6.50244913e-06,-1.58615775e-05,-6.07808308e-06,
  8.87332058e-08, 9.29931309e-05, 5.02322433e-07,-2.43659877e-05,
 -2.49855761e-05, 1.77582382e-05,-4.65370882e-08, 2.17724511e-05,
 -1.22145173e-04,-7.56762342e-05,-3.29300816e-05, 1.80345596e-04,
 -5.62820210e-08,-7.37003152e-08,-1.21644011e+00,-4.57775985e-04,
  1.13444510e-05,-5.51679532e-04]


--- Step 928 ---
qpos:
[ 1.20685029e-02,-1.22671806e-03, 2.47221092e-03, 4.19315574e-02,
  4.61605330e-03,-2.38021174e-03,-1.82414303e-02, 2.84628071e-02,
  1.31507748e-02, 4.42905656e-03,-1.03350809e-02, 2.64360357e-02,
  1.16430908e+00,-1.07797430e-03, 9.31628056e-01, 6.46425315e-02,
  9.36233531e-02,-7.01521595e-02, 1.30952489e-01, 5.00188027e-01,
  4.90158300e-01, 4.99546003e-01, 5.09912315e-01]

qacc:
[ -1.0103336 ,  0.78625754, -0.7392349 , -5.61271396,  3.088885  ,
  -0.07501509,  2.25888664, -7.51956309, -2.61101867, -1.02370316,
   2.0485901 ,  2.29211884, -0.6207801 ,  0.72905183, -3.14401398,
   9.6880141 ,  0.07920537,  1.02275666,  0.08248659,  1.87471697,
   0.25706714,-14.67137526]

qfrc_actuator:
[ 1.12939126e-05, 6.39280197e-05, 5.22460024e-05,-3.91260913e-06,
 -2.68092249e-05,-1.94905049e-04,-2.56225321e-04,-3.57030430e-05,
  7.68931513e-06,-4.26175084e-06,-1.69328683e-04,-4.93583303e-06,
  1.72454235e-02,-1.46721695e-03, 3.39848525e-03,-2.41915856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003186969088362357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184192, -0.08824053,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.80194529e-06, 6.01684535e-06,-2.74310947e-05,-2.13267210e-05,
  1.81983086e-05, 5.15259853e-05, 1.22258564e-05,-1.19065457e-05,
 -1.53858714e-05,-1.01096181e-05, 2.56510760e-05, 1.50947636e-05,
 -1.24336519e-04,-3.20838172e-05,-5.03500703e-05, 3.25652310e-05,
 -1.83943969e-07, 2.05437695e-08,-1.21644024e+00,-4.57352449e-04,
  1.15562505e-05,-5.51554263e-04]


--- Step 929 ---
qpos:
[ 1.20680597e-02,-1.22624030e-03, 2.47234593e-03, 4.19303870e-02,
  4.61572862e-03,-2.37847065e-03,-1.82416855e-02, 2.84630130e-02,
  1.31510547e-02, 4.42905450e-03,-1.03359436e-02, 2.64356383e-02,
  1.16473261e+00,-1.07757951e-03, 9.31955218e-01, 6.46454806e-02,
  9.36202608e-02,-7.01401764e-02, 1.30955854e-01, 5.00231019e-01,
  4.90094661e-01, 4.99590086e-01, 5.09888122e-01]

qacc:
[-6.67030897e+00, 2.60826832e-01,-1.30974579e+00, 2.96404439e+00,
  1.94957335e+00, 9.98301400e-01,-5.79774850e+00, 1.51984708e+01,
  1.50116466e+00,-2.43626744e+00, 9.00625811e+00,-1.30000783e+01,
 -2.07201101e+00, 3.95232687e+00, 1.18844645e+01,-4.18719631e+01,
  8.15289882e-02, 1.01344020e+00,-2.42730631e-03, 1.81697024e+00,
  2.77823870e-01,-1.45617569e+01]

qfrc_actuator:
[-2.76036588e-05, 6.71888844e-05, 5.42711734e-05, 2.02596696e-06,
 -1.59049909e-05,-2.13277736e-04,-2.59814625e-04,-9.14764066e-06,
  1.67681544e-05,-1.68085307e-05,-1.38540832e-04,-1.44314061e-05,
  1.72094048e-02,-1.38953507e-03, 3.35074226e-03,-2.63654003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003132872831042577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32891967e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32891967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184228, -0.08824214,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90599605e-05, 2.63593007e-08,-8.52962869e-07, 4.83372547e-06,
  1.14413245e-05, 1.24050622e-05, 8.13160657e-06, 2.89518315e-05,
  8.63568790e-06,-1.22502518e-05, 3.23972581e-05,-8.74355172e-06,
 -1.17521591e-04, 4.35264346e-05,-7.15389497e-05,-2.23037536e-04,
 -3.00580936e-07, 2.00431131e-07,-1.21644066e+00,-4.56949170e-04,
  1.16764628e-05,-5.51339807e-04]


--- Step 930 ---
qpos:
[ 1.20674987e-02,-1.22594228e-03, 2.47254125e-03, 4.19300051e-02,
  4.61553718e-03,-2.37641550e-03,-1.82423839e-02, 2.84642282e-02,
  1.31514408e-02, 4.42920917e-03,-1.03371222e-02, 2.64351453e-02,
  1.16515544e+00,-1.07711416e-03, 9.32281660e-01, 6.46467622e-02,
  9.36175017e-02,-7.01241690e-02, 1.30958928e-01, 5.00286735e-01,
  4.90018025e-01, 4.99650451e-01, 5.09847962e-01]

qacc:
[ -1.02909602,  1.21989181, -8.01648757, 21.68762518,  1.14916719,
   3.72596876,-16.95000701, 34.89983029,  0.92250276,  0.89171952,
  -2.47878948,  1.21881493, -0.64214425,  0.84216679,  4.0078105 ,
 -15.47835047,  0.08331239,  1.00607176, -0.07284927,  1.77084807,
   0.29443532,-14.47483058]

qfrc_actuator:
[-3.25568821e-05, 5.12017350e-05, 5.54433360e-05, 4.15053265e-05,
 -9.36592334e-06,-1.89523044e-04,-2.79661566e-04, 4.18776180e-05,
  2.20027780e-05,-6.44250025e-06,-1.55603194e-04,-1.98597448e-05,
  1.71672819e-02,-1.39707350e-03, 3.33163805e-03,-2.71246960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068136019492157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52319836e-14,  9.04639672e-14,  1.00000000e+00,  4.09186468e-27,
        1.00000000e+00, -9.04639672e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52319836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184252, -0.08824401,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.06601783e-06,-1.59700076e-05, 1.23727264e-06, 3.95480241e-05,
  6.86822601e-06, 3.35551596e-05,-1.52995641e-05, 5.23974281e-05,
  5.47378987e-06, 9.84794678e-06,-1.58939718e-05,-4.99999155e-06,
 -1.03004097e-04,-2.44786566e-05,-8.16149883e-05,-9.86552976e-05,
 -4.07547855e-07, 4.64472560e-07,-1.21644136e+00,-4.56562680e-04,
  1.17092392e-05,-5.51036266e-04]


--- Step 931 ---
qpos:
[ 1.20675723e-02,-1.22588918e-03, 2.47252999e-03, 4.19301264e-02,
  4.61542596e-03,-2.37446627e-03,-1.82428412e-02, 2.84657066e-02,
  1.31518868e-02, 4.42937400e-03,-1.03382147e-02, 2.64352729e-02,
  1.16557749e+00,-1.07664315e-03, 9.32607388e-01, 6.46509750e-02,
  9.36150813e-02,-7.01041602e-02, 1.30961477e-01, 5.00355127e-01,
  4.89928404e-01, 4.99727004e-01, 5.09791945e-01]

qacc:
[  5.57495976,  1.27980288, -7.17461845, 16.41252093,  0.71265519,
  -0.27323731, -0.34282737,  4.59399877,  0.52964629,  1.04880916,
  -6.34199263, 16.93820325, -0.40651509,  0.36308548, -9.87726971,
  33.07935262,  0.08468155,  1.00035946, -0.13103834,  1.73411307,
   0.30779372,-14.40762241]

qfrc_actuator:
[ 2.71475873e-07, 2.38454546e-05, 3.82796938e-05, 6.48727023e-05,
 -5.44585290e-06,-2.11785995e-04,-2.73271858e-04, 5.36484185e-05,
  2.49253392e-05,-3.78785927e-07,-1.47426961e-04, 1.26429830e-05,
  1.71214987e-02,-1.40182503e-03, 3.35106883e-03,-2.54450787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029956216528380375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04235535e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04235535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09184267, -0.08824606,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26474476e-05,-3.43494746e-05,-1.89458036e-05, 2.34959214e-05,
  4.12613167e-06,-4.48048980e-06, 1.32300930e-05, 1.36931240e-05,
  3.08155447e-06, 8.08577934e-06, 8.09300557e-06, 3.22807335e-05,
 -1.13448372e-04,-3.22229720e-05,-3.21650917e-05, 1.51253467e-04,
 -5.05856238e-07, 8.11477235e-07,-1.21644233e+00,-4.56190358e-04,
  1.16576554e-05,-5.50643737e-04]


--- Step 932 ---
qpos:
[ 1.20676945e-02,-1.22690498e-03, 2.47269399e-03, 4.19309532e-02,
  4.61536381e-03,-2.37411266e-03,-1.82421640e-02, 2.84667555e-02,
  1.31523648e-02, 4.42875569e-03,-1.03381645e-02, 2.64389255e-02,
  1.16599859e+00,-1.07562939e-03, 9.32932474e-01, 6.46568469e-02,
  9.36087883e-02,-7.00918138e-02, 1.30962702e-01, 5.00411840e-01,
  4.89848330e-01, 4.99760892e-01, 5.09780006e-01]

qacc:
[  0.45062594, -0.45082597, -3.41971683, 16.13137726,  0.49268494,
  -6.16047479, 20.7189737 ,-28.7882021 ,  0.3342956 ,  3.02697127,
 -27.17993472, 86.940183  , -1.06088906,  1.80077938, -5.87780182,
  19.36610936, -0.96815782, -1.91561631, -0.33128106,-16.63899931,
   0.60835178, 26.84090968]

qfrc_actuator:
[ 1.80563565e-06,-8.12057667e-05, 2.81099575e-05, 9.62952110e-05,
 -3.09745680e-06,-3.85633593e-04,-2.51647108e-04, 2.44563237e-05,
  2.64645738e-05,-5.00704803e-05,-8.88780573e-05, 1.91494957e-04,
  1.70788769e-02,-1.36936248e-03, 3.31375918e-03,-2.46492729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029679321072437204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87036459e-13,  1.87036459e-13,  1.00000000e+00, -3.49826370e-26,
        1.00000000e+00, -1.87036459e-13, -1.00000000e+00,  0.00000000e+00,
        1.87036459e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10946997, -0.03384872,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45056221e-06,-1.27157386e-04,-1.87875809e-05, 2.97510151e-05,
  2.46342554e-06,-1.73100892e-04, 2.27818086e-05,-2.86666656e-05,
  1.62736717e-06,-4.21059881e-05, 6.23437965e-05, 1.80108492e-04,
 -1.17258689e-04, 5.18726112e-07,-3.97459150e-05, 8.28349147e-05,
 -5.96261631e-07, 1.24050071e-06,-1.21644357e+00,-4.55830211e-04,
  1.15239608e-05,-5.50162293e-04]


--- Step 933 ---
qpos:
[ 1.20681794e-02,-1.22896027e-03, 2.47246856e-03, 4.19332230e-02,
  4.61464081e-03,-2.37565771e-03,-1.82406934e-02, 2.84685479e-02,
  1.31532033e-02, 4.42647463e-03,-1.03361590e-02, 2.64475124e-02,
  1.16641892e+00,-1.07428539e-03, 9.33256700e-01, 6.46623765e-02,
  9.35986507e-02,-7.00869942e-02, 1.30961982e-01, 5.00456856e-01,
  4.89777654e-01, 4.99753016e-01, 5.09811444e-01]

qacc:
[  3.19487859,  2.68113933,-17.65068746, 44.0137178 , -5.73417291,
  -3.18430701,  4.59279777,  8.38492559,  3.26416197,  2.488178  ,
 -32.90603557,116.41610861, -0.82945465,  1.33010203, -0.18080119,
  -1.08337583, -0.9611671 , -1.88167376, -0.48608571,-16.26742997,
   0.70197966, 26.41207024]

qfrc_actuator:
[ 2.04007964e-05,-1.43188842e-04, 4.08473247e-06, 1.67652673e-04,
 -3.71982616e-05,-5.06878850e-04,-2.21871146e-04, 6.00371564e-05,
  4.49302414e-05,-1.67931447e-04,-1.19645084e-06, 4.37251149e-04,
  1.70488473e-02,-1.35061610e-03, 3.24775014e-03,-2.49153379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54284883, -0.1100604 , -4.54151541, -0.1100604 , 27.84632922,
       -0.5647433 , -4.54151541, -0.5647433 ,  4.55653498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003007242541187838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84591534e-13,  9.22957668e-14,  1.00000000e+00, -1.70370171e-26,
        1.00000000e+00, -9.22957668e-14, -1.00000000e+00,  0.00000000e+00,
        1.84591534e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10946759, -0.03385026,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86229037e-05,-1.35662903e-04,-5.15675623e-05, 6.58387891e-05,
 -3.40906722e-05,-2.14587977e-04,-4.17870985e-06, 2.83881663e-05,
  1.84859959e-05,-1.20794780e-04, 9.28939232e-05, 2.49607271e-04,
 -9.96424415e-05,-7.33552993e-06,-7.97131027e-05,-2.81757203e-05,
 -6.77750547e-07, 5.22285357e-07,-1.21644173e+00,-4.56167015e-04,
  1.21299669e-05,-5.50094511e-04]


--- Step 934 ---
qpos:
[ 1.20692273e-02,-1.23048331e-03, 2.47125485e-03, 4.19358230e-02,
  4.61316885e-03,-2.37783477e-03,-1.82391811e-02, 2.84723677e-02,
  1.31535669e-02, 4.42223401e-03,-1.03329559e-02, 2.64590698e-02,
  1.16683857e+00,-1.07272424e-03, 9.33580462e-01, 6.46645025e-02,
  9.35846923e-02,-7.00895887e-02, 1.30958796e-01, 5.00490168e-01,
  4.89716250e-01, 4.99704105e-01, 5.09885668e-01]

qacc:
[  4.90686085,  4.13740785,-15.13934414, 22.05490749, -6.55098612,
   3.23086123,-21.27215968, 56.73572744, -4.1048203 ,  0.18590145,
 -16.94984885, 67.87630406, -0.85313246,  1.31572455,  9.6420212 ,
 -34.60209664, -0.95517547, -1.85353673, -0.61639685,-15.9658993 ,
   0.77090521, 26.05555847]

qfrc_actuator:
[ 4.88988440e-05,-1.91591874e-05,-1.00065798e-05, 1.90940732e-04,
 -7.47256687e-05,-4.53600374e-04,-1.87317317e-04, 1.68985764e-04,
  1.99528018e-05,-3.25501115e-04, 3.16844593e-05, 5.78309570e-04,
  1.70157385e-02,-1.34010403e-03, 3.21249645e-03,-2.66927775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.54610188, -0.11618789,  4.54461689, -0.11618789, 23.79038111,
        0.49200014,  4.54461689,  0.49200014,  4.55868038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003017064340870984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1094662 , -0.03385037,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89861362e-05, 4.04119894e-05,-4.61667009e-05, 1.69725145e-05,
 -3.85757369e-05,-6.63421151e-05,-9.30422796e-06, 1.00157848e-04,
 -2.45120317e-05,-1.95184469e-04, 2.79919427e-05, 1.43934671e-04,
 -9.46864476e-05,-1.28179369e-05,-7.79209114e-05,-1.90239285e-04,
 -6.26538477e-07,-5.44288555e-08,-1.21644115e+00,-4.56538161e-04,
  1.18591786e-05,-5.50263587e-04]


--- Step 935 ---
qpos:
[ 1.20702623e-02,-1.22947064e-03, 2.46843923e-03, 4.19394982e-02,
  4.61194763e-03,-2.38010107e-03,-1.82379129e-02, 2.84787918e-02,
  1.31529377e-02, 4.41729428e-03,-1.03309703e-02, 2.64746524e-02,
  1.16725751e+00,-1.07100195e-03, 9.33903798e-01, 6.46604618e-02,
  9.35735756e-02,-7.00999823e-02, 1.30953748e-01, 5.00486260e-01,
  4.89695931e-01, 4.99634565e-01, 5.09977156e-01]

qacc:
[ -0.20697945, 10.0462659 ,-35.48980102, 54.77940864,  2.19320313,
   5.91433215,-32.26525049, 77.79988874, -8.7600026 , 10.7812701 ,
 -56.74813432,128.84093658, -0.95833857,  1.44593813, 18.04169761,
 -63.8973606 ,  0.7104104 , -1.94978886, -0.46564625,  9.82280452,
  -2.11034492, 29.12549137]

qfrc_actuator:
[ 4.74881284e-05, 2.50827425e-04,-3.51355421e-05, 2.56933339e-04,
 -6.06986815e-05,-4.20383255e-04,-1.84967476e-04, 3.02621064e-04,
 -3.03994898e-05,-3.28407772e-04,-2.15973445e-05, 7.80807736e-04,
  1.69754776e-02,-1.33455152e-03, 3.16906228e-03,-2.98776393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55094862,  4.54542064,  0.22424213,  4.54542064,  4.6273898 ,
       -1.54947401,  0.22424213, -1.54947401, 35.95901216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003031615348815242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83107502e-13,  9.15537508e-14,  1.00000000e+00, -1.67641786e-26,
        1.00000000e+00, -9.15537508e-14, -1.00000000e+00,  0.00000000e+00,
        1.83107502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185867, -0.03154099,  0.06199133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.65274570e-07, 2.83846492e-04,-2.18561888e-05, 6.64558806e-05,
  1.28996766e-05,-1.47138304e-06,-9.03305483e-06, 1.32414030e-04,
 -5.11318580e-05,-1.00021631e-04,-8.51838691e-05, 1.97881029e-04,
 -1.00440262e-04,-1.76182401e-05,-1.04131502e-04,-3.39969686e-04,
 -4.43198072e-07,-4.98163519e-07,-1.21644177e+00,-4.56959459e-04,
  1.07607431e-05,-5.50669216e-04]


--- Step 936 ---
qpos:
[ 1.20705770e-02,-1.21800685e-03, 2.45655272e-03, 4.19454979e-02,
  4.61159220e-03,-2.38074674e-03,-1.82380555e-02, 2.84880070e-02,
  1.31520538e-02, 4.41260817e-03,-1.03307726e-02, 2.64945280e-02,
  1.16767599e+00,-1.06979638e-03, 9.34225716e-01, 6.46536571e-02,
  9.35652402e-02,-7.01180935e-02, 1.30946294e-01, 5.00445620e-01,
  4.89716015e-01, 4.99544857e-01, 5.10085622e-01]

qacc:
[-6.79386777e+00, 4.39796657e+01,-1.46537906e+02, 1.93511184e+02,
  7.51804718e+00, 1.18061482e+01,-5.08018075e+01, 1.00193935e+02,
 -2.29999765e+00, 1.41722275e+01,-6.81636355e+01, 1.45121764e+02,
  1.23707924e-02,-6.04038874e-01, 6.23393393e+00,-2.48902677e+01,
  6.95342090e-01,-1.92939316e+00,-6.01472056e-01, 9.72008358e+00,
 -2.01571739e+00, 2.86464031e+01]

qfrc_actuator:
[ 1.07302055e-05, 1.17425607e-03,-3.49920273e-04, 4.00929526e-04,
 -1.64391862e-05,-2.39719234e-04,-2.19423772e-04, 4.49680581e-04,
 -4.20108931e-05,-2.56745884e-04,-8.91353488e-05, 1.00017423e-03,
  1.69469288e-02,-1.36751089e-03, 3.10475571e-03,-3.12028150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.55588979, -4.09566276,  1.99541432, -4.09566276,  7.67505213,
        6.40219772,  1.99541432,  6.40219772, 17.6966408 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030463495531930784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82221870e-13,  1.82221870e-13,  1.00000000e+00, -3.32048099e-26,
        1.00000000e+00, -1.82221870e-13, -1.00000000e+00,  0.00000000e+00,
        1.82221870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818581 , -0.0315427 ,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66778720e-05, 1.08047429e-03,-2.56533939e-04, 1.56689763e-04,
  4.46217921e-05, 1.83707658e-04,-3.12944348e-05, 1.49248208e-04,
 -1.31144162e-05, 6.71453077e-06,-9.18429667e-05, 2.15957599e-04,
 -9.37829778e-05,-5.81513390e-05,-1.53097881e-04,-1.65554610e-04,
  2.39408947e-07,-3.20454592e-07,-1.21644191e+00,-4.57479205e-04,
  9.57595828e-06,-5.50677505e-04]


--- Step 937 ---
qpos:
[ 1.20687143e-02,-1.18384522e-03, 2.42498364e-03, 4.19533550e-02,
  4.61107758e-03,-2.37653259e-03,-1.82404282e-02, 2.85013090e-02,
  1.31517247e-02, 4.41058503e-03,-1.03325338e-02, 2.65151935e-02,
  1.16809400e+00,-1.06925820e-03, 9.34546426e-01, 6.46487765e-02,
  9.35571095e-02,-7.01317674e-02, 1.30942369e-01, 5.00418781e-01,
  4.89722414e-01, 4.99473188e-01, 5.10175985e-01]

qacc:
[-2.01423653e+01, 8.89030600e+01,-2.81197551e+02, 3.27964965e+02,
 -1.54586564e+00, 2.10547665e+01,-8.30087890e+01, 1.53713958e+02,
  4.77574741e+00, 1.06107254e+01,-3.60778851e+01, 5.09365120e+01,
  3.66558502e-01,-1.31805724e+00,-7.62924670e+00, 2.40068409e+01,
  5.11569110e-02, 1.10933431e+00, 8.82274024e-01, 2.31884271e+00,
  1.24268414e-01,-1.58851237e+01]

qfrc_actuator:
[-9.97813867e-05, 2.94238865e-03,-1.11443082e-03, 5.36790571e-04,
 -2.57660609e-05, 2.40770343e-04,-2.39193912e-04, 6.74576605e-04,
 -1.29660271e-05, 3.65103665e-05,-1.28664561e-04, 1.05025764e-03,
  1.69200851e-02,-1.40521134e-03, 3.10791718e-03,-3.00013280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003115538337830487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33854885e-13, -7.12700602e-13,  1.00000000e+00,  1.66668517e-25,
        1.00000000e+00,  7.12700602e-13, -1.00000000e+00,  0.00000000e+00,
        2.33854885e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185114, -0.08824504,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11199438e-04, 2.32575983e-03,-5.67508246e-04, 1.76313922e-04,
 -7.99488779e-06, 5.83170597e-04, 1.94713188e-05, 2.34569916e-04,
  2.86585572e-05, 2.87410068e-04,-4.19746276e-05, 5.13622370e-05,
 -9.75589282e-05,-6.95134125e-05,-8.49441964e-05, 9.14157240e-05,
  6.87786464e-07, 3.09294921e-07,-1.21644325e+00,-4.57862260e-04,
  9.08480350e-06,-5.50891972e-04]


--- Step 938 ---
qpos:
[ 1.20627726e-02,-1.11642298e-03, 2.36374798e-03, 4.19631276e-02,
  4.60941548e-03,-2.36112284e-03,-1.82462625e-02, 2.85202565e-02,
  1.31524306e-02, 4.41820345e-03,-1.03401147e-02, 2.65380745e-02,
  1.16851121e+00,-1.06833327e-03, 9.34866679e-01, 6.46475080e-02,
  9.35492122e-02,-7.01411016e-02, 1.30941115e-01, 5.00405526e-01,
  4.89715228e-01, 4.99419141e-01, 5.10248788e-01]

qacc:
[-3.73520744e+01, 1.30934586e+02,-4.10978022e+02, 4.66845879e+02,
 -1.03538830e+01, 3.60869315e+01,-1.31012004e+02, 2.25963700e+02,
  8.75888232e+00, 3.35492343e+01,-1.10515546e+02, 1.51089306e+02,
 -7.24150415e-01, 1.17394940e+00,-1.15241910e+01, 3.94605710e+01,
  5.83648994e-02, 1.08492069e+00, 6.67821899e-01, 2.15534917e+00,
  1.82680642e-01,-1.55658384e+01]

qfrc_actuator:
[-3.06057996e-04, 5.12990592e-03,-2.41857893e-03, 6.67307779e-04,
 -8.43187158e-05, 1.27007307e-03,-2.31016302e-04, 9.97020318e-04,
  3.97648447e-05, 9.57286135e-04,-2.57017996e-04, 1.19583591e-03,
  1.68942812e-02,-1.37438855e-03, 3.13561428e-03,-2.80297735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.6068175 , -0.04880484,  4.60655897, -0.04880484, 14.96702999,
        0.10976273,  4.60655897,  0.10976273,  4.60798039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003192659190341812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60686538e-14, -1.73871209e-13,  1.00000000e+00, -1.32261488e-26,
        1.00000000e+00,  1.73871209e-13, -1.00000000e+00,  0.00000000e+00,
       -7.60686538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185266, -0.08824322,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08690279e-04, 3.37750600e-03,-8.87574250e-04, 2.13935788e-04,
 -5.85877447e-05, 1.36932670e-03, 1.39097150e-04, 3.52640893e-04,
  5.36407887e-05, 1.07508441e-03,-7.23814589e-05, 1.57403340e-04,
 -1.00157958e-04,-4.77466590e-06,-2.71536313e-06, 1.90985050e-04,
  4.58441401e-07, 4.70478781e-08,-1.21644204e+00,-4.57228605e-04,
  9.97148524e-06,-5.51136338e-04]


--- Step 939 ---
qpos:
[ 1.20519783e-02,-1.00663176e-03, 2.27099659e-03, 4.19743580e-02,
  4.60429652e-03,-2.32454455e-03,-1.82568415e-02, 2.85437722e-02,
  1.31530636e-02, 4.44888440e-03,-1.03643495e-02, 2.65711928e-02,
  1.16892687e+00,-1.06376684e-03, 9.35186858e-01, 6.46459664e-02,
  9.35415704e-02,-7.01461773e-02, 1.30941811e-01, 5.00405669e-01,
  4.89694550e-01, 4.99382370e-01, 5.10304480e-01]

qacc:
[-4.43621494e+01, 1.47216677e+02,-4.49608106e+02, 4.93780564e+02,
 -3.08066026e+01, 5.06697399e+01,-1.59265388e+02, 2.30199514e+02,
 -1.55573196e+00, 9.80956563e+01,-3.48756498e+02, 5.35551233e+02,
 -4.24989250e+00, 9.25590878e+00, 1.05728993e+00,-3.05632776e+00,
  6.38657330e-02, 1.06462114e+00, 4.87389101e-01, 2.02372720e+00,
  2.29084168e-01,-1.52991770e+01]

qfrc_actuator:
[-5.49268163e-04, 7.90446472e-03,-3.74461044e-03, 7.93817696e-04,
 -2.60118033e-04, 3.06419978e-03,-1.86193806e-04, 1.28603596e-03,
  3.49948224e-05, 2.88562456e-03,-8.06826963e-04, 1.76977486e-03,
  1.68797999e-02,-1.14346532e-03, 3.10877341e-03,-2.82836504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62093793, -0.19323091,  4.61689605, -0.19323091, 21.0822803 ,
        0.68895641,  4.61689605,  0.68895641,  4.64977281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003231551215038819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71778652e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71778652e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185381, -0.08824237,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48094293e-04, 4.48730585e-03,-7.30364775e-04, 2.44638190e-04,
 -1.77012965e-04, 2.60313959e-03, 3.56844845e-04, 3.59312929e-04,
 -2.85357339e-06, 2.52110819e-03,-3.31258429e-04, 6.20516609e-04,
 -7.45283850e-05, 2.07358996e-04,-1.25856411e-05,-1.64084266e-05,
  2.50608050e-07,-1.16437590e-07,-1.21644117e+00,-4.56639088e-04,
  1.07302095e-05,-5.51290961e-04]


--- Step 940 ---
qpos:
[ 1.20376397e-02,-8.36108049e-04, 2.15025984e-03, 4.19857450e-02,
  4.59364639e-03,-2.24990172e-03,-1.82762595e-02, 2.85672560e-02,
  1.31515549e-02, 4.51672388e-03,-1.04078528e-02, 2.66178938e-02,
  1.16933993e+00,-1.04944366e-03, 9.35506733e-01, 6.46389384e-02,
  9.35342008e-02,-7.01470617e-02, 1.30943850e-01, 5.00419055e-01,
  4.89660458e-01, 4.99362587e-01, 5.10343425e-01]

qacc:
[-3.30718019e+01, 1.58919934e+02,-4.50674808e+02, 4.53230049e+02,
 -4.94094325e+01, 7.50016534e+01,-1.94134986e+02, 1.79484014e+02,
 -2.00847021e+01, 1.30954241e+02,-4.52947044e+02, 6.91373587e+02,
 -1.04435348e+01, 2.38632371e+01, 1.69664656e+01,-5.80007303e+01,
  6.80426809e-02, 1.04783037e+00, 3.35889560e-01, 1.91762116e+00,
  2.66099838e-01,-1.50775689e+01]

qfrc_actuator:
[-7.23470379e-04, 1.24823043e-02,-4.53747724e-03, 9.35367336e-04,
 -5.39002243e-04, 6.13714340e-03,-1.87727099e-04, 1.37628764e-03,
 -7.45925221e-05, 5.79178092e-03,-1.36556294e-03, 2.53856439e-03,
  1.69041636e-02,-5.47354426e-04, 3.03321430e-03,-3.12685918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.62391149, -0.38155744,  4.60814186, -0.38155744, 36.93111099,
        2.67505924,  4.60814186,  2.67505924,  4.84540831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003239654497481509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42697971e-13,  1.71348986e-13,  1.00000000e+00, -5.87209498e-26,
        1.00000000e+00, -1.71348986e-13, -1.00000000e+00,  0.00000000e+00,
        3.42697971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185467, -0.08824231,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79929846e-04, 6.94381415e-03, 5.23412656e-05, 3.13235859e-04,
 -2.83054493e-04, 4.61639862e-03, 5.92192413e-04, 2.21046438e-04,
 -1.08722097e-04, 4.27323940e-03,-5.74482751e-05, 8.77356351e-04,
  2.75355607e-05, 6.21814815e-04,-9.04129157e-05,-3.02651748e-04,
  6.00986922e-08,-1.85146117e-07,-1.21644063e+00,-4.56083421e-04,
  1.13744283e-05,-5.51355669e-04]


--- Step 941 ---
qpos:
[ 1.20219877e-02,-5.87348134e-04, 2.00806325e-03, 4.20018318e-02,
  4.57868251e-03,-2.11672550e-03,-1.83073621e-02, 2.85891436e-02,
  1.31449420e-02, 4.63361462e-03,-1.04654794e-02, 2.66777228e-02,
  1.16975004e+00,-1.02018791e-03, 9.35825165e-01, 6.46317570e-02,
  9.35271159e-02,-7.01438100e-02, 1.30946725e-01, 5.00445552e-01,
  4.89613020e-01, 4.99359556e-01, 5.10365922e-01]

qacc:
[-1.35587180e+01, 1.73135428e+02,-4.87032571e+02, 5.44957072e+02,
 -3.91816941e+01, 1.06752813e+02,-2.61524865e+02, 2.09306742e+02,
 -4.61935198e+01, 1.31407238e+02,-4.29748448e+02, 6.43233458e+02,
 -1.47498265e+01, 3.48571779e+01,-4.24697580e-01, 1.30087917e+00,
  7.11952729e-02, 1.03403430e+00, 2.08988046e-01, 1.83197477e+00,
  2.95780775e-01,-1.48946209e+01]

qfrc_actuator:
[-0.00078462, 0.01800029,-0.00496586, 0.00131744,-0.00075201, 0.01057336,
 -0.00019333, 0.00142106,-0.00033374, 0.00933232,-0.00163634, 0.00329256,
  0.01694133, 0.00031356, 0.00298171,-0.00312233, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003223208761965052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185531, -0.08824289,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42831611e-05, 9.42042671e-03, 1.02262825e-03, 6.87343888e-04,
 -2.19506143e-04, 7.14684649e-03, 1.02783712e-03, 2.67241567e-04,
 -2.60594935e-04, 5.95379262e-03, 6.34814708e-04, 9.52050665e-04,
  1.94279217e-04, 9.95017777e-04,-1.32699126e-04,-2.52156196e-05,
 -1.16226443e-07,-1.62322484e-07,-1.21644040e+00,-4.55553875e-04,
  1.19143925e-05,-5.51330471e-04]


--- Step 942 ---
qpos:
[ 1.20070866e-02,-2.59409110e-04, 1.85751292e-03, 4.20309485e-02,
  4.56092357e-03,-1.91372937e-03,-1.83459036e-02, 2.86092418e-02,
  1.31332030e-02, 4.80716467e-03,-1.05333627e-02, 2.67569128e-02,
  1.17015661e+00,-9.70494585e-04, 9.36142185e-01, 6.46305222e-02,
  9.35203253e-02,-7.01364671e-02, 1.30950013e-01, 5.00485052e-01,
  4.89552292e-01, 4.99373079e-01, 5.10372211e-01]

qacc:
[ 4.98461131e+00, 1.54861856e+02,-4.55289655e+02, 6.35780327e+02,
 -2.59325981e+01, 1.09382624e+02,-2.48486779e+02, 1.77883572e+02,
 -4.63925425e+01, 1.43486402e+02,-4.84545662e+02, 7.94125811e+02,
 -1.95185433e+01, 4.67721767e+01,-1.83701029e+01, 6.51378255e+01,
  7.35572355e-02, 1.02279544e+00, 1.02978999e-01, 1.76276071e+00,
  3.19734245e-01,-1.47449125e+01]

qfrc_actuator:
[-0.00074326, 0.02249608,-0.00513539, 0.00203451,-0.000889  , 0.01508173,
 -0.00015949, 0.00142238,-0.00059003, 0.01292493,-0.00183829, 0.00433448,
  0.0169437 , 0.00144853, 0.00298202,-0.00279709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003187432282246716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61234497e-13,  8.70781656e-14,  1.00000000e+00, -2.27478208e-26,
        1.00000000e+00, -8.70781656e-14, -1.00000000e+00,  0.00000000e+00,
        2.61234497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185577, -0.08824395,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21109190e-05, 9.99707446e-03, 1.92482738e-03, 1.16914632e-03,
 -1.40805214e-04, 8.72402711e-03, 1.64466958e-03, 3.48092915e-04,
 -2.61361916e-04, 7.09013191e-03, 1.13819401e-03, 1.33731165e-03,
  3.43733619e-04, 1.38318943e-03,-6.62757074e-05, 3.06266805e-04,
 -2.80728781e-07,-5.05852490e-08,-1.21644046e+00,-4.55044609e-04,
  1.23579264e-05,-5.51215474e-04]


--- Step 943 ---
qpos:
[ 1.19941564e-02, 1.49453408e-04, 1.70435851e-03, 4.20805503e-02,
  4.54303204e-03,-1.63424070e-03,-1.83891404e-02, 2.86260307e-02,
  1.31181388e-02, 5.04512973e-03,-1.06094906e-02, 2.68664765e-02,
  1.17056041e+00,-8.99146502e-04, 9.36459052e-01, 6.46313818e-02,
  9.35138359e-02,-7.01250692e-02, 1.30953359e-01, 5.00537466e-01,
  4.89478317e-01, 4.99403000e-01, 5.10362485e-01]

qacc:
[ 1.58583691e+01, 1.56427814e+02,-4.89020508e+02, 7.88060336e+02,
 -2.62150434e+00, 1.07363367e+02,-2.22149671e+02, 1.16028219e+02,
 -3.06069314e+01, 1.70748915e+02,-6.13432507e+02, 1.10474186e+03,
 -2.02215875e+01, 4.91768397e+01,-4.81096758e+00, 2.05779635e+01,
  7.53106727e-02, 1.01374099e+00, 1.46896026e-02, 1.70676780e+00,
  3.39217507e-01,-1.46238353e+01]

qfrc_actuator:
[-0.00064192, 0.0269144 ,-0.00510086, 0.00310213,-0.0008914 , 0.01950994,
 -0.00015481, 0.00130969,-0.00075379, 0.01689437,-0.0019439 , 0.00592825,
  0.01693068, 0.00259445, 0.00298685,-0.00269379, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031366746999249295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43791801e-13, -5.30923572e-13,  1.00000000e+00,  7.63424566e-26,
        1.00000000e+00,  5.30923572e-13, -1.00000000e+00,  0.00000000e+00,
        1.43791801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918561 , -0.0882454 ,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05011417e-04, 1.04463091e-02, 2.37491590e-03, 1.58480899e-03,
 -3.45340594e-06, 9.65427087e-03, 2.01933049e-03, 3.24453129e-04,
 -1.68314401e-04, 8.22090024e-03, 1.54399703e-03, 1.96261223e-03,
  5.06989938e-04, 1.50666861e-03, 3.13077492e-06, 1.10779270e-04,
 -4.35190678e-07, 1.47971944e-07,-1.21644082e+00,-4.54551178e-04,
  1.27110052e-05,-5.51010822e-04]


--- Step 944 ---
qpos:
[ 1.19711257e-02, 6.50948584e-04, 1.54675154e-03, 4.21725653e-02,
  4.52627051e-03,-1.26179908e-03,-1.84412160e-02, 2.86498190e-02,
  1.31008751e-02, 5.37237268e-03,-1.07018503e-02, 2.70347443e-02,
  1.17096553e+00,-8.18068724e-04, 9.36776001e-01, 6.46314481e-02,
  9.35076529e-02,-7.01096451e-02, 1.30956470e-01, 5.00602721e-01,
  4.89391127e-01, 4.99449187e-01, 5.10336899e-01]

qacc:
[-9.04519487e+01, 2.22452407e+02,-7.94115615e+02, 1.46644515e+03,
  8.04511855e+00, 1.61857123e+02,-4.28463031e+02, 4.95286847e+02,
 -2.13635545e+01, 2.84221409e+02,-1.08999792e+03, 2.06610560e+03,
 -7.25641419e+00, 2.00854040e+01, 3.19042646e+00,-9.40370593e+00,
  7.65972541e-02, 1.00655319e+00,-5.85991187e-02, 1.66143294e+00,
  3.55213203e-01,-1.45274642e+01]

qfrc_actuator:
[-0.00116296, 0.03256652,-0.0049108 , 0.00532606,-0.00083234, 0.02539992,
 -0.00011413, 0.00176992,-0.00086177, 0.02326081,-0.00200738, 0.00904154,
  0.01688718, 0.00295643, 0.00298368,-0.00273993, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003074547786396653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82110345e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.82110345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185631, -0.08824715,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15718736e-04, 1.20391721e-02, 2.69208745e-03, 2.78380324e-03,
  6.22284969e-05, 1.17099436e-02, 2.29196371e-03, 9.49589273e-04,
 -1.09345708e-04, 1.13585715e-02, 1.89059977e-03, 3.55660685e-03,
  6.01750914e-04, 7.84974282e-04, 1.54832427e-06,-4.15487862e-05,
 -5.80963028e-07, 4.31691103e-07,-1.21644145e+00,-4.54070167e-04,
  1.29781892e-05,-5.50716663e-04]


--- Step 945 ---
qpos:
[ 1.19161257e-02, 1.25024709e-03, 1.38683069e-03, 4.23355724e-02,
  4.50861021e-03,-7.82725850e-04,-1.85022561e-02, 2.87026709e-02,
  1.30827976e-02, 5.80672253e-03,-1.08069199e-02, 2.72795426e-02,
  1.17137464e+00,-7.39981454e-04, 9.37092337e-01, 6.46346294e-02,
  9.35044191e-02,-7.01022110e-02, 1.30958156e-01, 5.00631130e-01,
  4.89345213e-01, 4.99474117e-01, 5.10328659e-01]

qacc:
[-2.82571052e+02, 2.82551188e+02,-1.11838972e+03, 2.27719091e+03,
 -9.97403979e+00, 2.25681909e+02,-7.22928903e+02, 1.16167003e+03,
 -9.35358334e+00, 3.34607522e+02,-1.31077363e+03, 2.57669001e+03,
  5.70209877e+00,-1.01685892e+01,-1.07213376e+01, 3.52205384e+01,
  7.37289572e-01,-1.99750472e+00,-3.56525198e-01, 9.59144589e+00,
 -2.40721902e+00, 2.92530003e+01]

qfrc_actuator:
[-2.79176026e-03, 3.81337248e-02,-4.73105582e-03, 8.95926417e-03,
 -8.79645878e-04, 3.19601458e-02,-6.35951568e-05, 3.34604251e-03,
 -9.00587258e-04, 3.02514522e-02,-1.98102955e-03, 1.30260583e-02,
  1.68091379e-02, 2.60277229e-03, 2.98100795e-03,-2.57188078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003082310168717045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184527, -0.03154966,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64093988e-03, 1.29583001e-02, 3.09025846e-03, 4.29536535e-03,
 -4.15765256e-05, 1.36095431e-02, 2.78064869e-03, 2.17496472e-03,
 -3.72051735e-05, 1.38741281e-02, 2.72541177e-03, 4.60502137e-03,
  4.57777634e-04,-5.60862570e-05,-1.12861645e-05, 1.64726645e-04,
 -7.19074838e-07, 7.99271995e-07,-1.21644236e+00,-4.53598928e-04,
  1.31629503e-05,-5.50333125e-04]


--- Step 946 ---
qpos:
[ 1.18171551e-02, 1.94904870e-03, 1.22499872e-03, 4.25823396e-02,
  4.48845191e-03,-1.99683204e-04,-1.85643432e-02, 2.88103374e-02,
  1.30654521e-02, 6.34938409e-03,-1.09133662e-02, 2.76012830e-02,
  1.17178723e+00,-6.70803857e-04, 9.37408553e-01, 6.46371247e-02,
  9.35040519e-02,-7.01026465e-02, 1.30957800e-01, 5.00623110e-01,
  4.89339863e-01, 4.99478390e-01, 5.10337475e-01]

qacc:
[-3.87946791e+02, 3.10175941e+02,-1.26712753e+03, 2.64451754e+03,
 -2.37008633e+01, 2.53028721e+02,-9.34246238e+02, 1.80791669e+03,
  4.58347554e+00, 3.05344573e+02,-1.20591005e+03, 2.45999997e+03,
  1.00865753e+01,-2.22022811e+01, 1.07164218e+00,-5.93854126e+00,
  7.16661035e-01,-1.96739431e+00,-5.10249496e-01, 9.53674029e+00,
 -2.25030102e+00, 2.87494513e+01]

qfrc_actuator:
[-5.00604857e-03, 4.33592204e-02,-4.71762381e-03, 1.31794572e-02,
 -1.00694067e-03, 3.73804289e-02, 1.42745655e-05, 6.13491460e-03,
 -8.62898491e-04, 3.61251201e-02,-1.84455545e-03, 1.69239287e-02,
  1.66834618e-02, 1.98832991e-03, 2.95740060e-03,-2.61621497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57832244,  2.22627923, -4.00058961,  2.22627923, 16.99071883,
        6.9073469 , -4.00058961,  6.9073469 ,  8.42217658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112009725505377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91885889e-14, -8.91885889e-14,  1.00000000e+00,  7.95460440e-27,
        1.00000000e+00,  8.91885889e-14, -1.00000000e+00,  0.00000000e+00,
        8.91885889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184415, -0.03155163,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25852066e-03, 1.32736211e-02, 3.21393959e-03, 4.96460939e-03,
 -1.23934818e-04, 1.36814361e-02, 3.30174749e-03, 3.50960197e-03,
  4.24895444e-05, 1.43773553e-02, 3.49298507e-03, 4.67507601e-03,
  1.32627028e-04,-5.21675002e-04,-1.00707927e-05,-3.67729781e-05,
 -2.39991748e-07, 1.71704844e-07,-1.21644056e+00,-4.54339363e-04,
  1.21869585e-05,-5.50043412e-04]


--- Step 947 ---
qpos:
[ 1.16671744e-02, 2.75262775e-03, 1.05957004e-03, 4.29040932e-02,
  4.46658038e-03, 4.85730837e-04,-1.86261808e-02, 2.89910692e-02,
  1.30518297e-02, 6.99994477e-03,-1.10156943e-02, 2.79920676e-02,
  1.17220222e+00,-6.15125296e-04, 9.37724328e-01, 6.46329057e-02,
  9.35064846e-02,-7.01108512e-02, 1.30954887e-01, 5.00579006e-01,
  4.89374484e-01, 4.99462489e-01, 5.10363102e-01]

qacc:
[-4.49810480e+02, 3.03906511e+02,-1.19743234e+03, 2.42160555e+03,
 -1.67413483e+01, 2.84808419e+02,-1.12772548e+03, 2.31638351e+03,
  3.10706622e+01, 2.73133187e+02,-1.05859172e+03, 2.16761091e+03,
  1.28459686e+01,-3.07324793e+01, 1.85061488e+01,-6.82938786e+01,
  6.99973432e-01,-1.94230536e+00,-6.39504314e-01, 9.48730423e+00,
 -2.12429644e+00, 2.83340015e+01]

qfrc_actuator:
[-7.56459303e-03, 4.89247058e-02,-4.78570619e-03, 1.69473154e-02,
 -1.09150807e-03, 4.25560790e-02, 6.87067663e-05, 9.80934045e-03,
 -6.74012533e-04, 4.16218534e-02,-1.59499805e-03, 2.03837317e-02,
  1.65024765e-02, 1.15352345e-03, 2.86262355e-03,-2.98070205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57869675,  2.42453554, -3.88408178,  2.42453554, 27.66845145,
       14.41316997, -3.88408178, 14.41316997, 13.5757377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031130886547812986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.78315356e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.78315356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818429 , -0.03155196,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62060112e-03, 1.38403251e-02, 3.23468915e-03, 4.54271605e-03,
 -8.36054733e-05, 1.36379152e-02, 3.40220853e-03, 4.44189144e-03,
  1.96450036e-04, 1.44393331e-02, 3.80556311e-03, 4.28608161e-03,
 -2.22080897e-04,-9.11473032e-04,-1.04699915e-04,-3.68339711e-04,
 -7.84516707e-10, 8.29710246e-09,-1.21644000e+00,-4.54892085e-04,
  1.18829481e-05,-5.49962734e-04]


--- Step 948 ---
qpos:
[ 1.14807263e-02, 3.66346323e-03, 8.90760518e-04, 4.32967813e-02,
  4.44420819e-03, 1.27471297e-03,-1.86891986e-02, 2.92557767e-02,
  1.30437193e-02, 7.76126445e-03,-1.11120871e-02, 2.84424934e-02,
  1.17261959e+00,-5.80262392e-04, 9.38038582e-01, 6.46273595e-02,
  9.35116634e-02,-7.01267419e-02, 1.30948981e-01, 5.00499100e-01,
  4.89448583e-01, 4.99426799e-01, 5.10405338e-01]

qacc:
[-3.22025473e+02, 2.97981852e+02,-1.15488897e+03, 2.30724838e+03,
 -6.15702439e+00, 3.12791149e+02,-1.27131950e+03, 2.65023221e+03,
  4.67979616e+01, 2.52447775e+02,-9.39701214e+02, 1.88102389e+03,
  1.93020300e+01,-4.70859843e+01, 8.52977207e-02,-7.50140228e+00,
  6.86519440e-01,-1.92150140e+00,-7.48118119e-01, 9.44396188e+00,
 -2.02268867e+00, 2.79934859e+01]

qfrc_actuator:
[-9.36417402e-03, 5.44893359e-02,-4.88249454e-03, 2.05078055e-02,
 -1.11471932e-03, 4.78822596e-02, 7.26935740e-05, 1.40281799e-02,
 -3.97692247e-04, 4.73998454e-02,-1.21152433e-03, 2.33802889e-02,
  1.63095806e-02,-7.16376966e-05, 2.81039068e-03,-3.03390434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5712041 , -2.64937602,  3.72514613, -2.64937602, 25.55571365,
       14.92447664,  3.72514613, 14.92447664, 15.18570059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003091388705287884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79567038e-13, -8.97835189e-14,  1.00000000e+00,  1.61221605e-26,
        1.00000000e+00,  8.97835189e-14, -1.00000000e+00,  0.00000000e+00,
        1.79567038e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184155, -0.03155097,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87207006e-03, 1.41387070e-02, 3.30971643e-03, 4.35175961e-03,
 -2.11565740e-05, 1.38209380e-02, 3.38604356e-03, 5.00566434e-03,
  2.88644302e-04, 1.47991015e-02, 3.97585981e-03, 3.82832564e-03,
 -5.34735554e-04,-1.46193704e-03,-1.40469450e-04,-8.71360316e-05,
  1.34100511e-08, 2.89641310e-07,-1.21644062e+00,-4.55291368e-04,
  1.22291673e-05,-5.50083739e-04]


--- Step 949 ---
qpos:
[ 1.12833976e-02, 4.67729185e-03, 7.21633753e-04, 4.37645985e-02,
  4.42311406e-03, 2.16277998e-03,-1.87505336e-02, 2.96228476e-02,
  1.30400677e-02, 8.63249735e-03,-1.12003731e-02, 2.89639108e-02,
  1.17303740e+00,-5.67941104e-04, 9.38351762e-01, 6.46233696e-02,
  9.35172070e-02,-7.01382827e-02, 1.30946125e-01, 5.00433198e-01,
  4.89508163e-01, 4.99408723e-01, 5.10430505e-01]

qacc:
[-9.71961761e+01, 2.91977718e+02,-1.16010624e+03, 2.38407065e+03,
  9.64892723e+00, 3.36645358e+02,-1.44267898e+03, 3.13859655e+03,
  3.76163514e+01, 2.68635939e+02,-1.04693562e+03, 2.18180430e+03,
  1.94406662e+01,-4.94030045e+01,-8.01026104e+00, 2.16568562e+01,
  9.12048792e-02, 1.08748944e+00, 7.62593373e-01, 1.69703605e+00,
  4.39330908e-01,-1.57809900e+01]

qfrc_actuator:
[-0.00986814, 0.05945873,-0.00495978, 0.02425523,-0.00104839, 0.05272403,
  0.00013651, 0.01915487,-0.00017871, 0.05299878,-0.00075117, 0.02695056,
  0.0160775 ,-0.00132302, 0.0028051 ,-0.00293854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003123282737430011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33250036e-14, -1.77733353e-13,  1.00000000e+00, -5.92296462e-27,
        1.00000000e+00,  1.77733353e-13, -1.00000000e+00,  0.00000000e+00,
       -3.33250036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185738, -0.08824593,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55392707e-04, 1.37140245e-02, 3.39212072e-03, 4.54993762e-03,
  7.02089626e-05, 1.34557827e-02, 3.49980385e-03, 5.93135367e-03,
  2.34438032e-04, 1.48326219e-02, 4.13070467e-03, 4.41404558e-03,
 -8.84756488e-04,-1.67234766e-03,-7.52417245e-05, 7.33157154e-05,
 -1.86439905e-07, 1.00165838e-06,-1.21644238e+00,-4.55562403e-04,
  1.32085237e-05,-5.50400726e-04]


--- Step 950 ---
qpos:
[ 1.10849425e-02, 5.78314263e-03, 5.57326896e-04, 4.43209769e-02,
  4.40574109e-03, 3.14648607e-03,-1.88083949e-02, 3.00902167e-02,
  1.30398233e-02, 9.60455341e-03,-1.12759541e-02, 2.95652629e-02,
  1.17345093e+00,-5.70364262e-04, 9.38664391e-01, 6.46188547e-02,
  9.35231113e-02,-7.01455549e-02, 1.30945540e-01, 5.00381030e-01,
  4.89553515e-01, 4.99407926e-01, 5.10438933e-01]

qacc:
[-1.12491950e+01, 2.90606799e+02,-1.23320235e+03, 2.68968474e+03,
  3.12447876e+01, 3.22796932e+02,-1.39125660e+03, 3.05117179e+03,
  2.86636796e+01, 2.62191556e+02,-1.07911700e+03, 2.36805707e+03,
  9.19020676e+00,-2.82992614e+01,-1.51634165e-01,-2.81867881e+00,
  9.01731654e-02, 1.06714582e+00, 5.67648565e-01, 1.66791879e+00,
  4.28424215e-01,-1.54756432e+01]

qfrc_actuator:
[-9.90753638e-03, 6.34820147e-02,-4.92055504e-03, 2.86503363e-02,
 -8.58894572e-04, 5.73092319e-02, 2.33823294e-04, 2.41529584e-02,
 -1.30223075e-05, 5.75591867e-02,-2.84725645e-04, 3.09186233e-02,
  1.57367834e-02,-2.06524729e-03, 2.76940661e-03,-2.96942644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031809668760042487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27206829e-14, -3.49020618e-13,  1.00000000e+00, -1.14201930e-26,
        1.00000000e+00,  3.49020618e-13, -1.00000000e+00,  0.00000000e+00,
       -3.27206829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185752, -0.08824439,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38302111e-05, 1.25525432e-02, 3.43649772e-03, 5.18567348e-03,
  1.95798933e-04, 1.30543600e-02, 3.50251662e-03, 5.80858872e-03,
  1.79945310e-04, 1.38656893e-02, 4.18151932e-03, 4.82960409e-03,
 -1.24760256e-03,-1.28691862e-03,-6.26245946e-05,-3.66156030e-05,
 -1.77329106e-07, 6.10593972e-07,-1.21644141e+00,-4.55556004e-04,
  1.29881560e-05,-5.50663413e-04]


--- Step 951 ---
qpos:
[ 1.08926646e-02, 6.97516149e-03, 3.98076945e-04, 4.49699060e-02,
  4.39284353e-03, 4.22742568e-03,-1.88641427e-02, 3.06392430e-02,
  1.30426703e-02, 1.06716179e-02,-1.13403881e-02, 3.02427665e-02,
  1.17385677e+00,-5.80877269e-04, 9.38976281e-01, 6.46140418e-02,
  9.35293731e-02,-7.01486263e-02, 1.30946570e-01, 5.00342371e-01,
  4.89584880e-01, 4.99424129e-01, 5.10430893e-01]

qacc:
[ 5.28565281e+01, 2.90292476e+02,-1.26033764e+03, 2.78995134e+03,
  3.78085330e+01, 2.90355879e+02,-1.19382038e+03, 2.53212751e+03,
  2.59225598e+01, 2.51075866e+02,-1.03464668e+03, 2.26485487e+03,
  1.04803540e+00,-1.10538483e+01,-4.56512340e-01,-6.13734671e-01,
  8.93775418e-02, 1.05019786e+00, 4.03768479e-01, 1.64473918e+00,
  4.18625152e-01,-1.52218916e+01]

qfrc_actuator:
[-9.58482573e-03, 6.74044786e-02,-4.81643758e-03, 3.32485423e-02,
 -6.33967266e-04, 6.21658636e-02, 3.13273854e-04, 2.82183778e-02,
  1.37698755e-04, 6.18166575e-02, 7.10052662e-05, 3.46797053e-02,
  1.53046660e-02,-2.44751195e-03, 2.72611394e-03,-2.98583587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003204549308158805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46452158e-13,  2.59839119e-13,  1.00000000e+00, -9.00218236e-26,
        1.00000000e+00, -2.59839119e-13, -1.00000000e+00,  0.00000000e+00,
        3.46452158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185758, -0.08824378,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21819458e-04, 1.18352197e-02, 3.28758720e-03, 5.35248571e-03,
  2.34672407e-04, 1.30929204e-02, 3.39643154e-03, 4.85597092e-03,
  1.63426465e-04, 1.30463566e-02, 3.89021632e-03, 4.59060254e-03,
 -1.46532559e-03,-9.31298122e-04,-8.36644410e-05,-2.80151371e-05,
 -1.61515295e-07, 3.26214537e-07,-1.21644077e+00,-4.55556602e-04,
  1.26861992e-05,-5.50829603e-04]


--- Step 952 ---
qpos:
[ 1.07084343e-02, 8.25426796e-03, 2.42406305e-04, 4.57050788e-02,
  4.38343171e-03, 5.40828427e-03,-1.89199023e-02, 3.12663030e-02,
  1.30473718e-02, 1.18336288e-02,-1.13976672e-02, 3.09941495e-02,
  1.17425395e+00,-5.96952121e-04, 9.39287379e-01, 6.46100396e-02,
  9.35359900e-02,-7.01475530e-02, 1.30948665e-01, 5.00317035e-01,
  4.89602458e-01, 4.99457100e-01, 5.10406606e-01]

qacc:
[ 6.91043380e+01, 2.82613188e+02,-1.20462893e+03, 2.62684072e+03,
  2.89988420e+01, 2.92399162e+02,-1.18062114e+03, 2.45758233e+03,
  1.49215894e+01, 2.57489574e+02,-1.04799718e+03, 2.24524117e+03,
 -1.73941156e+00,-4.87649760e+00,-3.65372206e+00, 1.09959552e+01,
  8.87885281e-02, 1.03617054e+00, 2.66303256e-01, 1.62663177e+00,
  4.09752159e-01,-1.50121375e+01]

qfrc_actuator:
[-0.00917597, 0.07178583,-0.00464004, 0.03755639,-0.00046103, 0.06732303,
  0.00036422, 0.03212878, 0.00022514, 0.06646144, 0.00037454, 0.03835942,
  0.0148874 ,-0.00270332, 0.0026996 ,-0.00294032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003200784026489434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67149279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.67149279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918576 , -0.0882439 ,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18129236e-04, 1.18660912e-02, 3.19782783e-03, 5.02905788e-03,
  1.83841229e-04, 1.33485559e-02, 3.32851876e-03, 4.67998984e-03,
  9.97386250e-05, 1.29013447e-02, 3.62321876e-03, 4.45898415e-03,
 -1.49785758e-03,-7.81944561e-04,-7.86470002e-05, 3.11635994e-05,
 -1.39295944e-07, 1.42410795e-07,-1.21644046e+00,-4.55564177e-04,
  1.23048287e-05,-5.50900873e-04]


--- Step 953 ---
qpos:
[ 1.05335569e-02, 9.62926427e-03, 9.01259921e-05, 4.65560888e-02,
  4.37858262e-03, 6.68906962e-03,-1.89763396e-02, 3.19940234e-02,
  1.30531558e-02, 1.30970647e-02,-1.14537382e-02, 3.18330141e-02,
  1.17464186e+00,-6.16914989e-04, 9.39597779e-01, 6.46088765e-02,
  9.35429605e-02,-7.01423810e-02, 1.30951366e-01, 5.00304865e-01,
  4.89606414e-01, 4.99506650e-01, 5.10366250e-01]

qacc:
[ 8.02835448e+01, 3.55699904e+02,-1.57316368e+03, 3.50104491e+03,
  3.84750354e+01, 3.40758604e+02,-1.44861849e+03, 3.11820800e+03,
  7.84854609e+00, 3.10668076e+02,-1.28258088e+03, 2.71988648e+03,
 -3.51201031e+00,-9.04890270e-01,-9.48688324e+00, 3.19562892e+01,
  8.83804058e-02, 1.02465532e+00, 1.51284023e-01, 1.61287021e+00,
  4.01651126e-01,-1.48399923e+01]

qfrc_actuator:
[-0.00870202, 0.07750778,-0.00408353, 0.04345233,-0.00023133, 0.07249467,
  0.0004171 , 0.03719533, 0.00027461, 0.07199302, 0.00061078, 0.04277875,
  0.01443681,-0.00288254, 0.00269384,-0.00278763, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003175328081192058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74101035e-14,  1.74820207e-13,  1.00000000e+00, -1.52810524e-26,
        1.00000000e+00, -1.74820207e-13, -1.00000000e+00,  0.00000000e+00,
        8.74101035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185756, -0.0882446 ,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.85719650e-04, 1.31881863e-02, 3.56081046e-03, 6.60865687e-03,
  2.39260517e-04, 1.34805906e-02, 3.36745771e-03, 5.84091292e-03,
  6.02469244e-05, 1.36425607e-02, 3.48718085e-03, 5.18018873e-03,
 -1.51594055e-03,-6.82354593e-04,-5.01496735e-05, 1.42066955e-04,
 -1.10879259e-07, 5.43500331e-08,-1.21644044e+00,-4.55578763e-04,
  1.18455825e-05,-5.50878534e-04]


--- Step 954 ---
qpos:
[ 1.03773578e-02, 1.11059337e-02,-5.26319059e-05, 4.75254371e-02,
  4.38066329e-03, 8.07228022e-03,-1.90338296e-02, 3.28330461e-02,
  1.30599063e-02, 1.44724448e-02,-1.15140435e-02, 3.27621227e-02,
  1.17502013e+00,-6.39722707e-04, 9.39907907e-01, 6.46055792e-02,
  9.35502835e-02,-7.01331479e-02, 1.30954288e-01, 5.00305733e-01,
  4.89596883e-01, 4.99572622e-01, 5.10309966e-01]

qacc:
[ 1.61625520e+02, 3.51187130e+02,-1.55678550e+03, 3.51410577e+03,
  5.92580897e+01, 3.66932200e+02,-1.58215557e+03, 3.43469777e+03,
  6.47372522e+00, 3.45457115e+02,-1.39809662e+03, 2.88410160e+03,
 -4.94678067e+00, 2.12890400e+00, 6.26328835e+00,-2.19709527e+01,
  8.81307224e-02, 1.01530056e+00, 5.53156146e-02, 1.60284261e+00,
  3.94190816e-01,-1.47000660e+01]

qfrc_actuator:
[-0.00774973, 0.08329811,-0.00331794, 0.04943815, 0.00011873, 0.07791907,
  0.00048956, 0.0427952 , 0.00031908, 0.07831402, 0.00066772, 0.04735015,
  0.01396127,-0.00301526, 0.00264729,-0.00291028, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031329054108289456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32890585e-13,  2.65781171e-13,  1.00000000e+00, -3.53198154e-26,
        1.00000000e+00, -2.65781171e-13, -1.00000000e+00,  0.00000000e+00,
        1.32890585e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185749, -0.08824576,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66073898e-04, 1.41347786e-02, 4.14090212e-03, 6.79799642e-03,
  3.61181649e-04, 1.38611449e-02, 3.45789047e-03, 6.40338786e-03,
  5.46985374e-05, 1.48453913e-02, 3.46778775e-03, 5.37293087e-03,
 -1.52815587e-03,-6.19907456e-04,-6.71869145e-05,-1.23802191e-04,
 -7.64029280e-08, 5.82131321e-08,-1.21644071e+00,-4.55600453e-04,
  1.13094889e-05,-5.50763662e-04]


--- Step 955 ---
qpos:
[ 1.02492210e-02, 1.26789059e-02,-1.80840368e-04, 4.85833867e-02,
  4.38830210e-03, 9.56125334e-03,-1.90921993e-02, 3.37804532e-02,
  1.30665328e-02, 1.59629329e-02,-1.15756058e-02, 3.37674107e-02,
  1.17539111e+00,-6.70441127e-04, 9.40217985e-01, 6.45964685e-02,
  9.35579586e-02,-7.01198836e-02, 1.30957111e-01, 5.00319535e-01,
  4.89573974e-01, 4.99654889e-01, 5.10237865e-01]

qacc:
[ 2.43267506e+02, 2.68625653e+02,-1.14756439e+03, 2.58672161e+03,
  4.71278713e+01, 3.64869105e+02,-1.55602535e+03, 3.35523988e+03,
 -3.03953035e+00, 3.12388371e+02,-1.21469904e+03, 2.45015863e+03,
  8.86364342e-01,-1.04580018e+01, 1.72190647e+01,-6.09426913e+01,
  8.80198844e-02, 1.00780359e+00,-2.45100478e-02, 1.59603207e+00,
  3.87259221e-01,-1.45877992e+01]

qfrc_actuator:
[-0.00632821, 0.08770063,-0.00277169, 0.05381359, 0.00039478, 0.0835059 ,
  0.00055667, 0.04823811, 0.00030698, 0.08436523, 0.00071079, 0.05117618,
  0.01360958,-0.00343911, 0.00262419,-0.00321206, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003077446890651231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01464050e-13,  1.80380534e-13,  1.00000000e+00, -1.83021395e-26,
        1.00000000e+00, -1.80380534e-13, -1.00000000e+00,  0.00000000e+00,
        1.01464050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918574 , -0.08824726,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44900096e-03, 1.34002937e-02, 4.19347090e-03, 5.25135921e-03,
  2.90746099e-04, 1.42752627e-02, 3.56030216e-03, 6.27631482e-03,
 -1.25268339e-06, 1.52482865e-02, 3.70520958e-03, 4.68173111e-03,
 -1.39779946e-03,-9.00748380e-04,-8.20860842e-05,-3.20125847e-04,
 -3.59487181e-08, 1.50985762e-07,-1.21644127e+00,-4.55629386e-04,
  1.06971667e-05,-5.50557138e-04]


--- Step 956 ---
qpos:
[ 1.01524853e-02, 1.43376631e-02,-2.95906396e-04, 4.97249081e-02,
  4.39885475e-03, 1.11473259e-02,-1.91461049e-02, 3.48340219e-02,
  1.30723751e-02, 1.75605889e-02,-1.16320671e-02, 3.48388369e-02,
  1.17575683e+00,-7.13276966e-04, 9.40527148e-01, 6.45900291e-02,
  9.35659858e-02,-7.01026117e-02, 1.30959572e-01, 5.00346186e-01,
  4.89537772e-01, 4.99753351e-01, 5.10150029e-01]

qacc:
[ 2.71835574e+02, 2.48236140e+02,-1.07389263e+03, 2.43607753e+03,
  2.41692349e+01, 3.33964715e+02,-1.45296721e+03, 3.21142880e+03,
 -8.47021731e+00, 2.63472322e+02,-1.01309494e+03, 2.07043912e+03,
  6.40352135e+00,-2.20167369e+01,-1.01005408e+01, 3.17593636e+01,
  8.80308143e-02, 1.00190405e+00,-9.06850758e-02, 1.59200101e+00,
  3.80760599e-01,-1.44993288e+01]

qfrc_actuator:
[-0.00474853, 0.09114638,-0.00245464, 0.05791531, 0.00053627, 0.08788546,
  0.00060306, 0.05350972, 0.00026163, 0.08928348, 0.00079752, 0.05444418,
  0.01336431,-0.00406695, 0.0026471 ,-0.00304869, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030122102076811375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15179443e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15179443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185728, -0.08824903,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62050093e-03, 1.19736222e-02, 3.76395843e-03, 4.91739164e-03,
  1.54323269e-04, 1.33111687e-02, 3.63187371e-03, 6.12336055e-03,
 -3.55511780e-05, 1.43557146e-02, 3.83591767e-03, 4.13530592e-03,
 -1.27917958e-03,-1.13207291e-03,-6.20538111e-05, 1.32677533e-04,
  1.04460880e-08, 3.30291531e-07,-1.21644210e+00,-4.55665750e-04,
  1.00089032e-05,-5.50259671e-04]


--- Step 957 ---
qpos:
[ 1.00846551e-02, 1.60807240e-02,-4.05350038e-04, 5.09574082e-02,
  4.41137657e-03, 1.28208684e-02,-1.91928560e-02, 3.59677140e-02,
  1.30777367e-02, 1.92593457e-02,-1.16834479e-02, 3.59666491e-02,
  1.17611702e+00,-7.65163735e-04, 9.40835268e-01, 6.45888970e-02,
  9.35768744e-02,-7.00933055e-02, 1.30960378e-01, 5.00335587e-01,
  4.89542527e-01, 4.99831403e-01, 5.10079389e-01]

qacc:
[ 2.49253125e+02, 2.82592681e+02,-1.23033340e+03, 2.73350303e+03,
  1.60830862e+01, 2.60215060e+02,-1.09847665e+03, 2.40908899e+03,
 -5.71058096e+00, 2.35434359e+02,-8.83586940e+02, 1.77665184e+03,
  3.77242048e+00,-1.54130979e+01,-1.80105436e+01, 5.97097816e+01,
  7.15354786e-01,-1.99145652e+00,-4.13704840e-01, 9.86094030e+00,
 -2.03591669e+00, 2.90333440e+01]

qfrc_actuator:
[-0.00330154, 0.09512625,-0.00227953, 0.06244371, 0.00063295, 0.0914715 ,
  0.00063202, 0.05743024, 0.00023256, 0.09385667, 0.00085132, 0.05721492,
  0.01319361,-0.00445475, 0.00262314,-0.00277217, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002984757200109184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85982134e-13, -1.85982134e-13,  1.00000000e+00,  3.45893540e-26,
        1.00000000e+00,  1.85982134e-13, -1.00000000e+00,  0.00000000e+00,
        1.85982134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183169, -0.03154678,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49202186e-03, 1.16034203e-02, 3.26148889e-03, 5.26117626e-03,
  1.05300885e-04, 1.19828996e-02, 3.41740927e-03, 4.72999265e-03,
 -2.01974875e-05, 1.35109954e-02, 3.61435488e-03, 3.59327273e-03,
 -1.18637687e-03,-9.12713748e-04,-4.55720289e-05, 2.74404520e-04,
  6.27796792e-08, 5.94257972e-07,-1.21644321e+00,-4.55709779e-04,
  9.24471705e-06,-5.49871820e-04]


--- Step 958 ---
qpos:
[ 1.00425255e-02, 1.79123996e-02,-5.13036365e-04, 5.22697559e-02,
  4.42461697e-03, 1.45815578e-02,-1.92361289e-02, 3.71584306e-02,
  1.30838549e-02, 2.10557947e-02,-1.17311351e-02, 3.71417770e-02,
  1.17647142e+00,-8.21947523e-04, 9.41142670e-01, 6.45884928e-02,
  9.35905678e-02,-7.00918475e-02, 1.30958955e-01, 5.00288204e-01,
  4.89587584e-01, 4.99889508e-01, 5.10025676e-01]

qacc:
[ 2.20567908e+02, 2.76224660e+02,-1.15228886e+03, 2.46574692e+03,
  4.96220135e+00, 2.22590670e+02,-8.67353248e+02, 1.78428280e+03,
  5.06071190e+00, 2.16116728e+02,-7.82980665e+02, 1.52382548e+03,
 -1.68548953e-01,-5.80629134e+00,-3.36940803e+00, 9.98276543e+00,
  7.01179770e-01,-1.96201955e+00,-5.57228455e-01, 9.76849366e+00,
 -1.93303195e+00, 2.85709099e+01]

qfrc_actuator:
[-0.00201525, 0.09976656,-0.00213406, 0.06644169, 0.00066701, 0.09559962,
  0.00068156, 0.06023965, 0.00026652, 0.09843454, 0.00090111, 0.05954633,
  0.01305189,-0.00460799, 0.00255512,-0.00275101, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54370113,  3.07420692, -3.34581407,  3.07420692, 14.57044532,
        9.21279118, -3.34581407,  9.21279118, 13.00861454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003009820198394547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76650170e-13, -2.30541808e-13,  1.00000000e+00,  6.37794303e-26,
        1.00000000e+00,  2.30541808e-13, -1.00000000e+00,  0.00000000e+00,
        2.76650170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183131, -0.0315483 ,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32731076e-03, 1.19643337e-02, 3.10410627e-03, 4.70377784e-03,
  4.08968679e-05, 1.16747518e-02, 3.08769953e-03, 3.52701585e-03,
  4.33435800e-05, 1.29704860e-02, 3.38843058e-03, 3.09915541e-03,
 -1.05177020e-03,-6.11985839e-04,-6.67894181e-05, 2.89429340e-05,
 -7.85750173e-08, 6.90081464e-08,-1.21644185e+00,-4.56378608e-04,
  9.70689970e-06,-5.49670320e-04]


--- Step 959 ---
qpos:
[ 1.00232771e-02, 1.98316997e-02,-6.16306162e-04, 5.36427572e-02,
  4.43678075e-03, 1.64336559e-02,-1.92801600e-02, 3.83987384e-02,
  1.30907949e-02, 2.29480430e-02,-1.17760834e-02, 3.83624917e-02,
  1.17682025e+00,-8.80889378e-04, 9.41449636e-01, 6.45879672e-02,
  9.36037152e-02,-7.00981191e-02, 1.30955962e-01, 5.00215677e-01,
  4.89657943e-01, 4.99916576e-01, 5.10002737e-01]

qacc:
[ 1.95566959e+02, 2.28001037e+02,-9.01223777e+02, 1.87910744e+03,
 -1.09929961e+01, 2.24794695e+02,-8.35585909e+02, 1.62740552e+03,
  5.60762572e+00, 2.12719105e+02,-7.67188298e+02, 1.48099922e+03,
 -2.35183741e+00,-1.49925091e-03,-1.90372068e-01,-6.67636694e-02,
 -1.36473034e-01,-1.93241516e+00,-3.92536003e-01,-3.12228141e+00,
 -3.97853401e-01, 2.80312025e+01]

qfrc_actuator:
[-0.00086924, 0.10409051,-0.0019515 , 0.06945706, 0.00061071, 0.10039114,
  0.00070875, 0.06272849, 0.00030175, 0.10310248, 0.00098335, 0.06181368,
  0.01291181,-0.00463878, 0.00254056,-0.00275635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003010874311490247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26902206e-07,  4.60922190e-14,  1.00000000e+00, -2.88953138e-20,
        1.00000000e+00, -4.60922190e-14, -1.00000000e+00,  0.00000000e+00,
        6.26902206e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09561374, -0.03269257,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18223993e-03, 1.17898542e-02, 3.17580839e-03, 3.71992961e-03,
 -5.13415705e-05, 1.20428194e-02, 2.91827551e-03, 3.15808546e-03,
  4.65959776e-05, 1.26867845e-02, 3.26300860e-03, 2.99416436e-03,
 -9.02312698e-04,-3.96488403e-04,-5.09357484e-05,-1.40742763e-05,
 -4.42171498e-07, 7.70237698e-09,-1.21644172e+00,-4.56918123e-04,
  1.08262183e-05,-5.49662810e-04]


--- Step 960 ---
qpos:
[ 1.00229793e-02, 2.18320689e-02,-7.11891188e-04, 5.50762388e-02,
  4.44610679e-03, 1.83760989e-02,-1.93241501e-02, 3.96968121e-02,
  1.30975367e-02, 2.49353698e-02,-1.18193189e-02, 3.96316536e-02,
  1.17716426e+00,-9.40624437e-04, 9.41756608e-01, 6.45872607e-02,
  9.36129525e-02,-7.01118514e-02, 1.30950853e-01, 5.00130827e-01,
  4.89737709e-01, 4.99902562e-01, 5.10023098e-01]

qacc:
[ 1.61259171e+02, 2.09903123e+02,-8.48395566e+02, 1.82269157e+03,
 -2.63327574e+01, 2.37976794e+02,-9.19078325e+02, 1.85173420e+03,
 -3.22439759e+00, 2.20529588e+02,-8.08449955e+02, 1.57384254e+03,
 -2.96907373e+00, 2.35985102e+00, 7.11050029e-01,-2.10705737e+00,
 -9.77539956e-01,-1.86517355e+00,-5.28974426e-01,-1.59293700e+01,
  1.00751111e+00, 2.63815738e+01]

qfrc_actuator:
[ 7.86249372e-05, 1.07799612e-01,-1.69678833e-03, 7.24559473e-02,
  4.66193941e-04, 1.04973482e-01, 7.43132189e-04, 6.56309510e-02,
  2.84108323e-04, 1.07858268e-01, 1.06678048e-03, 6.42384422e-02,
  1.27995295e-02,-4.61462416e-03, 2.56340446e-03,-2.75926382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304115884537437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73799335e-13, -9.12664449e-14,  1.00000000e+00,  2.49886919e-26,
        1.00000000e+00,  9.12664449e-14, -1.00000000e+00,  0.00000000e+00,
        2.73799335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10943813, -0.03384166,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.79686393e-04, 1.10466208e-02, 3.18546281e-03, 3.67894517e-03,
 -1.42031678e-04, 1.19852189e-02, 2.96668636e-03, 3.57412195e-03,
 -5.94804200e-06, 1.25819969e-02, 3.18526159e-03, 3.13269515e-03,
 -7.36691284e-04,-2.62990120e-04,-1.18436242e-05,-1.22204711e-05,
 -6.65177320e-07, 3.80942341e-07,-1.21644186e+00,-4.57348656e-04,
  1.22755632e-05,-5.49773110e-04]


--- Step 961 ---
qpos:
[ 1.00359995e-02, 2.39085956e-02,-7.98128416e-04, 5.65694272e-02,
  4.45156699e-03, 2.03981284e-02,-1.93623603e-02, 4.10591026e-02,
  1.31034594e-02, 2.70108769e-02,-1.18581442e-02, 4.09519945e-02,
  1.17750474e+00,-1.00129266e-03, 9.42062871e-01, 6.45866190e-02,
  9.36183908e-02,-7.01327202e-02, 1.30943476e-01, 5.00034259e-01,
  4.89826345e-01, 4.99849145e-01, 5.10085016e-01]

qacc:
[ 1.12584666e+02, 1.97258428e+02,-8.09276304e+02, 1.77090275e+03,
 -3.48765581e+01, 2.21002334e+02,-9.06379406e+02, 1.94933575e+03,
 -8.34147912e+00, 2.09500094e+02,-7.93853985e+02, 1.60722565e+03,
 -1.82690679e+00, 8.88088908e-01,-1.15868355e+00, 2.72860013e+00,
 -9.49752903e-01,-1.78411991e+00,-5.67016769e-01,-1.53483053e+01,
  9.89607597e-01, 2.52462840e+01]

qfrc_actuator:
[ 0.00074261, 0.11134211,-0.00133281, 0.07542086, 0.00027094, 0.10840068,
  0.00083459, 0.06880683, 0.00023544, 0.11190132, 0.00115086, 0.06677205,
  0.01274134,-0.00461127, 0.0025128 ,-0.00276062, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030412685579492315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72489140e-07,  2.72489140e-07,  1.00000000e+00,  7.42503315e-14,
        1.00000000e+00, -2.72489140e-07, -1.00000000e+00,  0.00000000e+00,
       -2.72489140e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897953, -0.03525965,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89496773e-04, 1.04613448e-02, 3.13978561e-03, 3.61232434e-03,
 -1.95395250e-04, 1.08222528e-02, 3.03103430e-03, 3.85450847e-03,
 -3.82166161e-05, 1.17969537e-02, 3.15823820e-03, 3.23672901e-03,
 -5.53721573e-04,-2.18514103e-04,-6.82877859e-05,-5.84766805e-06,
 -4.63856567e-07, 9.24192959e-07,-1.21644228e+00,-4.57862024e-04,
  1.28510857e-05,-5.50054462e-04]


--- Step 962 ---
qpos:
[ 1.00557072e-02, 2.60758059e-02,-8.78308584e-04, 5.81227160e-02,
  4.44326069e-03, 2.25042185e-02,-1.94019890e-02, 4.25073495e-02,
  1.31088841e-02, 2.91787281e-02,-1.18986033e-02, 4.23353376e-02,
  1.17784287e+00,-1.06278412e-03, 9.42368199e-01, 6.45820597e-02,
  9.36241526e-02,-7.01491466e-02, 1.30939741e-01, 4.99951635e-01,
  4.89900848e-01, 4.99813688e-01, 5.10129198e-01]

qacc:
[ 5.54104838e+01, 2.26576717e+02,-8.87369198e+02, 1.85002494e+03,
 -1.21226177e+02, 2.91830508e+02,-1.24180695e+03, 2.66862536e+03,
 -5.80283236e+00, 2.56197084e+02,-1.00225337e+03, 2.02667961e+03,
 -1.24066932e+00, 4.76303102e-01, 1.04968956e+01,-3.86083640e+01,
  8.08791019e-02, 1.11061183e+00, 9.10374969e-01, 2.06476677e+00,
  2.66078524e-01,-1.59219984e+01]

qfrc_actuator:
[ 0.00107454, 0.11699395,-0.00060622, 0.0785195 ,-0.00043191, 0.11295568,
  0.00090128, 0.07314686, 0.00020436, 0.11681704, 0.00117868, 0.06995246,
  0.01273696,-0.00460218, 0.00242352,-0.00297425, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003166087859234473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73953780e-13, -1.75330419e-13,  1.00000000e+00,  4.80324312e-26,
        1.00000000e+00,  1.75330419e-13, -1.00000000e+00,  0.00000000e+00,
        2.73953780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185825, -0.08824543,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48626892e-04, 1.22279790e-02, 3.37243405e-03, 3.71776692e-03,
 -7.04945077e-04, 1.13219206e-02, 2.78252532e-03, 4.97615896e-03,
 -2.15473871e-05, 1.22261350e-02, 2.93889352e-03, 3.85063695e-03,
 -3.82204589e-04,-1.61283759e-04,-1.27642863e-04,-2.24031188e-04,
 -1.33405389e-07, 1.56245299e-06,-1.21644379e+00,-4.58456399e-04,
  1.26195228e-05,-5.50576074e-04]


--- Step 963 ---
qpos:
[ 1.00780658e-02, 2.83409917e-02,-9.42773409e-04, 5.97410289e-02,
  4.41555550e-03, 2.46999830e-02,-1.94442875e-02, 4.40442274e-02,
  1.31143717e-02, 3.14472360e-02,-1.19447250e-02, 4.37878950e-02,
  1.17817961e+00,-1.12490683e-03, 9.42672427e-01, 6.45765388e-02,
  9.36302485e-02,-7.01612302e-02, 1.30938768e-01, 4.99882691e-01,
  4.89961452e-01, 4.99795802e-01, 5.10156081e-01]

qacc:
[ 2.12325321e+01, 2.19414097e+02,-8.68461563e+02, 1.89525864e+03,
 -1.69773473e+02, 3.08310074e+02,-1.30089431e+03, 2.77153726e+03,
 -1.26129107e+00, 2.91196159e+02,-1.13730365e+03, 2.26941731e+03,
 -5.11706019e-01,-1.94343332e-01, 1.29080831e+00,-6.84744136e+00,
  8.35374254e-02, 1.08568708e+00, 6.90688332e-01, 1.97966062e+00,
  2.81506743e-01,-1.55908779e+01]

qfrc_actuator:
[ 0.00120855, 0.12287227, 0.00058603, 0.08186938,-0.00141013, 0.11793803,
  0.000958  , 0.07762313, 0.0002016 , 0.12250096, 0.00114153, 0.07347089,
  0.01277022,-0.00458939, 0.00240162,-0.00300949, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.62584863, -0.29073092,  4.61670348, -0.29073092, 12.67332881,
        0.50677964,  4.61670348,  0.50677964,  4.65776242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032449174096452205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55355379e-14,  8.55355379e-14,  1.00000000e+00, -7.31632825e-27,
        1.00000000e+00, -8.55355379e-14, -1.00000000e+00,  0.00000000e+00,
        8.55355379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185901, -0.08824354,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41092644e-04, 1.34913068e-02, 4.23401263e-03, 4.05439346e-03,
 -9.94758205e-04, 1.20220353e-02, 2.88281905e-03, 5.14667251e-03,
  7.68043426e-06, 1.32119020e-02, 2.95558995e-03, 4.21105557e-03,
 -2.31190041e-04,-1.05843708e-04,-1.08429086e-04,-6.46976686e-05,
 -1.57282773e-07, 1.05991614e-06,-1.21644247e+00,-4.58370122e-04,
  1.25132673e-05,-5.50942794e-04]


--- Step 964 ---
qpos:
[ 1.01013737e-02, 3.06973616e-02,-9.83185290e-04, 6.14280943e-02,
  4.37668136e-03, 2.69843693e-02,-1.94839826e-02, 4.56330974e-02,
  1.31199338e-02, 3.38101126e-02,-1.19891681e-02, 4.53021802e-02,
  1.17851577e+00,-1.18676230e-03, 9.42975482e-01, 6.45738530e-02,
  9.36366870e-02,-7.01690540e-02, 1.30939819e-01, 4.99827203e-01,
  4.90008357e-01, 4.99795162e-01, 5.10166025e-01]

qacc:
[ 7.21187745e+00, 1.94825872e+02,-8.09456705e+02, 1.89227415e+03,
 -9.78299175e+01, 2.16777937e+02,-8.22107366e+02, 1.65153015e+03,
 -8.34337238e-01, 2.46968001e+02,-9.60058516e+02, 1.95553324e+03,
 -4.62339745e-01, 7.29074033e-01,-1.02530799e+01, 3.34339944e+01,
  8.56384853e-02, 1.06492655e+00, 5.05849454e-01, 1.91193723e+00,
  2.92452715e-01,-1.53141273e+01]

qfrc_actuator:
[ 0.00126067, 0.12726292, 0.0017438 , 0.08530553,-0.00195658, 0.12228541,
  0.0010283 , 0.08019129, 0.00019771, 0.12698507, 0.00114109, 0.07653938,
  0.01285802,-0.00452098, 0.00238823,-0.00285032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.64060451, -0.60068343,  4.60156383, -0.60068343, 15.02521723,
        1.35559671,  4.60156383,  1.35559671,  4.81756272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003284600649061803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22510658e-14,  1.69004263e-13,  1.00000000e+00, -7.14061024e-27,
        1.00000000e+00, -1.69004263e-13, -1.00000000e+00,  0.00000000e+00,
        4.22510658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185956, -0.08824266,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31877755e-05, 1.28985380e-02, 4.57673244e-03, 4.23069442e-03,
 -5.71125002e-04, 1.18030940e-02, 3.05806373e-03, 3.27496170e-03,
  8.05795809e-06, 1.25785222e-02, 3.20917648e-03, 3.81056239e-03,
 -7.42711311e-05,-4.35016400e-06,-7.23538412e-05, 1.41241837e-04,
 -1.67222324e-07, 6.65754850e-07,-1.21644150e+00,-4.58309690e-04,
  1.23083092e-05,-5.51213270e-04]


--- Step 965 ---
qpos:
[ 1.01242863e-02, 3.31443281e-02,-1.00620682e-03, 6.31736298e-02,
  4.32982670e-03, 2.93592605e-02,-1.95223144e-02, 4.72514670e-02,
  1.31255585e-02, 3.62674963e-02,-1.20321953e-02, 4.68644373e-02,
  1.17885188e+00,-1.24628067e-03, 9.43278078e-01, 6.45723168e-02,
  9.36434748e-02,-7.01726870e-02, 1.30942272e-01, 4.99784981e-01,
  4.90041735e-01, 4.99811499e-01, 5.10159324e-01]

qacc:
[-4.19742271e+00, 1.91522473e+02,-7.55389219e+02, 1.67136524e+03,
 -7.00329675e+01, 1.76464992e+02,-5.79892732e+02, 1.02089138e+03,
 -9.45262268e-01, 2.19586164e+02,-8.04093657e+02, 1.56187334e+03,
 -1.91596299e+00, 4.92688535e+00,-3.97643634e+00, 1.33269897e+01,
  8.73231559e-02, 1.04772085e+00, 3.50653969e-01, 1.85838055e+00,
  2.99908165e-01,-1.50838695e+01]

qfrc_actuator:
[ 0.00124654, 0.13156295, 0.00249345, 0.08819562,-0.00235096, 0.1268561 ,
  0.0010848 , 0.08165128, 0.0001931 , 0.13170947, 0.0011931 , 0.07892715,
  0.01299449,-0.00433109, 0.00238001,-0.00279096, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032927586651802787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21463861e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.21463861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09185995, -0.08824259,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61971663e-05, 1.25510252e-02, 4.09296659e-03, 3.67409422e-03,
 -4.06938439e-04, 1.18567202e-02, 2.95464396e-03, 2.12668558e-03,
  7.45369689e-06, 1.24962674e-02, 3.14690326e-03, 3.10330881e-03,
  9.10800958e-05, 1.73724757e-04,-2.75752132e-05, 5.75351902e-05,
 -1.65244841e-07, 3.73660831e-07,-1.21644085e+00,-4.58270964e-04,
  1.20107473e-05,-5.51388979e-04]


--- Step 966 ---
qpos:
[ 1.01463515e-02, 3.56790067e-02,-1.01639354e-03, 6.49576674e-02,
  4.27447272e-03, 3.18203435e-02,-1.95587663e-02, 4.89027250e-02,
  1.31315844e-02, 3.88232049e-02,-1.20758147e-02, 4.84630066e-02,
  1.17918850e+00,-1.30137000e-03, 9.43579977e-01, 6.45708899e-02,
  9.36506174e-02,-7.01721858e-02, 1.30945608e-01, 4.99755870e-01,
  4.90061728e-01, 4.99844588e-01, 5.10136218e-01]

qacc:
[-7.97844112e+00, 1.59341804e+02,-5.62032303e+02, 1.14222591e+03,
 -7.39760369e+01, 1.76285135e+02,-6.01797350e+02, 1.10369626e+03,
  1.74667127e+00, 2.06252568e+02,-7.00020983e+02, 1.25646305e+03,
 -3.29442970e+00, 9.02208541e+00,-1.05411597e+00, 2.90447791e+00,
  8.86999157e-02, 1.03355167e+00, 2.20665470e-01, 1.81640266e+00,
  3.04644630e-01,-1.48934604e+01]

qfrc_actuator:
[ 0.00121138, 0.13554193, 0.00294202, 0.09006626,-0.0027771 , 0.13095535,
  0.00109771, 0.08328244, 0.00020581, 0.13687745, 0.00124066, 0.08075353,
  0.01316014,-0.00403497, 0.00233225,-0.00279091, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003275783657795406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23647874e-14,  1.69459149e-13,  1.00000000e+00,  7.17910083e-27,
        1.00000000e+00, -1.69459149e-13, -1.00000000e+00,  0.00000000e+00,
       -4.23647874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186021, -0.08824316,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96845347e-05, 1.19082427e-02, 3.63984958e-03, 2.61178088e-03,
 -4.33919446e-04, 1.13413876e-02, 2.86850150e-03, 2.27392628e-03,
  2.50552688e-05, 1.28471433e-02, 3.09209038e-03, 2.52213336e-03,
  2.58991601e-04, 3.54478558e-04,-5.80132640e-05,-1.24209440e-06,
 -1.52826172e-07, 1.78566434e-07,-1.21644052e+00,-4.58250957e-04,
  1.16250196e-05,-5.51471195e-04]


--- Step 967 ---
qpos:
[ 1.01690440e-02, 3.82912027e-02,-1.01554823e-03, 6.67850204e-02,
  4.20514215e-03, 3.43589210e-02,-1.95919490e-02, 5.05967670e-02,
  1.31382317e-02, 4.14684063e-02,-1.21151354e-02, 5.00923706e-02,
  1.17952678e+00,-1.35109446e-03, 9.43880663e-01, 6.45685673e-02,
  9.36581194e-02,-7.01675967e-02, 1.30949393e-01, 4.99739737e-01,
  4.90068456e-01, 4.99894248e-01, 5.10096898e-01]

qacc:
[ 4.22461523e+00, 1.60784149e+02,-6.06986531e+02, 1.28065751e+03,
 -1.19794446e+02, 1.81318373e+02,-6.78009362e+02, 1.35500744e+03,
  3.82731596e+00, 1.69561396e+02,-5.62858395e+02, 1.02256494e+03,
 -3.24012810e+00, 1.01079233e+01, 1.23561980e+00,-6.17136402e+00,
  8.98519370e-02, 1.02197723e+00, 1.12091253e-01, 1.78391613e+00,
  3.07261283e-01,-1.47372739e+01]

qfrc_actuator:
[ 0.00125298, 0.13869135, 0.00320753, 0.09217393,-0.00348486, 0.1343493 ,
  0.0010834 , 0.08539167, 0.00022853, 0.1408675 , 0.00126925, 0.0822533 ,
  0.01339118,-0.0036959 , 0.00225016,-0.00284364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032390218742282817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56912262e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.56912262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186037, -0.08824425,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58997069e-05, 1.05766945e-02, 3.23018549e-03, 2.78458553e-03,
 -7.16555863e-04, 1.03331998e-02, 2.72820878e-03, 2.72951151e-03,
  3.60656393e-05, 1.18255784e-02, 3.11749632e-03, 2.19702548e-03,
  4.64500365e-04, 4.73489550e-04,-1.10959373e-04,-6.07864430e-05,
 -1.31035292e-07, 7.64083426e-08,-1.21644048e+00,-4.58247543e-04,
  1.11542971e-05,-5.51461001e-04]


--- Step 968 ---
qpos:
[ 1.01918924e-02, 4.09769954e-02,-1.00909218e-03, 6.86603888e-02,
  4.11994612e-03, 3.69690004e-02,-1.96226924e-02, 5.23256726e-02,
  1.31449355e-02, 4.41924807e-02,-1.21482687e-02, 5.17529719e-02,
  1.17986831e+00,-1.39602577e-03, 9.44180593e-01, 6.45648347e-02,
  9.36659848e-02,-7.01589571e-02, 1.30953264e-01, 4.99736475e-01,
  4.90062017e-01, 4.99960327e-01, 5.10041515e-01]

qacc:
[ 2.88652062e-01, 1.80432754e+02,-7.04261044e+02, 1.47047646e+03,
 -1.34759209e+02, 1.59475672e+02,-5.78127354e+02, 1.12377918e+03,
 -5.91971215e-01, 1.51164174e+02,-5.19468597e+02, 9.91587437e+02,
 -1.60979293e+00, 7.62054343e+00, 3.35351548e+00,-1.28558746e+01,
  9.08426969e-02, 1.01262059e+00, 2.16831231e-02, 1.75923344e+00,
  3.08222556e-01,-1.46105317e+01]

qfrc_actuator:
[ 0.00126849, 0.14202823, 0.00334213, 0.09454563,-0.0042817 , 0.13747181,
  0.00101512, 0.08709009, 0.00022138, 0.14413805, 0.00131731, 0.08376113,
  0.01368264,-0.00340478, 0.00223275,-0.00290932, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003186929905187458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74183785e-13,  8.70918923e-14,  1.00000000e+00, -1.51699954e-26,
        1.00000000e+00, -8.70918923e-14, -1.00000000e+00,  0.00000000e+00,
        1.74183785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186045, -0.08824573,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13701465e-05, 9.93935830e-03, 2.77862411e-03, 2.98046877e-03,
 -8.14323191e-04, 9.48550507e-03, 2.46342710e-03, 2.27923495e-03,
  6.47591173e-06, 1.05227826e-02, 2.91664891e-03, 2.15556536e-03,
  6.72792986e-04, 4.97665773e-04,-7.34088062e-05,-8.30311579e-05,
 -1.00636710e-07, 6.39356457e-08,-1.21644073e+00,-4.58259239e-04,
  1.06007798e-05,-5.51359310e-04]


--- Step 969 ---
qpos:
[ 1.02125108e-02, 4.37371469e-02,-1.00057825e-03, 7.05688898e-02,
  4.02035140e-03, 3.96430696e-02,-1.96527183e-02, 5.40779454e-02,
  1.31513361e-02, 4.69930773e-02,-1.21779192e-02, 5.34428741e-02,
  1.18021481e+00,-1.43729728e-03, 9.44479617e-01, 6.45625835e-02,
  9.36742170e-02,-7.01462969e-02, 1.30956921e-01, 4.99745993e-01,
  4.90042492e-01, 5.00042706e-01, 5.09970186e-01]

qacc:
[-1.88469169e+01, 1.60772102e+02,-5.69951461e+02, 1.08400865e+03,
 -1.21329332e+02, 1.30724484e+02,-4.41542730e+02, 7.96693017e+02,
 -3.52622234e+00, 1.51633137e+02,-5.17448211e+02, 9.62050767e+02,
  7.80684543e-01, 3.49483766e+00,-5.76336898e+00, 1.83218718e+01,
  9.17204003e-02, 1.00515998e+00,-5.33432317e-02, 1.74098755e+00,
  3.07887702e-01,-1.45091678e+01]

qfrc_actuator:
[ 0.00116204, 0.14569905, 0.00339919, 0.09618384,-0.00500026, 0.1400514 ,
  0.00078971, 0.08819552, 0.00019662, 0.14778609, 0.00140894, 0.08520778,
  0.01404742,-0.0031795 , 0.0022222 ,-0.00282212, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031232084634898183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22171974e-13,  8.88687897e-14,  1.00000000e+00,  1.97441545e-26,
        1.00000000e+00, -8.88687897e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22171974e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186046, -0.08824751,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11784271e-04, 9.82918383e-03, 2.51956541e-03, 2.20757567e-03,
 -7.39281160e-04, 8.39184301e-03, 2.08205517e-03, 1.63175463e-03,
 -1.22042963e-05, 1.01254935e-02, 2.66387442e-03, 2.03053343e-03,
  8.74842153e-04, 4.84535904e-04,-5.19364244e-05, 7.33091205e-05,
 -6.21666511e-08, 1.38553075e-07,-1.21644125e+00,-4.58285049e-04,
  9.96592023e-06,-5.51166876e-04]


--- Step 970 ---
qpos:
[ 1.02318608e-02, 4.65661247e-02,-9.89305180e-04, 7.24995684e-02,
  3.91120536e-03, 4.23615316e-02,-1.96773726e-02, 5.58577818e-02,
  1.31575688e-02, 4.98734090e-02,-1.22081326e-02, 5.51618515e-02,
  1.18056777e+00,-1.47594274e-03, 9.44777881e-01, 6.45649400e-02,
  9.36828194e-02,-7.01296394e-02, 1.30960118e-01, 4.99768221e-01,
  4.90009942e-01, 5.00141289e-01, 5.09882999e-01]

qacc:
[-1.09463010e+01, 1.28933303e+02,-4.20956309e+02, 7.48750470e+02,
 -7.96290920e+01, 1.00373388e+02,-3.88746675e+02, 8.23630685e+02,
 -2.57176599e+00, 1.66708479e+02,-5.64058757e+02, 1.00875599e+03,
  2.92836021e+00,-2.36375292e-01,-1.51368619e+01, 5.10732862e+01,
  9.25214557e-02, 9.99320824e-01,-1.15374875e-01, 1.72806894e+00,
  3.06533995e-01,-1.44297184e+01]

qfrc_actuator:
[ 0.00110902, 0.14875891, 0.00337553, 0.09725336,-0.00547167, 0.14100595,
  0.00057727, 0.0894753 , 0.00017939, 0.15200424, 0.00145594, 0.08667817,
  0.01447191,-0.00301227, 0.00223178,-0.00257451, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000305091699397686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41154508e-14, -1.81949071e-13,  1.00000000e+00, -6.20727457e-27,
        1.00000000e+00,  1.81949071e-13, -1.00000000e+00,  0.00000000e+00,
       -3.41154508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186042, -0.0882495 ,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.24134785e-05, 9.06716655e-03, 2.35645654e-03, 1.60988600e-03,
 -4.90411143e-04, 6.04637056e-03, 1.79893711e-03, 1.73322768e-03,
 -5.12374665e-06, 1.04129940e-02, 2.50070675e-03, 2.02581346e-03,
  1.05116553e-03, 4.70020229e-04,-2.81940282e-06, 2.45493871e-04,
 -1.59899067e-08, 2.98192442e-07,-1.21644205e+00,-4.58324347e-04,
  9.25059212e-06,-5.50884317e-04]


--- Step 971 ---
qpos:
[ 1.02491994e-02, 4.94764260e-02,-9.90130290e-04, 7.44541992e-02,
  3.81756372e-03, 4.51206245e-02,-1.97024473e-02, 5.76726438e-02,
  1.31620009e-02, 5.28491235e-02,-1.22473619e-02, 5.69224508e-02,
  1.18092490e+00,-1.49980615e-03, 9.45075692e-01, 6.45699387e-02,
  9.36874870e-02,-7.01206392e-02, 1.30962061e-01, 4.99778015e-01,
  4.89987049e-01, 5.00197689e-01, 5.09840073e-01]

qacc:
[-1.71679324e+01, 1.90643564e+02,-6.24340807e+02, 9.96968884e+02,
  1.26472938e+02, 1.26478009e+02,-5.21172903e+02, 1.09768974e+03,
 -1.58464501e+01, 2.36807832e+02,-8.36792393e+02, 1.50012384e+03,
 -9.07842235e+00, 2.79000336e+01,-7.74369433e+00, 2.82241676e+01,
 -9.83672472e-01,-1.91432220e+00,-3.13219015e-01,-1.63630204e+01,
  9.50976761e-01, 2.69795480e+01]

qfrc_actuator:
[ 1.01696744e-03, 1.53469544e-01, 2.98235846e-03, 9.84942054e-02,
 -4.65773082e-03, 1.42719252e-01, 4.20947970e-04, 9.12012008e-02,
  7.78914232e-05, 1.57933089e-01, 1.44330193e-03, 8.88614097e-02,
  1.49745058e-02,-2.06367843e-03, 2.20020675e-03,-2.44739787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003020965683334237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83753002e-13,  9.18765008e-14,  1.00000000e+00, -1.68825828e-26,
        1.00000000e+00, -9.18765008e-14, -1.00000000e+00,  0.00000000e+00,
        1.83753002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10943107, -0.03383846,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00390308e-04, 1.02299699e-02, 1.78789227e-03, 1.73105886e-03,
  8.01411700e-04, 5.43776638e-03, 1.33855180e-03, 2.07084027e-03,
 -8.88095382e-05, 1.22476336e-02, 2.47919755e-03, 2.74498461e-03,
  1.23069291e-03, 1.28856951e-03,-2.15954149e-06, 1.40822601e-04,
  3.76576534e-08, 5.41206910e-07,-1.21644312e+00,-4.58376794e-04,
  8.45521887e-06,-5.50512126e-04]


--- Step 972 ---
qpos:
[ 1.02472373e-02, 5.24873879e-02,-1.03443616e-03, 7.64455922e-02,
  3.73439865e-03, 4.79283004e-02,-1.97342068e-02, 5.95102059e-02,
  1.31632984e-02, 5.59341530e-02,-1.22931114e-02, 5.87198848e-02,
  1.18128225e+00,-1.48862570e-03, 9.45372647e-01, 6.45759209e-02,
  9.36882693e-02,-7.01191645e-02, 1.30962119e-01, 4.99775472e-01,
  4.89973654e-01, 5.00212739e-01, 5.09840673e-01]

qacc:
[-1.50384765e+02, 3.30539268e+02,-1.13921475e+03, 1.76772063e+03,
  8.40214024e+01, 1.29247352e+02,-4.63633260e+02, 8.30933946e+02,
 -2.61143680e+01, 2.38417467e+02,-7.95567470e+02, 1.36176910e+03,
 -2.90758797e+01, 7.46836952e+01,-1.65176009e+00, 9.97429058e+00,
 -9.71345322e-01,-1.88138093e+00,-4.71405625e-01,-1.60307149e+01,
  9.95005375e-01, 2.65278495e+01]

qfrc_actuator:
[ 3.28712743e-05, 1.59254877e-01, 1.03204119e-03, 1.00377524e-01,
 -4.14121058e-03, 1.45601657e-01, 2.30918668e-04, 9.23596572e-02,
 -9.02141656e-05, 1.64645535e-01, 1.59884240e-03, 9.08090963e-02,
  1.54600373e-02, 3.28808261e-05, 2.12263262e-03,-2.41022363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56060068, -0.89426778,  4.47206482, -0.89426778, 42.06434336,
        7.49953101,  4.47206482,  7.49953101,  6.06026342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003060304192645108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81390959e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81390959e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942941, -0.03384024,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.93491630e-04, 1.18397994e-02, 4.04188262e-04, 2.40575200e-03,
  5.42599484e-04, 6.18483729e-03, 1.13350545e-03, 1.46774283e-03,
 -1.57136274e-04, 1.40801001e-02, 3.04745403e-03, 2.60096130e-03,
  1.50716740e-03, 2.64686752e-03,-6.29996811e-05, 4.44403621e-05,
 -7.47193277e-08, 2.15138191e-07,-1.21644095e+00,-4.58664451e-04,
  9.92544052e-06,-5.50335913e-04]


--- Step 973 ---
qpos:
[ 1.02013726e-02, 5.55852303e-02,-1.11887583e-03, 7.84854444e-02,
  3.63091347e-03, 5.07779802e-02,-1.97664631e-02, 6.13565465e-02,
  1.31617411e-02, 5.91197614e-02,-1.23307550e-02, 6.05524424e-02,
  1.18164016e+00,-1.43677419e-03, 9.45669404e-01, 6.45795633e-02,
  9.36852076e-02,-7.01251060e-02, 1.30959758e-01, 4.99760675e-01,
  4.89969624e-01, 5.00187117e-01, 5.09884186e-01]

qacc:
[-3.33194617e+02, 3.27382377e+02,-1.20288384e+03, 2.03727352e+03,
 -1.63548008e+02, 7.51949791e+01,-2.23997121e+02, 3.44826366e+02,
 -2.30563286e+01, 1.82486653e+02,-6.05715827e+02, 1.12552074e+03,
 -3.37107765e+01, 8.67252133e+01, 9.75956441e+00,-2.75747678e+01,
 -9.60995410e-01,-1.85405288e+00,-6.04497787e-01,-1.57583467e+01,
  1.02707498e+00, 2.61534117e+01]

qfrc_actuator:
[-2.19621597e-03, 1.62810495e-01,-1.26601207e-03, 1.02748206e-01,
 -5.20677626e-03, 1.47386059e-01, 8.03579708e-05, 9.27676545e-02,
 -2.42973670e-04, 1.69539222e-01, 1.98066803e-03, 9.25680812e-02,
  1.57597832e-02, 2.22396000e-03, 2.10805023e-03,-2.53292309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.56375532, -1.18994026,  4.40589433, -1.18994026, 37.05258322,
        8.77455548,  4.40589433,  8.77455548,  6.93357993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003069598844115118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80841713e-13, -9.04208564e-14,  1.00000000e+00,  1.63518625e-26,
        1.00000000e+00,  9.04208564e-14, -1.00000000e+00,  0.00000000e+00,
        1.80841713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10942861, -0.03384051,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26690946e-03, 1.02499331e-02, 2.41158428e-04, 2.92708547e-03,
 -1.04684743e-03, 5.43458236e-03, 1.28062662e-03, 7.30311301e-04,
 -1.43027106e-04, 1.33932800e-02, 3.71594258e-03, 2.50725462e-03,
  1.79543018e-03, 3.08570839e-03,-4.09890307e-05,-1.28949240e-04,
 -4.31730239e-08, 2.58133953e-08,-1.21644004e+00,-4.59040428e-04,
  1.05172898e-05,-5.50409307e-04]


--- Step 974 ---
qpos:
[ 0.01009839, 0.0587398 ,-0.00121343, 0.08057571, 0.00349966, 0.05365385,
 -0.01979296, 0.06320899, 0.01315858, 0.0623858 ,-0.01235166, 0.0624285 ,
  1.18200277,-0.00135507, 0.94596606, 0.06458027, 0.09367834,-0.07013837,
  0.13095453, 0.49973369, 0.48997485, 0.50012137, 0.5099701 ]

qacc:
[-4.24539502e+02, 2.07807128e+02,-8.42390470e+02, 1.68475467e+03,
 -2.20081257e+02, 3.14553977e+01,-8.69405275e+01, 1.63154513e+02,
 -1.27359953e+01, 1.48926789e+02,-5.60030127e+02, 1.22567761e+03,
 -2.15843252e+01, 6.01484203e+01, 1.07209986e+01,-3.30182354e+01,
 -9.52386868e-01,-1.83146974e+00,-7.16413247e-01,-1.55364325e+01,
  1.04948722e+00, 2.58450296e+01]

qfrc_actuator:
[-5.06896507e-03, 1.64327201e-01,-2.21418261e-03, 1.05189625e-01,
 -6.60915059e-03, 1.47735442e-01, 3.22207123e-06, 9.29965075e-02,
 -3.32293576e-04, 1.72419033e-01, 2.39748373e-03, 9.46623907e-02,
  1.59320408e-02, 3.61773269e-03, 2.11525722e-03,-2.67760639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030549017043522697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81711743e-13,  1.36283807e-13,  1.00000000e+00, -2.47643681e-26,
        1.00000000e+00, -1.36283807e-13, -1.00000000e+00,  0.00000000e+00,
        1.81711743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1094285 , -0.03383959,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95329905e-03, 7.30759461e-03, 1.26009437e-03, 2.93412263e-03,
 -1.43263629e-03, 3.57673141e-03, 1.19124779e-03, 5.09701230e-04,
 -7.91285714e-05, 1.11255909e-02, 3.68677857e-03, 2.83409388e-03,
  1.93848927e-03, 2.44512718e-03,-3.00055876e-05,-1.58162348e-04,
  1.28396123e-07,-3.44576130e-08,-1.21644033e+00,-4.59509056e-04,
  1.02796942e-05,-5.50729472e-04]


--- Step 975 ---
qpos:
[ 0.00993647, 0.06193311,-0.00131168, 0.0827031 , 0.00334848, 0.05654276,
 -0.01981262, 0.06506331, 0.01315563, 0.06571888,-0.01236004, 0.06434175,
  1.18237359,-0.00125844, 0.94626151, 0.06458162, 0.09367166,-0.07014724,
  0.13095205, 0.49972004, 0.48996707, 0.50007334, 0.51003805]

qacc:
[-4.30040338e+02, 1.38762487e+02,-5.74922792e+02, 1.19116781e+03,
 -1.55654908e+02, 2.30110781e+00, 9.46294785e+00, 1.76742412e+00,
  8.88060043e-01, 1.30019356e+02,-4.91763463e+02, 1.06516204e+03,
 -6.23467129e+00, 2.49226591e+01,-2.97560272e+00, 9.54516204e+00,
  4.86647448e-02, 1.09952876e+00, 6.85865736e-01, 2.49420992e+00,
  5.49229840e-03,-1.54780120e+01]

qfrc_actuator:
[-8.01308939e-03, 1.65077525e-01,-2.86346160e-03, 1.06942046e-01,
 -7.59444138e-03, 1.47471367e-01,-1.81669970e-05, 9.30105193e-02,
 -3.30402939e-04, 1.74674029e-01, 2.57488360e-03, 9.64206462e-02,
  1.60487170e-02, 4.13711794e-03, 2.06630087e-03,-2.63867015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030496909052198096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93398610e-13, -3.64044442e-13,  1.00000000e+00,  7.04056891e-26,
        1.00000000e+00,  3.64044442e-13, -1.00000000e+00,  0.00000000e+00,
        1.93398610e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186587, -0.08825127,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04968441e-03, 5.10461184e-03, 1.07648381e-03, 2.15440212e-03,
 -1.02854690e-03, 1.89531300e-03, 8.44243074e-04, 2.07814278e-04,
  1.35808643e-05, 9.23751248e-03, 2.98543004e-03, 2.40591889e-03,
  1.82007981e-03, 1.47096003e-03,-8.00100973e-05, 2.60346658e-05,
  4.37123744e-07, 2.91889960e-08,-1.21644177e+00,-4.60072722e-04,
  9.24965729e-06,-5.51293770e-04]


--- Step 976 ---
qpos:
[ 9.71999027e-03, 6.51665568e-02,-1.42146720e-03, 8.48454840e-02,
  3.19213478e-03, 5.94380780e-02,-1.98286121e-02, 6.69146238e-02,
  1.31546451e-02, 6.91194395e-02,-1.23688758e-02, 6.62794676e-02,
  1.18275237e+00,-1.15479857e-03, 9.46555875e-01, 6.45850159e-02,
  9.36652144e-02,-7.01518060e-02, 1.30951585e-01, 4.99719583e-01,
  4.89946289e-01, 5.00042667e-01, 5.10088525e-01]

qacc:
[-3.91229284e+02, 1.16863417e+02,-4.01182918e+02, 6.46736521e+02,
 -3.97407390e+01,-7.85185356e+00, 5.30105609e+01,-1.15420627e+02,
  1.33737666e+01, 1.40681870e+02,-4.75210647e+02, 8.48605153e+02,
  2.87318971e-01, 8.04020952e+00,-7.63018326e+00, 2.47306943e+01,
  5.78216843e-02, 1.07648548e+00, 5.04327828e-01, 2.31575827e+00,
  7.72348230e-02,-1.52338273e+01]

qfrc_actuator:
[-1.07268412e-02, 1.66925555e-01,-3.54880963e-03, 1.07652839e-01,
 -7.82914625e-03, 1.47250187e-01,-6.27402328e-05, 9.28086601e-02,
 -2.39444569e-04, 1.77724771e-01, 2.37535856e-03, 9.75933589e-02,
  1.60889527e-02, 4.27686169e-03, 2.03700762e-03,-2.52746844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57374943,  0.71840052,  4.51697737,  0.71840052, 21.56664641,
       -2.70262724,  4.51697737, -2.70262724,  5.0035875 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003098784715312719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.83730749e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.83730749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186757, -0.08825045,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82490855e-03, 4.89788319e-03, 5.35457538e-04, 9.96830341e-04,
 -2.66308375e-04, 9.12958155e-04, 4.20331240e-04,-9.80241865e-05,
  1.05304666e-04, 8.81164221e-03, 2.11630460e-03, 1.70663233e-03,
  1.44984305e-03, 8.62564535e-04,-5.48825600e-05, 1.03792783e-04,
  2.31080648e-07,-1.14447696e-07,-1.21644096e+00,-4.59465000e-04,
  9.95910177e-06,-5.51419688e-04]


--- Step 977 ---
qpos:
[ 9.46789059e-03, 6.84466920e-02,-1.54555678e-03, 8.69864393e-02,
  3.04139169e-03, 6.23378613e-02,-1.98418053e-02, 6.87665044e-02,
  1.31570371e-02, 7.25908204e-02,-1.23849755e-02, 6.82377397e-02,
  1.18313699e+00,-1.04713640e-03, 9.46850505e-01, 6.45888317e-02,
  9.36590286e-02,-7.01521392e-02, 1.30952527e-01, 4.99732192e-01,
  4.89912510e-01, 5.00029075e-01, 5.10121939e-01]

qacc:
[-2.51130454e+02, 9.92570717e+01,-2.57390603e+02, 2.19963445e+02,
  4.25036383e+01,-8.43087291e-01, 9.05098071e+00,-6.90142949e+00,
  2.28267994e+01, 1.56042947e+02,-5.07133852e+02, 8.21436134e+02,
  1.04096466e+00, 3.69325021e+00,-8.33192353e-01, 3.57467272e+00,
  6.48935138e-02, 1.05751502e+00, 3.51806116e-01, 2.17273895e+00,
  1.34166456e-01,-1.50298703e+01]

qfrc_actuator:
[-1.24665518e-02, 1.69699355e-01,-4.12221854e-03, 1.07603930e-01,
 -7.53153195e-03, 1.47428982e-01, 5.67337042e-05, 9.28364462e-02,
 -7.91467989e-05, 1.81420988e-01, 2.04642696e-03, 9.86256432e-02,
  1.60564221e-02, 4.31505428e-03, 2.08345417e-03,-2.49884114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57985809,  0.59557997,  4.54096737,  0.59557997, 36.08291941,
       -4.13184918,  4.54096737, -4.13184918,  5.12177932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003116432826306137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44725758e-13, -3.56248020e-13,  1.00000000e+00,  5.15582648e-26,
        1.00000000e+00,  3.56248020e-13, -1.00000000e+00,  0.00000000e+00,
        1.44725758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186887, -0.08825039,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84495384e-03, 5.54565816e-03, 4.97715459e-04, 1.86914543e-04,
  2.89637811e-04, 6.62945758e-04, 3.18545581e-04, 6.88848672e-05,
  1.77877730e-04, 9.00705990e-03, 1.76685630e-03, 1.50406262e-03,
  1.01948533e-03, 5.49630113e-04, 3.99983893e-05, 2.85462805e-05,
  4.63711565e-08,-1.67699797e-07,-1.21644047e+00,-4.58905985e-04,
  1.05434946e-05,-5.51458952e-04]


--- Step 978 ---
qpos:
[ 9.20583557e-03, 7.17653908e-02,-1.67788372e-03, 8.91398947e-02,
  2.89813119e-03, 6.52430526e-02,-1.98495024e-02, 7.06279629e-02,
  1.31625933e-02, 7.61254386e-02,-1.24024901e-02, 7.02228369e-02,
  1.18352559e+00,-9.37866122e-04, 9.47145229e-01, 6.45916834e-02,
  9.36531243e-02,-7.01483046e-02, 1.30954365e-01, 4.99757765e-01,
  4.89865743e-01, 5.00032320e-01, 5.10138618e-01]

qacc:
[-6.92550673e+01, 9.98390537e+01,-3.34124618e+02, 5.33831076e+02,
  5.60167840e+01, 1.13333418e+01,-7.05871435e+01, 2.23504320e+02,
  2.11594218e+01, 1.42565819e+02,-5.00005548e+02, 9.18811720e+02,
  1.59676331e+00, 1.95052596e-01, 2.99169969e+00,-1.03976511e+01,
  7.03410803e-02, 1.04198451e+00, 2.23941291e-01, 2.05803327e+00,
  1.79468441e-01,-1.48607545e+01]

qfrc_actuator:
[-1.29088433e-02, 1.71390520e-01,-4.60332312e-03, 1.08228031e-01,
 -7.15400369e-03, 1.48024660e-01, 4.69315014e-04, 9.33547122e-02,
  6.73092711e-05, 1.84337991e-01, 1.89536929e-03, 9.99583436e-02,
  1.59748097e-02, 4.25698458e-03, 2.06874633e-03,-2.55445285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.57724644, -0.43145353, -4.55686656, -0.43145353, 41.49959261,
       -3.49588396, -4.55686656, -3.49588396,  4.90824395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003108905184312505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45076185e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45076185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09186985, -0.08825091,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14873406e-04, 4.78168495e-03, 6.90723675e-04, 8.70416354e-04,
  3.87359062e-04, 9.26159601e-04, 5.53144577e-04, 5.48347562e-04,
  1.66898687e-04, 8.25380597e-03, 1.93425167e-03, 1.79660144e-03,
  6.45734994e-04, 2.89022024e-04, 6.30729407e-06,-4.93793958e-05,
 -1.21058482e-07,-1.32674041e-07,-1.21644030e+00,-4.58384964e-04,
  1.10151995e-05,-5.51410745e-04]


--- Step 979 ---
qpos:
[ 8.94572998e-03, 7.51150100e-02,-1.81414817e-03, 9.13176849e-02,
  2.75914620e-03, 6.81529030e-02,-1.98497927e-02, 7.25023023e-02,
  1.31707909e-02, 7.97095035e-02,-1.24142130e-02, 7.22364462e-02,
  1.18391675e+00,-8.29977597e-04, 9.47438457e-01, 6.45944608e-02,
  9.36475180e-02,-7.01403525e-02, 1.30956671e-01, 4.99796214e-01,
  4.89805995e-01, 5.00052209e-01, 5.10138824e-01]

qacc:
[ 1.26651398e+01, 1.01892736e+02,-4.06021276e+02, 8.08790627e+02,
  3.15985685e+01, 1.18284196e+01,-8.76183105e+01, 2.94997953e+02,
  1.75032454e+01, 1.07679429e+02,-4.09166614e+02, 8.55810658e+02,
  3.13731715e+00,-5.18565188e+00,-2.20582480e+00, 3.98401928e+00,
  7.45254856e-02, 1.02936298e+00, 1.17012807e-01, 1.96598405e+00,
  2.15639400e-01,-1.47218603e+01]

qfrc_actuator:
[-0.01277938, 0.17267009,-0.00488737, 0.10943786,-0.00694568, 0.14838842,
  0.00089417, 0.094016  , 0.00018657, 0.18609212, 0.00191911, 0.10133254,
  0.01583708, 0.0040532 , 0.00194812,-0.00257063, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000308144999248694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91405339e-13, -1.80146202e-13,  1.00000000e+00,  3.44809449e-26,
        1.00000000e+00,  1.80146202e-13, -1.00000000e+00,  0.00000000e+00,
        1.91405339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187058, -0.08825191,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02565239e-04, 4.01117702e-03, 7.76981929e-04, 1.44329463e-03,
  2.21561240e-04, 9.10202761e-04, 6.65111883e-04, 7.20044814e-04,
  1.39345195e-04, 6.71453997e-03, 1.98341376e-03, 1.81710085e-03,
  3.09037343e-04, 3.51298792e-06,-1.24560056e-04,-1.86929906e-05,
 -2.74224726e-07,-1.11759673e-08,-1.21644042e+00,-4.57893937e-04,
  1.13835376e-05,-5.51274576e-04]


--- Step 980 ---
qpos:
[ 8.70399774e-03, 7.85018176e-02,-1.95672045e-03, 9.35156339e-02,
  2.61689033e-03, 7.10672496e-02,-1.98455644e-02, 7.43986542e-02,
  1.31799031e-02, 8.33508255e-02,-1.24306056e-02, 7.42907501e-02,
  1.18431191e+00,-7.35699570e-04, 9.47730163e-01, 6.45983084e-02,
  9.36422226e-02,-7.01283235e-02, 1.30959088e-01, 4.99847467e-01,
  4.89733275e-01, 5.00088580e-01, 5.10122771e-01]

qacc:
[ 1.20773318e+02, 1.08000289e+02,-3.98558952e+02, 7.28731876e+02,
 -2.36130116e+01, 3.84930380e+01,-2.21231969e+02, 5.90665170e+02,
  5.27030131e+00, 1.72249060e+02,-6.75532158e+02, 1.34306159e+03,
  1.45051083e+01,-3.25751818e+01,-6.68702845e+00, 1.72880483e+01,
  7.77293714e-02, 1.01920410e+00, 2.78391463e-02, 1.89209142e+00,
  2.44641134e-01,-1.46092158e+01]

qfrc_actuator:
[-0.01181772, 0.17504412,-0.00501868, 0.11048522,-0.00712271, 0.14868262,
  0.00114476, 0.09512878, 0.00021775, 0.18946261, 0.00186355, 0.10341156,
  0.01566033, 0.00312524, 0.00189189,-0.00251039, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030384466849611713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.70924441e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.70924441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09187112, -0.08825327,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56401426e-04, 4.71622767e-03, 8.00641158e-04, 1.26186697e-03,
 -1.69156369e-04, 8.61893919e-04, 5.07115749e-04, 1.17801512e-03,
  5.00262542e-05, 7.47930614e-03, 1.59225240e-03, 2.45791986e-03,
  4.79442703e-06,-8.56670394e-04,-1.11512197e-04, 4.39434438e-05,
 -4.15373407e-07, 1.95277934e-07,-1.21644083e+00,-4.57426913e-04,
  1.16555313e-05,-5.51050154e-04]


--- Step 981 ---
qpos:
[ 8.48743145e-03, 8.19259946e-02,-2.10282198e-03, 9.57386107e-02,
  2.47155911e-03, 7.39863681e-02,-1.98425398e-02, 7.63199837e-02,
  1.31885247e-02, 8.70591191e-02,-1.24589155e-02, 7.63944094e-02,
  1.18471195e+00,-6.67944387e-04, 9.48021693e-01, 6.46006099e-02,
  9.36372480e-02,-7.01122501e-02, 1.30961320e-01, 4.99911463e-01,
  4.89647586e-01, 5.00141304e-01, 5.10090626e-01]

qacc:
[ 1.62169487e+02, 1.10399075e+02,-4.27288780e+02, 8.36874699e+02,
 -2.19712757e+01, 6.08926406e+01,-3.12996939e+02, 7.42335525e+02,
 -4.28278750e+00, 2.23113690e+02,-8.74551444e+02, 1.69559666e+03,
  2.57462679e+01,-6.04839471e+01, 2.19815712e+00,-1.32532702e+01,
  8.01737350e-02, 1.01113225e+00,-4.63031756e-02, 1.83277305e+00,
  2.68013348e-01,-1.45194018e+01]

qfrc_actuator:
[-1.05337046e-02, 1.77168563e-01,-5.08991538e-03, 1.11766844e-01,
 -7.27658362e-03, 1.48897889e-01, 1.05992184e-03, 9.63739042e-02,
  1.79012677e-04, 1.93544550e-01, 1.53778171e-03, 1.05943148e-01,
  1.54439761e-02, 1.50926867e-03, 1.91164784e-03,-2.58294527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029835366844352396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37230516e-13, -5.58174647e-13,  1.00000000e+00,  1.88233524e-25,
        1.00000000e+00,  5.58174647e-13, -1.00000000e+00,  0.00000000e+00,
        3.37230516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918715 , -0.08825492,  0.06199147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31054445e-03, 4.85689289e-03, 1.00246134e-03, 1.52337640e-03,
 -1.59161068e-04, 7.42582184e-04, 1.57974911e-04, 1.31169287e-03,
 -2.26360670e-05, 8.56300218e-03, 1.45329252e-03, 2.94195819e-03,
 -4.11436272e-04,-1.79304768e-03,-2.09853766e-05,-8.33927560e-05,
 -5.46177949e-07, 4.85435454e-07,-1.21644151e+00,-4.56979380e-04,
  1.18364584e-05,-5.50737307e-04]


--- Step 982 ---
qpos:
[ 8.28506400e-03, 8.53785238e-02,-2.24634339e-03, 9.79860458e-02,
  2.33337643e-03, 7.69113015e-02,-1.98443106e-02, 7.82591504e-02,
  1.31971970e-02, 9.08295414e-02,-1.24951600e-02, 7.85366391e-02,
  1.18511450e+00,-6.29286841e-04, 9.48313277e-01, 6.46009621e-02,
  9.36284502e-02,-7.01037646e-02, 1.30961837e-01, 4.99963798e-01,
  4.89571384e-01, 5.00151882e-01, 5.10102102e-01]

qacc:
[ 8.95013665e+01, 8.03694945e+01,-3.34909531e+02, 7.31391359e+02,
  4.98179129e+01, 5.75138301e+01,-2.69094317e+02, 5.80270194e+02,
 -5.95202016e-01, 1.83430136e+02,-6.96964015e+02, 1.32902857e+03,
  2.60805052e+01,-6.39150991e+01, 3.66308068e+00,-1.80971470e+01,
 -9.55769226e-01,-1.89699371e+00,-4.28745556e-01,-1.64310713e+01,
  6.41573897e-01, 2.65689380e+01]

qfrc_actuator:
[-9.83379241e-03, 1.78187304e-01,-5.10760167e-03, 1.12963056e-01,
 -6.90061721e-03, 1.49223490e-01, 8.13254193e-04, 9.72605944e-02,
  1.70366993e-04, 1.96458508e-01, 1.05900005e-03, 1.07851462e-01,
  1.52355894e-02,-1.10598379e-04, 1.91834134e-03,-2.67972852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000300298170344937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.84853445e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.84853445e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941993, -0.0338338 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.40449191e-04, 3.88142464e-03, 1.11844575e-03, 1.45588192e-03,
  3.70895447e-04, 7.19645011e-04,-6.69585207e-05, 9.38628629e-04,
  5.33888448e-06, 7.99069955e-03, 1.52298201e-03, 2.36943676e-03,
 -8.63100790e-04,-2.08709481e-03,-1.07199336e-05,-1.04077389e-04,
 -6.67886733e-07, 8.58277597e-07,-1.21644247e+00,-4.56547929e-04,
  1.19302696e-05,-5.50335929e-04]


--- Step 983 ---
qpos:
[ 8.09351732e-03, 8.88506925e-02,-2.38472549e-03, 1.00250734e-01,
  2.21308915e-03, 7.98497544e-02,-1.98534863e-02, 8.02083674e-02,
  1.32069630e-02, 9.46604439e-02,-1.25377865e-02, 8.07063384e-02,
  1.18551708e+00,-6.18017286e-04, 9.48604771e-01, 6.45962187e-02,
  9.36158515e-02,-7.01027450e-02, 1.30960081e-01, 5.00004441e-01,
  4.89504536e-01, 5.00121125e-01, 5.10156572e-01]

qacc:
[ 6.67618958e+01, 4.69310005e+01,-2.02151775e+02, 4.76843521e+02,
  1.22609356e+02, 5.88709488e+01,-2.26597905e+02, 4.02014456e+02,
  5.93216585e+00, 1.54106097e+02,-5.48879166e+02, 9.88066137e+02,
  2.26169158e+01,-5.79039644e+01, 1.31952433e+01,-5.11721635e+01,
 -9.50232307e-01,-1.86647053e+00,-5.68166201e-01,-1.60942024e+01,
  7.29315900e-01, 2.61865997e+01]

qfrc_actuator:
[-0.00928816, 0.17864321,-0.00506235, 0.11377903,-0.00598496, 0.15048222,
  0.00065109, 0.09780511, 0.00021494, 0.19946635, 0.00071998, 0.10921708,
  0.0150693 ,-0.00154209, 0.00187458,-0.0029498 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54815921, -0.06761419, -4.5476566 , -0.06761419, 38.21570863,
       -0.50056637, -4.5476566 , -0.50056637,  4.55560159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030232529285523224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75420975e-13, -3.21324471e-13,  1.00000000e+00,  8.84994989e-26,
        1.00000000e+00,  3.21324471e-13, -1.00000000e+00,  0.00000000e+00,
        2.75420975e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941807, -0.03383439,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64761572e-04, 2.79291895e-03, 9.91509231e-04, 1.03653144e-03,
  9.29096669e-04, 1.57750224e-03,-2.78696327e-05, 5.80367839e-04,
  5.96194805e-05, 7.75222626e-03, 1.53258801e-03, 1.79326384e-03,
 -1.15443455e-03,-2.06353841e-03,-6.21607865e-05,-2.77847493e-04,
 -6.85114898e-07, 2.10966711e-07,-1.21644133e+00,-4.56871575e-04,
  1.20421529e-05,-5.50385100e-04]


--- Step 984 ---
qpos:
[ 7.91186107e-03, 9.23331131e-02,-2.51587230e-03, 1.02528109e-01,
  2.12696217e-03, 8.28083981e-02,-1.98704543e-02, 8.21755038e-02,
  1.32177793e-02, 9.85467509e-02,-1.25803252e-02, 8.28996445e-02,
  1.18591608e+00,-6.26358657e-04, 9.48895179e-01, 6.45896931e-02,
  9.35994709e-02,-7.01090902e-02, 1.30955584e-01, 5.00033379e-01,
  4.89446924e-01, 5.00049684e-01, 5.10253508e-01]

qacc:
[ 5.97597937e+01, 1.92891342e+01,-1.02471025e+02, 3.02129051e+02,
  2.30019172e+02, 8.46703097e+01,-3.39212992e+02, 6.46346299e+02,
  5.71364602e+00, 1.21396221e+02,-4.25760667e+02, 7.91787084e+02,
  1.36301330e+01,-3.86819678e+01, 2.46343764e+00,-1.40330829e+01,
 -9.45505300e-01,-1.84122302e+00,-6.85480433e-01,-1.58219983e+01,
  7.93397586e-01, 2.58697964e+01]

qfrc_actuator:
[-0.00878414, 0.17858126,-0.00492968, 0.11436429,-0.00424426, 0.15216653,
  0.00052639, 0.09876631, 0.00025487, 0.20215227, 0.00069722, 0.11039477,
  0.01487515,-0.00247783, 0.00181653,-0.00303588, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.54633431, -0.16401482,  4.54337482, -0.16401482, 28.06732334,
        0.84910247,  4.54337482,  0.84910247,  4.57698672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003017764396229805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19739647e-14, -9.19739647e-14,  1.00000000e+00,  8.45921019e-27,
        1.00000000e+00,  9.19739647e-14, -1.00000000e+00,  0.00000000e+00,
        9.19739647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941709, -0.03383374,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16395136e-04, 1.62137110e-03, 8.23719181e-04, 7.46634284e-04,
  1.77458118e-03, 2.47527383e-03, 1.79082755e-04, 1.02809711e-03,
  5.72371110e-05, 7.27213164e-03, 1.78014359e-03, 1.58402857e-03,
 -1.34923828e-03,-1.62931356e-03,-1.20619291e-04,-1.10272174e-04,
 -5.71215681e-07,-2.99840218e-07,-1.21644140e+00,-4.57236332e-04,
  1.13062000e-05,-5.50670699e-04]


--- Step 985 ---
qpos:
[ 7.73917297e-03, 9.58165884e-02,-2.63894619e-03, 1.04823657e-01,
  2.07987174e-03, 8.57852285e-02,-1.98908908e-02, 8.41751813e-02,
  1.32289092e-02, 1.02480028e-01,-1.26160760e-02, 8.51183348e-02,
  1.18630812e+00,-6.45238197e-04, 9.49184502e-01, 6.45834605e-02,
  9.35793239e-02,-7.01227172e-02, 1.30947950e-01, 5.00050604e-01,
  4.89398451e-01, 4.99938076e-01, 5.10392467e-01]

qacc:
[ 5.30470308e+01, 1.60738427e+01,-1.31560071e+02, 4.31009793e+02,
  2.58150290e+02, 9.98448189e+01,-4.58725769e+02, 1.01272254e+03,
  1.46751121e+00, 9.51886242e+01,-3.55970578e+02, 7.48255185e+02,
  3.62394481e+00,-1.67247369e+01,-2.97053510e+00, 6.92772727e+00,
 -9.41577357e-01,-1.82041511e+00,-7.84161034e-01,-1.56037384e+01,
  8.38518261e-01, 2.56093109e+01]

qfrc_actuator:
[-0.00832623, 0.17810361,-0.00473094, 0.11523485,-0.00228051, 0.15325973,
  0.00044529, 0.1004272 , 0.00025612, 0.20419986, 0.00093131, 0.11164787,
  0.01459004,-0.00291765, 0.00178195,-0.00301284, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.53777385, -0.41842517,  4.51844132, -0.41842517, 39.41087556,
        3.22938434,  4.51844132,  3.22938434,  4.83682736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002991829760090048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8554248e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8554248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10941683, -0.03383211,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68372735e-04, 5.03028492e-04, 6.16963353e-04, 9.70352451e-04,
  2.02920626e-03, 2.44774216e-03, 4.48833129e-04, 1.78198972e-03,
  1.85189277e-05, 6.40549084e-03, 1.96037730e-03, 1.64315788e-03,
 -1.45525178e-03,-1.08783018e-03,-1.05898982e-04, 7.58226599e-07,
 -3.26291346e-07,-6.81082640e-07,-1.21644264e+00,-4.57656281e-04,
  9.76453993e-06,-5.51192327e-04]


--- Step 986 ---
qpos:
[ 7.57855477e-03, 9.93023385e-02,-2.75891330e-03, 1.07136944e-01,
  2.06226115e-03, 8.87766539e-02,-1.99110779e-02, 8.62030138e-02,
  1.32402244e-02, 1.06457422e-01,-1.26477739e-02, 8.73592536e-02,
  1.18669277e+00,-6.71663951e-04, 9.49473171e-01, 6.45758130e-02,
  9.35592808e-02,-7.01318553e-02, 1.30943662e-01, 5.00081294e-01,
  4.89336957e-01, 4.99844407e-01, 5.10513086e-01]

qacc:
[ 6.95357258e+01, 3.06351095e+01,-1.79274465e+02, 4.78065825e+02,
  1.91285944e+02, 7.58640282e+01,-3.61443022e+02, 8.36296654e+02,
  6.69476880e-01, 9.25774082e+01,-3.38813357e+02, 6.82981490e+02,
  6.81624823e-01,-9.80059384e+00, 3.07510765e+00,-1.27029440e+01,
  2.59848155e-02, 1.12219911e+00, 8.36619321e-01, 2.61179009e+00,
 -4.52934770e-02,-1.56666167e+01]

qfrc_actuator:
[-0.00770375, 0.17828703,-0.00456732, 0.116124  ,-0.0008228 , 0.15390343,
  0.00042463, 0.10182928, 0.00025223, 0.20622352, 0.00104649, 0.1127397 ,
  0.01430404,-0.00323868, 0.00175085,-0.00308546, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.57124973,   1.31624224,   4.37765125,   1.31624224,
        45.64507667, -12.34979739,   4.37765125, -12.34979739,
         8.28450235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00030915215105431493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90781782e-13, -3.59118648e-13,  1.00000000e+00,  6.85132955e-26,
        1.00000000e+00,  3.59118648e-13, -1.00000000e+00,  0.00000000e+00,
        1.90781782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918795 , -0.08825448,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31016834e-04, 5.05472813e-04, 3.33102056e-04, 9.38335651e-04,
  1.53366044e-03, 2.07030724e-03, 5.62642172e-04, 1.54587975e-03,
  1.16820034e-05, 5.93492648e-03, 1.68603201e-03, 1.45199519e-03,
 -1.39356871e-03,-8.81144870e-04,-8.77274866e-05,-8.76667667e-05,
  4.96021958e-08,-9.37236404e-07,-1.21644501e+00,-4.58140351e-04,
  7.44825188e-06,-5.51948899e-04]


--- Step 987 ---
qpos:
[ 7.43324561e-03, 1.02795249e-01,-2.87872536e-03, 1.09459137e-01,
  2.06611708e-03, 9.17808138e-02,-1.99298406e-02, 8.82480471e-02,
  1.32516621e-02, 1.10478257e-01,-1.26807953e-02, 8.96167428e-02,
  1.18707102e+00,-7.06596119e-04, 9.49761074e-01, 6.45663339e-02,
  9.35393875e-02,-7.01366128e-02, 1.30941892e-01, 5.00125310e-01,
  4.89262380e-01, 4.99768274e-01, 5.10615972e-01]

qacc:
[ 8.59637941e+01, 2.71619308e+01,-1.20596046e+02, 2.68484393e+02,
  1.36572697e+02, 4.77967364e+01,-2.18708049e+02, 5.03987055e+02,
  2.01715188e-01, 9.50807293e+01,-3.25201614e+02, 5.80669613e+02,
  2.22047891e+00,-1.26462121e+01, 4.04863834e+00,-1.66262048e+01,
  3.74451518e-02, 1.09517333e+00, 6.29537039e-01, 2.37667050e+00,
  5.51462323e-02,-1.53950850e+01]

qfrc_actuator:
[-0.00691821, 0.17900746,-0.00444077, 0.11659142, 0.00023646, 0.15446903,
  0.00045567, 0.10267687, 0.00024526, 0.20828791, 0.00091281, 0.11355025,
  0.01403911,-0.00364698, 0.00171118,-0.00317838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.59595843,  0.87511299,  4.51187446,  0.87511299, 17.54935048,
       -2.51241069,  4.51187446, -2.51241069,  5.08325994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003162274368627982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86513222e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86513222e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188171, -0.08825324,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.01408541e-04, 9.83764031e-04, 2.60369024e-04, 5.06216725e-04,
  1.11776782e-03, 1.79381530e-03, 5.42027406e-04, 9.74501190e-04,
  8.32643102e-06, 5.64603046e-03, 1.29899026e-03, 1.13719693e-03,
 -1.28858757e-03,-9.11244300e-04,-9.97700278e-05,-1.10996375e-04,
 -3.28936289e-07,-9.19558439e-07,-1.21644405e+00,-4.57061025e-04,
  9.12614346e-06,-5.52007157e-04]


--- Step 988 ---
qpos:
[ 7.30679553e-03, 1.06290337e-01,-2.99488102e-03, 1.11784899e-01,
  2.08715688e-03, 9.47936037e-02,-1.99466098e-02, 9.03062532e-02,
  1.32642069e-02, 1.14535557e-01,-1.27137321e-02, 9.18907497e-02,
  1.18744285e+00,-7.49246299e-04, 9.50047900e-01, 6.45564660e-02,
  9.35196788e-02,-7.01370786e-02, 1.30941944e-01, 5.00182527e-01,
  4.89174680e-01, 4.99709340e-01, 5.10701623e-01]

qacc:
[ 1.03477460e+02,-2.07609874e-01,-1.03768889e+01, 6.47790213e+01,
  1.07189270e+02, 3.25943673e+01,-1.55346982e+02, 3.73198723e+02,
  5.62368313e+00, 8.18086750e+01,-2.91040606e+02, 5.48493182e+02,
  1.63374084e+00,-1.10942549e+01,-7.08768738e-01,-5.18510808e-01,
  4.61387594e-02, 1.07290533e+00, 4.55347422e-01, 2.18672365e+00,
  1.36104284e-01,-1.51673991e+01]

qfrc_actuator:
[-0.00595413, 0.17892589,-0.00433476, 0.11675427, 0.00108838, 0.154682  ,
  0.00046319, 0.10331573, 0.00028969, 0.20975617, 0.0007756 , 0.11434858,
  0.01374971,-0.00401491, 0.0016664 ,-0.00319374, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.6081618 ,  0.78532962,  4.54075022,  0.78532962, 27.04127584,
       -3.87984101,  4.54075022, -3.87984101,  5.27918617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003196391583924624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42713066e-14, -3.47336362e-13,  1.00000000e+00,  1.88503982e-26,
        1.00000000e+00,  3.47336362e-13, -1.00000000e+00,  0.00000000e+00,
        5.42713066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918834 , -0.08825284,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.88118653e-04, 4.15446645e-04, 3.14560544e-04, 2.11097849e-04,
  8.95449149e-04, 1.25720404e-03, 4.38929484e-04, 7.42042854e-04,
  5.96498810e-05, 4.79340396e-03, 1.17672036e-03, 1.09295023e-03,
 -1.25831535e-03,-8.52794002e-04,-1.11255509e-04,-3.59231599e-05,
 -6.84621060e-07,-8.17373068e-07,-1.21644344e+00,-4.56039287e-04,
  1.06574580e-05,-5.51988176e-04]


--- Step 989 ---
qpos:
[ 7.22118065e-03, 1.09786147e-01,-3.10924225e-03, 1.14126709e-01,
  2.12001564e-03, 9.78184670e-02,-1.99660777e-02, 9.23816685e-02,
  1.32791399e-02, 1.18631666e-01,-1.27465837e-02, 9.41809247e-02,
  1.18780704e+00,-7.94550187e-04, 9.50333443e-01, 6.45527127e-02,
  9.35001807e-02,-7.01333259e-02, 1.30943232e-01, 5.00252842e-01,
  4.89073827e-01, 4.99667327e-01, 5.10770445e-01]

qacc:
[ 2.18543707e+02, 2.84774128e+01,-1.67856864e+02, 4.41008617e+02,
  7.20790715e+01, 5.85537911e+01,-2.58057518e+02, 5.50014332e+02,
  1.21792469e+01, 8.41683601e+01,-2.93481865e+02, 5.43112043e+02,
 -3.16816144e+00, 1.13281673e-01,-2.02240682e+01, 6.82944612e+01,
  5.26723252e-02, 1.05464510e+00, 3.09123194e-01, 2.03273011e+00,
  2.01803041e-01,-1.49777520e+01]

qfrc_actuator:
[-0.00384519, 0.17900433,-0.00422689, 0.11757052, 0.00166957, 0.15555228,
  0.00041996, 0.10419931, 0.00039942, 0.21202803, 0.00090167, 0.11518625,
  0.01346717,-0.00407195, 0.00166655,-0.00286147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.60983687,  0.66334197,  4.56186074,  0.66334197, 43.49081684,
       -5.65369865,  4.56186074, -5.65369865,  5.43194342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003201033488031413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08385213e-14,  1.73416340e-13,  1.00000000e+00, -1.87957669e-27,
        1.00000000e+00, -1.73416340e-13, -1.00000000e+00,  0.00000000e+00,
        1.08385213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0918847 , -0.08825314,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14187470e-03, 2.56156560e-04, 1.95470785e-04, 8.36330589e-04,
  6.16653919e-04, 1.58279269e-03, 2.56488136e-04, 9.55661748e-04,
  1.27091894e-04, 5.09181615e-03, 1.24688954e-03, 1.09060174e-03,
 -1.22011127e-03,-5.22758102e-04,-6.22958147e-05, 3.14634650e-04,
 -1.02242285e-06,-6.31401149e-07,-1.21644316e+00,-4.55060253e-04,
  1.20603264e-05,-5.51889010e-04]


--- Step 990 ---
qpos:
[ 7.18413668e-03, 1.13286571e-01,-3.22373921e-03, 1.16489158e-01,
  2.15827446e-03, 1.00862512e-01,-1.99901389e-02, 9.44698454e-02,
  1.32958786e-02, 1.22772423e-01,-1.27763721e-02, 9.64872763e-02,
  1.18816317e+00,-8.37872133e-04, 9.50618858e-01, 6.45498913e-02,
  9.34809128e-02,-7.01254141e-02, 1.30945267e-01, 5.00336165e-01,
  4.88959800e-01, 4.99642005e-01, 5.10822771e-01]

qacc:
[ 2.53518067e+02, 4.83685148e+01,-2.50500259e+02, 6.02632999e+02,
  3.20322809e+01, 6.41951542e+01,-2.45683041e+02, 4.58473521e+02,
  8.85180245e+00, 8.35884921e+01,-2.80230997e+02, 5.20928125e+02,
 -7.66293062e+00, 1.08313327e+01,-2.49214996e+00, 9.64018692e+00,
  5.75215029e-02, 1.03976554e+00, 1.86664130e-01, 1.90737993e+00,
  2.55557139e-01,-1.48211521e+01]

qfrc_actuator:
[-0.00138066, 0.17964093,-0.004082  , 0.11864065, 0.00192703, 0.15709408,
  0.00040342, 0.10488311, 0.00047561, 0.21496039, 0.0013277 , 0.11605902,
  0.01322104,-0.00387343, 0.0016511 ,-0.00282405, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.60306361, -0.50088588, -4.57573032, -0.50088588, 41.92045381,
       -4.08497716, -4.57573032, -4.08497716,  5.05022882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003182202973555093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.45132881e-14, -3.48885044e-13,  1.00000000e+00,  1.90188709e-26,
        1.00000000e+00,  3.48885044e-13, -1.00000000e+00,  0.00000000e+00,
        5.45132881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09188569, -0.08825398,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55090205e-03, 7.27635125e-04, 2.06438834e-04, 1.09139932e-03,
  2.82578728e-04, 2.40736663e-03, 3.35224531e-04, 7.67630843e-04,
  9.69348626e-05, 5.93224595e-03, 1.61654620e-03, 1.14070358e-03,
 -1.08403052e-03,-1.90365835e-04,-1.87125312e-05, 4.51281974e-05,
 -1.34608304e-06,-3.62373177e-07,-1.21644318e+00,-4.54112652e-04,
  1.33487286e-05,-5.51707546e-04]


--- Step 991 ---
qpos:
[ 7.14080681e-03, 1.16513996e-01,-3.52512858e-03, 1.18804329e-01,
  2.19935659e-03, 1.03923126e-01,-2.00140351e-02, 9.65711500e-02,
  1.33133441e-02, 1.26952101e-01,-1.27967917e-02, 9.88165345e-02,
  1.18851224e+00,-8.77399793e-04, 9.50904227e-01, 6.45449057e-02,
  9.34629899e-02,-7.01243920e-02, 1.30946399e-01, 5.00384150e-01,
  4.88859116e-01, 4.99596342e-01, 5.10916787e-01]

qacc:
[-3.27026608e+01, 6.42638150e+01,-5.52521722e+02, 2.31646050e+02,
  1.63810922e+01, 4.82464018e+01,-1.95343114e+02, 4.08855177e+02,
  3.40874436e+00, 7.22130230e+01,-2.78893604e+02, 6.29767997e+02,
 -8.57912214e+00, 1.41074553e+01, 7.07478032e+00,-2.34181669e+01,
  3.36267299e-01,-1.72243692e+00,-2.25839821e-01,-3.63257171e+00,
  1.05239087e+01, 2.77612006e+01]

qfrc_actuator:
[-1.11546013e-04, 1.80306459e-01,-3.96692952e-03, 1.19284006e-01,
  2.06297153e-03, 1.57979467e-01, 4.41387803e-04, 1.05551129e-01,
  4.95793627e-04, 2.16847487e-01, 1.78868147e-03, 1.17212672e-01,
  1.30396680e-02,-3.59615839e-03, 1.62624044e-03,-2.94305223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20460935, -0.12273958,  0.163707  , -0.12273958,  0.52098181,
        0.23720075,  0.163707  ,  0.23720075,  0.382451  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1644626445502604e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72704886e-01, -2.32045290e-01,  4.34233406e-04, -2.32045267e-01,
        9.72704983e-01,  1.03589288e-04, -4.46418404e-04,  1.35525272e-20,
       -9.99999900e-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([ 0.11150916, -0.02726483,  0.11559664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.61030099, -0.74179717,  4.5502321 , -0.74179717, 11.20712347,
        1.07544058,  4.5502321 ,  1.07544058,  4.78562365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032023179082980857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66733922e-14,  1.73346784e-13,  1.00000000e+00, -1.50245538e-26,
        1.00000000e+00, -1.73346784e-13, -1.00000000e+00,  0.00000000e+00,
        8.66733922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179882, -0.03157997,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37702729e-03, 1.03322219e-03, 2.83981003e-04, 6.90040842e-04,
  1.48188211e-04, 2.21947497e-03, 5.63013777e-04, 7.86131427e-04,
  4.00634651e-05, 5.43380020e-03, 1.87169209e-03, 1.47110197e-03,
 -8.62771488e-04,-1.10999082e-05,-4.23165642e-05,-1.21678263e-04,
 -1.65843396e-06,-1.09568740e-08,-1.21644351e+00,-4.53187862e-04,
  1.45335018e-05,-5.51442258e-04]


--- Step 992 ---
qpos:
[ 7.09240831e-03, 1.19441420e-01,-3.98907336e-03, 1.21081021e-01,
  2.24177367e-03, 1.06993538e-01,-2.00352357e-02, 9.86932480e-02,
  1.33308618e-02, 1.31159957e-01,-1.28047994e-02, 1.01172436e-01,
  1.18885566e+00,-9.13320594e-04, 9.51189307e-01, 6.45398133e-02,
  9.34453097e-02,-7.01299446e-02, 1.30946301e-01, 5.00398518e-01,
  4.88759773e-01, 4.99529277e-01, 5.11063312e-01]

qacc:
[-2.52333752e+01,-2.13654614e+01,-3.36155103e+02, 1.48691944e+02,
  7.62003436e+00, 4.79356879e+01,-2.39348092e+02, 5.85813881e+02,
  2.11897301e-01, 5.71827189e+01,-2.61550888e+02, 6.79841476e+02,
 -7.25939703e+00, 1.23521737e+01, 4.19651089e-01,-8.58148716e-01,
  6.06651476e-02,-1.64365998e+00,-3.07327517e-01,-1.00317541e+01,
  1.55348289e+01, 2.72916887e+01]

qfrc_actuator:
[ 0.00042249, 0.18085679,-0.00371846, 0.12038781, 0.00212641, 0.15818189,
  0.00047363, 0.10657701, 0.00048273, 0.21768698, 0.00219208, 0.11850389,
  0.01288138,-0.003363  , 0.00163301,-0.00294015, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27649863, -0.06969514,  0.2675707 , -0.06969514,  0.70468487,
        0.11153127,  0.2675707 ,  0.11153127,  0.3055496 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004922656787578589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96332698, -0.2681947 ,  0.00852819, -0.26818419,  0.96336473,
        0.00237419, -0.0088525 ,  0.        , -0.99996082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11131595, -0.02766605,  0.11575946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.6194794 ,  3.36606184, -3.16373476,  3.36606184, 13.15687247,
        9.08337619, -3.16373476,  9.08337619, 14.28375543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032275656789285123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59953859e-14,  5.15972316e-13,  1.00000000e+00, -4.43712384e-26,
        1.00000000e+00, -5.15972316e-13, -1.00000000e+00,  0.00000000e+00,
        8.59953859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0817973 , -0.03158198,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21527821e-03, 1.51146656e-02, 9.83802851e-03, 4.14742073e-03,
  7.02446877e-05, 1.47864256e-03, 5.46954869e-04, 1.14412166e-03,
  4.10298576e-06, 4.17283542e-03, 1.75342024e-03, 1.60243684e-03,
 -6.68852932e-04, 3.33452321e-05,-3.85209528e-05,-1.17918220e-05,
 -1.16472215e-06,-1.01209745e-06,-1.21644297e+00,-4.53567850e-04,
  1.26315067e-05,-5.52557651e-04]


--- Step 993 ---
qpos:
[ 7.04186250e-03, 1.22071446e-01,-4.61033394e-03, 1.23323063e-01,
  2.28429626e-03, 1.10072108e-01,-2.00550541e-02, 1.00837114e-01,
  1.33486975e-02, 1.35392837e-01,-1.28057301e-02, 1.03550856e-01,
  1.18919492e+00,-9.47778724e-04, 9.51473535e-01, 6.45371435e-02,
  9.34266897e-02,-7.01420213e-02, 1.30944657e-01, 5.00381337e-01,
  4.88652450e-01, 4.99437978e-01, 5.11271949e-01]

qacc:
[-1.04103424e+01,-2.47348960e+01,-3.35217488e+02, 2.03392988e+02,
  5.42727228e-01, 5.14309939e+01,-2.58969764e+02, 6.25342508e+02,
  1.38717432e+00, 5.94482260e+01,-2.58305122e+02, 6.16160602e+02,
 -4.18291906e+00, 6.28819093e+00,-8.28069107e+00, 2.78176588e+01,
 -2.34944357e-01,-1.63103425e+00,-3.86651939e-01,-1.59925155e+01,
  1.90347869e+01, 2.75312359e+01]

qfrc_actuator:
[ 0.00060554, 0.18152747,-0.00330401, 0.12181349, 0.00212895, 0.15854278,
  0.00051759, 0.10766267, 0.0004856 , 0.21865645, 0.00241213, 0.11959847,
  0.01272642,-0.00328192, 0.00160552,-0.00281204, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.1849672 ,  0.38893016, -0.1849672 ,  0.64355258,
        0.10124099,  0.38893016,  0.10124099,  0.47882149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010231235705734378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95437848, -0.29825377,  0.0143668 , -0.29821999,  0.95448661,
        0.00448927, -0.01505186,  0.        , -0.99988671])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11114386, -0.02799241,  0.11588826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003227455138413715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59983313e-14, -1.71996663e-13,  1.00000000e+00,  1.47914260e-26,
        1.00000000e+00,  1.71996663e-13, -1.00000000e+00,  0.00000000e+00,
        8.59983313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08179573, -0.03158246,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64262643e-03, 3.06795395e-02, 1.83467053e-02, 7.48778116e-03,
  5.89464499e-06, 1.23444918e-03, 4.15915458e-04, 1.17856412e-03,
  1.79618025e-05, 3.57777734e-03, 1.29914487e-03, 1.35019439e-03,
 -5.40979685e-04,-6.49418316e-05,-5.67488142e-05, 1.20430668e-04,
 -4.50667425e-07,-2.05649918e-06,-1.21644377e+00,-4.55581063e-04,
  1.04928805e-05,-5.54778444e-04]


--- Step 994 ---
qpos:
[ 7.01968342e-03, 1.24534678e-01,-5.31450617e-03, 1.25537294e-01,
  2.32652323e-03, 1.13161563e-01,-2.00755149e-02, 1.02999666e-01,
  1.33673719e-02, 1.39654031e-01,-1.28086334e-02, 1.05943850e-01,
  1.18953107e+00,-9.82438522e-04, 9.51756954e-01, 6.45373408e-02,
  9.33988549e-02,-7.01453701e-02, 1.30945138e-01, 5.00299927e-01,
  4.88434579e-01, 4.99454049e-01, 5.11544033e-01]

qacc:
[ 1.36145117e+02,-4.61724987e+01,-3.85507515e+01,-1.86729898e+02,
 -1.74249830e+00, 5.43715986e+01,-2.51233678e+02, 5.65564698e+02,
  3.53425426e+00, 7.27602669e+01,-2.66037544e+02, 4.98682374e+02,
 -1.99023671e+00, 1.85587871e+00,-9.73317253e+00, 3.25835615e+01,
 -2.30369886e+00, 2.18197879e+00, 5.31243932e-01,-3.61547963e-01,
  8.66639318e+01,-2.15462487e+01]

qfrc_actuator:
[ 0.00066586, 0.18302685,-0.0026947 , 0.12300006, 0.0021134 , 0.15933375,
  0.00056881, 0.10861513, 0.00051551, 0.22015735, 0.00230949, 0.12031999,
  0.01260015,-0.00329137, 0.00157884,-0.00266455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.24578885, -0.35364867,  0.24578885,  1.04358191,
        0.4259767 , -0.35364867,  0.4259767 ,  0.72673081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013929521786721969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94549682, -0.3250351 ,  0.01969658, -0.32496459,  0.94570195,
        0.00676966, -0.02082747,  0.        , -0.99978308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11099802, -0.02828011,  0.11600413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.64354181, -0.4045956 ,  4.62588185, -0.4045956 , 12.15465277,
        0.65694771,  4.62588185,  0.65694771,  4.70100072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032924156953634265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52904659e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52904659e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864276 , -0.08842127,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80206366e-03, 4.69556741e-02, 2.67936132e-02, 1.03985346e-02,
 -1.50079184e-05, 1.50207375e-03, 3.57670239e-04, 1.03100330e-03,
  4.56221290e-05, 3.67091688e-03, 7.88539847e-04, 9.30960793e-04,
 -4.59625117e-04,-1.46539591e-04,-4.61122339e-05, 1.45559363e-04,
  7.27142380e-07,-3.36216053e-06,-1.21644597e+00,-4.60014801e-04,
  7.52943970e-06,-5.58487567e-04]


--- Step 995 ---
qpos:
[ 7.03088788e-03, 1.26875676e-01,-6.08822121e-03, 1.27726470e-01,
  2.39303980e-03, 1.16042552e-01,-2.02520247e-02, 1.05120819e-01,
  1.33868767e-02, 1.43940209e-01,-1.28153943e-02, 1.08349941e-01,
  1.18986472e+00,-1.01832792e-03, 9.52039898e-01, 6.45399218e-02,
  9.33593126e-02,-7.01415078e-02, 1.30947555e-01, 5.00161631e-01,
  4.88101247e-01, 4.99559174e-01, 5.11894665e-01]

qacc:
[ 1.57448295e+02,-1.90049775e+01,-6.17051075e+01,-1.69850525e+02,
  1.29786141e+02, 7.50412613e+01,-4.92636170e+02, 1.77596994e+02,
  3.39023631e+00, 7.05988475e+01,-2.58489159e+02, 4.71077359e+02,
 -7.10620563e-01,-7.67836963e-01,-7.88385742e+00, 2.65904089e+01,
 -2.92687243e+00, 1.80278743e+00, 4.84039503e-01,-1.18278227e+01,
  8.51972901e+01,-1.63833629e+01]

qfrc_actuator:
[ 0.00064065, 0.18481652,-0.0019977 , 0.12376613, 0.00201635, 0.16003949,
  0.00059036, 0.1094643 , 0.00054323, 0.22123596, 0.00203723, 0.12095863,
  0.01249115,-0.00335407, 0.00156865,-0.00254235, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42016348, -0.09456315,  0.42016348,  0.45887005,
        0.12528371, -0.09456315,  0.12528371,  0.98733462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017062618295221193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93771055, -0.34656614,  0.02430728, -0.34644976,  0.93802554,
        0.00898065, -0.02591323,  0.        , -0.9996642 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11084922, -0.02850721,  0.11610797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20489332,  0.06189747,  0.19532019,  0.06189747,  0.44880551,
       -0.07729641,  0.19532019, -0.07729641,  0.22938875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.254372832804962e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99945971e-01, -7.22774407e-03,  7.47094240e-03, -7.22754235e-03,
        9.99973880e-01,  5.39994701e-05, -7.47113755e-03, -6.77626358e-21,
       -9.99972091e-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([ 0.11270935, -0.08005091,  0.11265682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.66030934,  0.37565768, -4.64514418,  0.37565768, 13.96540887,
        0.75251316, -4.64514418,  0.75251316,  4.72116586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003336507999637389
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49562497e-13, -1.66374998e-13,  1.00000000e+00,  4.15209600e-26,
        1.00000000e+00,  1.66374998e-13, -1.00000000e+00,  0.00000000e+00,
        2.49562497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08643793, -0.08841949,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34954886e-03, 5.69993122e-02, 3.16109855e-02, 1.25469072e-02,
 -9.73380509e-05, 1.54774439e-03, 3.70836119e-04, 9.34203384e-04,
  4.50882477e-05, 3.17636926e-03, 5.60459937e-04, 8.26158916e-04,
 -4.13124073e-04,-1.98128433e-04,-2.10738166e-05, 1.23170699e-04,
 -2.50036794e-06,-4.88730288e-06,-1.21644275e+00,-4.61644338e-04,
  1.05657725e-05,-5.69485909e-04]


--- Step 996 ---
qpos:
[ 7.07927619e-03, 1.29117840e-01,-6.91773211e-03, 1.29894207e-01,
  2.48546704e-03, 1.18685897e-01,-2.05594188e-02, 1.07209543e-01,
  1.34068508e-02, 1.48243084e-01,-1.28241442e-02, 1.10775668e-01,
  1.19019612e+00,-1.05552746e-03, 9.52322601e-01, 6.45406587e-02,
  9.33067734e-02,-7.01320864e-02, 1.30951899e-01, 4.99971072e-01,
  4.87653911e-01, 4.99737235e-01, 5.12333179e-01]

qacc:
[ 1.72755918e+02,-1.90771515e+01,-3.19264567e+01,-1.76007743e+02,
  1.36481459e+02,-1.53517476e+01,-2.64269150e+02, 8.62847513e+01,
  1.84587046e+00, 6.78216389e+01,-2.91809846e+02, 6.19934374e+02,
 -6.84956342e-01,-7.64170268e-01, 5.21699614e+00,-1.87521402e+01,
 -3.24922100e+00, 1.38974788e+00, 4.81847606e-01,-1.90390133e+01,
  8.19207794e+01,-1.09219812e+01]

qfrc_actuator:
[ 0.00061877, 0.18639422,-0.00124604, 0.12439478, 0.00184592, 0.16041201,
  0.00073202, 0.11025084, 0.00055156, 0.22168039, 0.00179013, 0.121916  ,
  0.0123979 ,-0.0034121 , 0.00152574,-0.00264901, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42470388,  0.07145734, -0.42470388,  0.43201259,
        0.00795969,  0.07145734,  0.00795969,  0.47798146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019793849035241932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31175647e-01, -3.63517198e-01,  2.76976561e-02, -3.63356493e-01,
        9.31587487e-01,  1.08079751e-02, -2.97316747e-02,  1.73472348e-18,
       -9.99557916e-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([ 0.11069288, -0.02868245,  0.1161951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25713998, -0.146584  ,  0.21126784, -0.146584  ,  0.83241218,
        0.3991412 ,  0.21126784,  0.3991412 ,  0.53407618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004357811747445389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99834769e-01, -8.17273044e-03,  1.62370435e-02, -8.17165296e-03,
        9.99966603e-01,  1.32705411e-04, -1.62375858e-02,  2.71050543e-20,
       -9.99868162e-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([ 0.11246935, -0.080059  ,  0.11281447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.66594993, -0.35128874,  4.65270727, -0.35128874, 24.14783987,
        1.47092181,  4.65270727,  1.47092181,  4.77700748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003351146038446384
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65648261e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.65648261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08644584, -0.08841863,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50073513e-04, 6.46083924e-02, 3.58168400e-02, 1.44204852e-02,
 -1.48339405e-03, 1.22363885e-02, 8.27828019e-03, 3.78062445e-03,
  2.56541320e-05, 2.21328487e-03, 4.51558742e-04, 1.11375235e-03,
 -3.81682535e-04,-1.93610881e-04,-4.54329353e-05,-1.03924009e-04,
 -1.05439626e-05,-4.85704450e-06,-1.21644180e+00,-4.56441288e-04,
  1.29869036e-05,-5.83683088e-04]


--- Step 997 ---
qpos:
[ 7.16694510e-03, 1.31284513e-01,-7.78863214e-03, 1.32044315e-01,
  2.60495644e-03, 1.21096483e-01,-2.09870593e-02, 1.09270329e-01,
  1.34263862e-02, 1.52559465e-01,-1.28352396e-02, 1.13226959e-01,
  1.19052515e+00,-1.09262719e-03, 9.52605135e-01, 6.45377626e-02,
  9.32402984e-02,-7.01187416e-02, 1.30958185e-01, 4.99733033e-01,
  4.87096297e-01, 4.99972408e-01, 5.12866147e-01]

qacc:
[ 1.79932802e+02,-2.06533525e+01, 2.31119148e+00,-1.84286096e+02,
  1.40101846e+02,-2.93951119e+01,-2.23774742e+02, 1.02910283e+02,
 -1.94481088e+00, 7.67323672e+01,-3.54393356e+02, 7.87098581e+02,
 -2.05755231e+00, 2.49318194e+00, 1.08409896e+01,-3.79974101e+01,
 -3.48397006e+00, 9.80873401e-01, 4.85546150e-01,-2.49616112e+01,
  7.74210360e+01,-5.70606125e+00]

qfrc_actuator:
[ 0.00052846, 0.18801225,-0.00042976, 0.12489414, 0.0016734 , 0.16130076,
  0.00101851, 0.11072335, 0.00051279, 0.22229293, 0.00164656, 0.12319485,
  0.01232481,-0.00337799, 0.00150581,-0.00283647, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.42299924,  0.08093939, -0.42299924,  0.43130822,
        0.00331789,  0.08093939,  0.00331789,  0.44801307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021200803532398322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92596675, -0.37636501,  0.03057694, -0.37615998,  0.92647147,
        0.01242142, -0.03300365,  0.        , -0.99945523])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11052675, -0.02881192,  0.11627445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38460422, -0.21042171,  0.3219365 , -0.21042171,  1.08148528,
        0.45549014,  0.3219365 ,  0.45549014,  0.68231825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007621801081823798
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99619476e-01, -1.21095817e-02,  2.47843052e-02, -1.21058613e-02,
        9.99926676e-01,  3.00149577e-04, -2.47861226e-02,  5.42101086e-20,
       -9.99692777e-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([ 0.1122493 , -0.08010158,  0.11296346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.66259876, -0.33251192,  4.65072715, -0.33251192, 26.15429212,
        1.53658644,  4.65072715,  1.53658644,  4.77245972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003342460973154854
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66078682e-13,  1.66078682e-13,  1.00000000e+00, -2.75821285e-26,
        1.00000000e+00, -1.66078682e-13, -1.00000000e+00,  0.00000000e+00,
        1.66078682e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645184, -0.08841847,  0.06199045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30778616e-03, 7.10920843e-02, 3.94017944e-02, 1.59842390e-02,
 -2.95245658e-03, 2.49103951e-02, 1.50767128e-02, 5.86544553e-03,
 -2.27697719e-05, 1.83220174e-03, 3.52606350e-04, 1.39586076e-03,
 -3.42676721e-04,-9.29236723e-05,-5.85028845e-05,-2.00414610e-04,
 -2.20928471e-05,-4.56385220e-06,-1.21644198e+00,-4.47965405e-04,
  1.52820783e-05,-6.02763142e-04]


--- Step 998 ---
qpos:
[ 7.29417902e-03, 1.33401747e-01,-8.69787947e-03, 1.34178907e-01,
  2.75059555e-03, 1.23308746e-01,-2.15275693e-02, 1.11305909e-01,
  1.34452396e-02, 1.56898268e-01,-1.28554299e-02, 1.15709442e-01,
  1.19085201e+00,-1.12862904e-03, 9.52887003e-01, 6.45339480e-02,
  9.31590366e-02,-7.01038329e-02, 1.30966768e-01, 4.99454064e-01,
  4.86437480e-01, 5.00242767e-01, 5.13499163e-01]

qacc:
[ 1.78601140e+02, 9.61341954e+00,-6.44339447e+01,-1.05387913e+02,
  1.32969911e+02, 1.09659368e+00,-2.77889313e+02, 1.66841939e+02,
 -3.02017435e+00, 1.18866464e+02,-5.10816006e+02, 1.04376775e+03,
 -2.56033398e+00, 4.15076727e+00, 1.96861540e+00,-7.89635020e+00,
 -3.69669280e+00, 3.90971805e-01, 5.74041625e-01,-3.13069138e+01,
  6.93417194e+01, 1.62639837e+00]

qfrc_actuator:
[-1.34685399e-04, 1.90327509e-01, 4.33199239e-04, 1.25782253e-01,
  1.39933809e-03, 1.63370528e-01, 1.46910705e-03, 1.11726037e-01,
  4.64217673e-04, 2.24103526e-01, 1.44199210e-03, 1.24812581e-01,
  1.22798954e-02,-3.28948847e-03, 1.48901915e-03,-2.87459718e-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, -0.42035061,  0.09372781, -0.42035061,  0.43805395,
        0.03310049,  0.09372781,  0.03310049,  0.5791225 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002299829871182841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92206287, -0.3856438 ,  0.03284714, -0.38539933,  0.92264775,
        0.01372929, -0.03560095,  0.        , -0.99936609])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11034886, -0.0289022 ,  0.11634556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.21936436,  0.3706195 , -0.21936436,  0.93526052,
        0.29865789,  0.3706195 ,  0.29865789,  0.60744467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010428056897905903
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99415452e-01, -1.36737547e-02,  3.13334139e-02, -1.36670394e-02,
        9.99906510e-01,  4.28485474e-04, -3.13363435e-02,  0.00000000e+00,
       -9.99508896e-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([ 0.11204712, -0.08011553,  0.11308363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.65237076, -0.28437566,  4.64367141, -0.28437566, 33.08407482,
        1.74114057,  4.64367141,  1.74114057,  4.75899717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003315741690750468
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.37084978e-14,  1.67416996e-13,  1.00000000e+00, -1.40142252e-26,
        1.00000000e+00, -1.67416996e-13, -1.00000000e+00,  0.00000000e+00,
        8.37084978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08645634, -0.08841883,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94289312e-03, 7.71090998e-02, 4.23144865e-02, 1.77464574e-02,
 -4.58045342e-03, 3.85310770e-02, 2.15116138e-02, 8.25663106e-03,
 -3.54492005e-05, 2.80840002e-03, 2.10359914e-04, 1.72047726e-03,
 -2.68710303e-04,-8.36461233e-06,-7.20934260e-05,-5.81189926e-05,
 -3.58177811e-05,-5.23495187e-06,-1.21644284e+00,-4.39530510e-04,
  1.74732169e-05,-6.27901606e-04]


--- Step 999 ---
qpos:
[ 7.44055430e-03, 1.35382212e-01,-9.70209937e-03, 1.36298432e-01,
  2.90191076e-03, 1.25319487e-01,-2.21912245e-02, 1.13317492e-01,
  1.34629678e-02, 1.61261848e-01,-1.28836163e-02, 1.18224803e-01,
  1.19117719e+00,-1.16316323e-03, 9.53167579e-01, 6.45304263e-02,
  9.30697744e-02,-7.00974393e-02, 1.30977958e-01, 4.99206708e-01,
  4.85745790e-01, 5.00413005e-01, 5.14228076e-01]

qacc:
[ 8.50402449e+01, 5.33755926e+01,-3.88281420e+02, 3.76870946e+02,
  2.82192851e+01, 2.81824594e+01,-3.85128750e+02, 3.12569738e+02,
 -4.65694776e+00, 1.22343902e+02,-5.25649255e+02, 1.08382322e+03,
 -2.40986923e+00, 4.37491641e+00,-2.60985272e+00, 6.78014338e+00,
 -2.00008223e+00,-2.12877543e+00, 6.51955534e-01,-6.55899411e+01,
 -1.14505712e+00, 3.19603800e+01]

qfrc_actuator:
[-0.0015836 , 0.19253268, 0.00135544, 0.12735237, 0.00103669, 0.16542646,
  0.00202339, 0.11333931, 0.00039244, 0.225731  , 0.00119077, 0.12649351,
  0.01225727,-0.00318714, 0.0014209 ,-0.00285989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.40603589,  0.14357714, -0.40603589,  0.60917207,
        0.50479404,  0.14357714,  0.50479404,  1.85823   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024121436066065565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19356193e-01, -3.91935704e-01,  3.42139559e-02, -3.91664576e-01,
        9.19992611e-01,  1.45758463e-02, -3.71893811e-02, -1.73472348e-18,
       -9.99308236e-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([ 0.1101581 , -0.0289603 ,  0.11640567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.21858015,  0.37108255, -0.21858015,  1.54534931,
        0.65658178,  0.37108255,  0.65658178,  0.81742219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012816034313153299
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99203308e-01, -1.55196157e-02,  3.67680655e-02, -1.55091192e-02,
        9.99879564e-01,  5.70694979e-04, -3.67724943e-02,  1.08420217e-19,
       -9.99323663e-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([ 0.11186001, -0.08013218,  0.11318648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.63571019,  0.40868149, -4.61766049,  0.40868149,  5.35666361,
        0.06380727, -4.61766049,  0.06380727,  4.64135739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032715170575821475
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.22493167e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.22493167e-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([ 0.08402636, -0.06068101,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.37775982e-03, 8.17157042e-02, 4.51354006e-02, 2.00852627e-02,
 -6.25121076e-03, 5.04247765e-02, 2.76851172e-02, 1.11224445e-02,
 -5.90913692e-05, 3.15500353e-03, 3.58772897e-04, 1.82670372e-03,
 -1.83336355e-04, 4.01150435e-05,-1.12129741e-04, 1.28506004e-06,
 -4.91831820e-05,-8.57932168e-06,-1.21644429e+00,-4.36784881e-04,
  1.88616613e-05,-6.59915446e-04]


--- Step 1000 ---
qpos:
[ 0.00762204, 0.1373154 ,-0.0107222 , 0.13841418, 0.00307351, 0.12717339,
 -0.02293897, 0.1153137 , 0.01347864, 0.16564486,-0.01291355, 0.12076486,
  1.19150114,-0.00119621, 0.95344734, 0.06452405, 0.0929618 ,-0.07009317,
  0.1309925 , 0.49892195, 0.48496105, 0.50059102, 0.51507116]

qacc:
[ 1.54847234e+02,-2.61503723e+01, 1.80199978e+01,-2.27361033e+01,
  1.00408302e+02,-4.21681040e+00,-2.20737415e+02, 2.03189235e+02,
 -7.91345321e+00, 8.10975394e+01,-3.54755125e+02, 7.66706327e+02,
 -2.27548023e+00, 4.34551940e+00, 7.57420783e+00,-2.78499222e+01,
 -4.67768026e+00,-5.30645729e-01, 8.38328522e-01,-4.07072189e+01,
  6.29507539e+01, 1.29441378e+01]

qfrc_actuator:
[-0.00333961, 0.19396228, 0.0023852 , 0.1286451 , 0.00071966, 0.16734359,
  0.00267756, 0.11445792, 0.00027194, 0.22658042, 0.0010561 , 0.12771889,
  0.01223741,-0.00309505, 0.00137   ,-0.00300961, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.10615137,  0.41738642, -0.10615137,  1.60205918,
        0.2979115 ,  0.41738642,  0.2979115 ,  0.50643939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026167723262355627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18076833e-01, -3.94868201e-01,  3.48429590e-02, -3.94584131e-01,
        9.18737777e-01,  1.49753029e-02, -3.79248136e-02, -1.73472348e-18,
       -9.99280595e-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([ 0.10996713, -0.02898233,  0.11645427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.13910474,  0.40758976,  0.13910474,  0.50838247,
       -0.02652105,  0.40758976, -0.02652105,  0.43972462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014839456915660312
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99138565e-01, -1.42303710e-02,  3.89823682e-02, -1.42195522e-02,
        9.99898743e-01,  5.54789737e-04, -3.89863158e-02,  1.08420217e-19,
       -9.99239745e-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([ 0.11169035, -0.08011294,  0.11324812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.62724832, -0.41872795,  4.60826366, -0.41872795,  6.59828886,
        0.17909777,  4.60826366,  0.17909777,  4.64352197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003248712388163044
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54356197e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.54356197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086473  , -0.08841895,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10967504e-02, 8.99187945e-02, 5.08976929e-02, 2.21248441e-02,
 -6.85164753e-03, 6.23482468e-02, 3.44761005e-02, 1.34338740e-02,
 -1.09170659e-04, 2.60520040e-03, 5.68596340e-04, 1.39303167e-03,
 -1.19549702e-04, 5.98253111e-05,-1.03708786e-04,-1.64305109e-04,
 -4.25879952e-05,-2.93022012e-05,-1.21645355e+00,-4.70462469e-04,
  1.20313679e-05,-6.98610922e-04]


--- Step 1001 ---
qpos:
[ 0.00783726, 0.13921814,-0.01174981, 0.14052956, 0.003264  , 0.12888784,
 -0.0237572 , 0.11729871, 0.01349234, 0.17004658,-0.01294524, 0.12332106,
  1.19182444,-0.00122865, 0.95372648, 0.06451614, 0.09283498,-0.07009237,
  0.13101038, 0.49860446, 0.4840882 , 0.5007632 , 0.51603141]

qacc:
[ 147.07382832, -20.34294116,  15.34175601,  12.83658972,  92.43415385,
  -10.73059213,-181.74135065, 201.72212871,  -7.36856281,  62.63714025,
 -254.59318594, 520.07183903,  -1.05410869,   1.92469135,   3.81897102,
  -14.50838625,  -4.7126797 ,  -0.86732053,   0.83376833, -44.87471162,
   57.84160296,  17.01765513]

qfrc_actuator:
[-4.82417090e-03, 1.95282306e-01, 3.38512813e-03, 1.29162538e-01,
  6.26154124e-04, 1.69408640e-01, 3.41961755e-03, 1.14890162e-01,
  1.59106039e-04, 2.27562046e-01, 9.70571358e-04, 1.28523933e-01,
  1.22245462e-02,-3.06296324e-03, 1.36670830e-03,-3.07742405e-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, -0.37879363,  0.20492664, -0.37879363,  0.49419529,
        0.11741618,  0.20492664,  0.11741618,  0.64770956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002688531420327799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91717731, -0.39696177,  0.03474377, -0.39667726,  0.91783515,
        0.01502661, -0.03785404,  0.        , -0.99928328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10977088, -0.02899732,  0.11649429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.14638416,  0.40503236, -0.14638416,  1.59022331,
        0.419077  ,  0.40503236,  0.419077  ,  0.58213344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001648127059141946
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98977518e-01, -1.63621336e-02,  4.21449758e-02, -1.63475921e-02,
        9.99866131e-01,  6.89674051e-04, -4.21506184e-02, -1.08420217e-19,
       -9.99111268e-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([ 0.11153051, -0.08013249,  0.11331774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.61235375,  0.42793312, -4.59245907,  0.42793312, 38.56075857,
        3.1633699 , -4.59245907,  3.1633699 ,  4.90712192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032079897922009104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.46080598e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.46080598e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08648328, -0.08841886,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43434068e-02, 9.35401594e-02, 5.26766152e-02, 2.28245368e-02,
 -7.95974091e-03, 7.21921740e-02, 3.94053978e-02, 1.46281262e-02,
 -1.04950084e-04, 2.45408453e-03, 5.14820386e-04, 9.47919401e-04,
 -7.07677129e-05, 1.87479208e-05,-7.13857380e-05,-9.07407835e-05,
 -5.20494878e-05,-4.04071797e-05,-1.21645863e+00,-4.86398958e-04,
  8.98012578e-06,-7.46430355e-04]


--- Step 1002 ---
qpos:
[ 0.00808454, 0.14111334,-0.01277245, 0.14264797, 0.00347281, 0.13048102,
 -0.02463302, 0.11927619, 0.01350518, 0.17446181,-0.01297669, 0.12589522,
  1.19214752,-0.00126093, 0.95400496, 0.06450773, 0.0926893 ,-0.0700956 ,
  0.13103137, 0.49825776, 0.48312885, 0.50092231, 0.51710981]

qacc:
[ 1.38166955e+02,-1.78679322e+01, 3.60694885e+01, 1.43831377e+01,
  8.87634452e+01,-1.51127422e+01,-1.46772946e+02, 1.96607018e+02,
 -3.18113751e+00, 5.39359822e+01,-2.41169739e+02, 5.38742734e+02,
 -2.88970646e-01, 5.08286162e-01, 5.14659283e-01,-3.17456455e+00,
 -4.71442351e+00,-1.00940375e+00, 7.76461515e-01,-4.74483511e+01,
  5.49729839e+01, 1.84987151e+01]

qfrc_actuator:
[-5.87449772e-03, 1.97319788e-01, 4.40062273e-03, 1.29159653e-01,
  6.95558061e-04, 1.71394768e-01, 4.21667734e-03, 1.15196603e-01,
  1.04857119e-04, 2.28065611e-01, 9.15230597e-04, 1.29412762e-01,
  1.22371803e-02,-3.04885876e-03, 1.34939376e-03,-3.09626975e-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, -0.35732457,  0.24041358, -0.35732457,  0.51070516,
        0.11895057,  0.24041358,  0.11895057,  0.60746853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002626758452788507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91715659, -0.39707633,  0.0339731 , -0.3968042 ,  0.91778559,
        0.01469833, -0.03701638,  0.        , -0.99931466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10956202, -0.02899208,  0.11652683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.1151273 ,  0.41500029, -0.1151273 ,  1.46306563,
        0.28640107,  0.41500029,  0.28640107,  0.5101253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017773475284585576
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98843801e-01, -1.86262104e-02,  4.43184634e-02, -1.86079029e-02,
        9.99826517e-01,  8.25628254e-04, -4.43261532e-02,  1.08420217e-19,
       -9.99017113e-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([ 0.11137797, -0.08015318,  0.11337371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.59381386,  0.34659138, -4.58072049,  0.34659138, 28.96451606,
        1.84396219, -4.58072049,  1.84396219,  4.7333337 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031562234882183404
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79391961e-14, -1.75878392e-13,  1.00000000e+00,  1.54666044e-26,
        1.00000000e+00,  1.75878392e-13, -1.00000000e+00,  0.00000000e+00,
        8.79391961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08649116, -0.08841913,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70871374e-02, 9.70384259e-02, 5.40521534e-02, 2.28338567e-02,
 -8.83461646e-03, 8.10944462e-02, 4.37114154e-02, 1.54888969e-02,
 -4.62735640e-05, 1.86079176e-03, 4.91601715e-04, 1.01464182e-03,
 -2.55976413e-05, 3.18383010e-06,-6.29493249e-05,-3.36765327e-05,
 -5.98799270e-05,-5.51690007e-05,-1.21646611e+00,-5.10834205e-04,
  3.39053793e-06,-8.01949683e-04]


--- Step 1003 ---
qpos:
[ 0.00836244, 0.1430215 ,-0.0137854 , 0.14477133, 0.00369881, 0.13197105,
 -0.02555506, 0.12124947, 0.01351819, 0.1788819 ,-0.01300496, 0.12848826,
  1.19247056,-0.00129272, 0.95428272, 0.0644975 , 0.09252471,-0.07010361,
  0.13105536, 0.49788551, 0.48208575, 0.50106   , 0.51830707]

qacc:
[ 1.30420639e+02,-3.70921134e-02, 3.81462099e+00, 5.70025713e+01,
  8.25717074e+01,-1.60814017e+01,-1.22631928e+02, 1.98688237e+02,
  6.31940938e-01, 3.61313437e+01,-1.98063528e+02, 5.12918278e+02,
 -4.92794335e-01, 1.15776627e+00, 4.48385296e+00,-1.71429690e+01,
 -4.72516828e+00,-1.19222768e+00, 7.53217621e-01,-4.99985258e+01,
  5.14266831e+01, 2.04165868e+01]

qfrc_actuator:
[-6.46306432e-03, 1.99546236e-01, 5.39824893e-03, 1.29391650e-01,
  6.78193285e-04, 1.72998326e-01, 5.09754727e-03, 1.15783417e-01,
  1.03203483e-04, 2.27889494e-01, 9.12215199e-04, 1.30325824e-01,
  1.22650960e-02,-3.00982870e-03, 1.30238662e-03,-3.19268629e-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, -0.34134261,  0.26261142, -0.34134261,  0.66704044,
        0.30723019,  0.26261142,  0.30723019,  0.8300115 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002666663281532359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9185155 , -0.39403755,  0.03261436, -0.39378938,  0.91909434,
        0.01398255, -0.03548533,  0.        , -0.9993702 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10933216, -0.02895304,  0.1165534 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.10430408,  0.41785188, -0.10430408,  1.49325588,
        0.26524158,  0.41785188,  0.26524158,  0.49688289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018748766644740673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98745634e-01, -2.12188633e-02,  4.53532687e-02, -2.11970194e-02,
        9.99774855e-01,  9.62561524e-04, -4.53634821e-02, -1.08420217e-19,
       -9.98970547e-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([ 0.11123098, -0.08017725,  0.11341488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.57308321,  0.26186601, -4.56557951,  0.26186601, 35.02787394,
        1.74678251, -4.56557951,  1.74678251,  4.67327267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000309685128965842
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79250297e-13,  1.79250297e-13,  1.00000000e+00, -3.21306688e-26,
        1.00000000e+00, -1.79250297e-13, -1.00000000e+00,  0.00000000e+00,
        1.79250297e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08649717, -0.0884196 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92850509e-02, 9.95810318e-02, 5.47871013e-02, 2.29077627e-02,
 -9.76790109e-03, 8.87094738e-02, 4.74589762e-02, 1.64461791e-02,
  9.93951008e-06, 8.47062085e-04, 4.20741014e-04, 1.01399218e-03,
  1.28237119e-05, 3.51771031e-05,-8.20144618e-05,-1.06912064e-04,
 -6.69656347e-05,-7.32275500e-05,-1.21647617e+00,-5.41278342e-04,
 -4.33290618e-06,-8.65006208e-04]


--- Step 1004 ---
qpos:
[ 0.00866775, 0.14495475,-0.01478677, 0.14690184, 0.0039394 , 0.13337652,
 -0.02651333, 0.12322159, 0.01353169, 0.18330416,-0.01303074, 0.13109254,
  1.19279374,-0.00132395, 0.95455904, 0.0644915 , 0.09234124,-0.07011775,
  0.13108251, 0.49749185, 0.48096581, 0.50116349, 0.51962381]

qacc:
[ 1.15353484e+02, 1.52095633e+01,-3.63050639e+01, 1.22544288e+02,
  6.94531680e+01,-1.32003247e+01,-1.09918292e+02, 2.08442339e+02,
  1.65800921e+00, 1.89223283e+01,-1.10146749e+02, 2.97462874e+02,
 -8.68924228e-02, 6.08151178e-01,-1.48612817e+01, 4.89591207e+01,
 -4.72257958e+00,-1.53356721e+00, 7.86690380e-01,-5.27666224e+01,
  4.55605317e+01, 2.42853968e+01]

qfrc_actuator:
[-6.78596511e-03, 2.01193975e-01, 6.39619090e-03, 1.30365029e-01,
  5.67053763e-04, 1.74864301e-01, 6.02261619e-03, 1.16200831e-01,
  1.14651533e-04, 2.27876893e-01, 9.73061405e-04, 1.30872530e-01,
  1.22915208e-02,-2.97398502e-03, 1.27487366e-03,-2.96130727e-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, -0.31256385,  0.29628259, -0.31256385,  0.8037386 ,
        0.39356585,  0.29628259,  0.39356585,  0.84586635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026610024899989563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20654905e-01, -3.89194557e-01,  3.03668047e-02, -3.88983020e-01,
        9.21155577e-01,  1.28301835e-02, -3.29659891e-02,  1.73472348e-18,
       -9.99456474e-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([ 0.10908571, -0.02889529,  0.11657108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.0868846 ,  0.42181821, -0.0868846 ,  1.5094158 ,
        0.2221955 ,  0.42181821,  0.2221955 ,  0.47644039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019437884922603732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99867947, -0.02402138,  0.04541246, -0.02399658,  0.99971145,
        0.00109118, -0.04542557,  0.        , -0.99896773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11108775, -0.0802034 ,  0.1134436 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.55112067,  0.13852848, -4.5490119 ,  0.13852848, 40.22398941,
        1.08632565, -4.5490119 ,  1.08632565,  4.58420193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030321300999056056
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.66152833e-13,  1.83076416e-13,  1.00000000e+00, -6.70339484e-26,
        1.00000000e+00, -1.83076416e-13, -1.00000000e+00,  0.00000000e+00,
        3.66152833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650169, -0.08842014,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11458606e-02, 1.00518941e-01, 5.52854739e-02, 2.36268232e-02,
 -1.07389824e-02, 9.56854612e-02, 5.06839929e-02, 1.70676458e-02,
  2.65639159e-05, 4.29009729e-04, 2.66513408e-04, 6.01882651e-04,
  4.09207845e-05, 4.77245796e-05,-7.85894722e-05, 2.14541809e-04,
 -7.26640599e-05,-9.48371987e-05,-1.21648943e+00,-5.78579516e-04,
 -1.47975820e-05,-9.35261862e-04]


--- Step 1005 ---
qpos:
[ 0.00899702, 0.14691403,-0.01577301, 0.14904247, 0.00419176, 0.13472141,
 -0.02750048, 0.12519463, 0.0135455 , 0.18773233,-0.01305734, 0.13369812,
  1.19311714,-0.0013546 , 0.95483488, 0.0644908 , 0.09213886,-0.07013926,
  0.13111291, 0.49707991, 0.47977494, 0.50122169, 0.52106084]

qacc:
[ 9.96743846e+01, 1.26489430e+01,-3.77381333e+01, 1.68615982e+02,
  5.54905456e+01, 2.25026952e+00,-1.27856105e+02, 2.33295233e+02,
  9.86426016e-01, 1.27371148e+01,-3.93820675e+01, 5.82105642e+01,
 -1.66802937e-02, 5.56299458e-01,-1.66840786e+01, 5.73613209e+01,
 -4.72656703e+00,-1.84465140e+00, 8.15151257e-01,-5.51560692e+01,
  4.06747322e+01, 2.77832323e+01]

qfrc_actuator:
[-6.99400953e-03, 2.02388406e-01, 7.44181074e-03, 1.31512777e-01,
  4.13130939e-04, 1.77354210e-01, 6.94720274e-03, 1.16550771e-01,
  1.15826415e-04, 2.28460226e-01, 1.01838818e-03, 1.30950956e-01,
  1.23170378e-02,-2.94032304e-03, 1.30175359e-03,-2.68059612e-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, -0.25246537,  0.34891371, -0.25246537,  1.07957931,
        0.46953239,  0.34891371,  0.46953239,  0.77041544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026648445893651504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23410244e-01, -3.82823141e-01,  2.75674322e-02, -3.82652658e-01,
        9.23821651e-01,  1.14236887e-02, -2.98406431e-02,  1.73472348e-18,
       -9.99554669e-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([ 0.10882297, -0.02882185,  0.11658393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.04661985,  0.42814265, -0.04661985,  3.50626725,
        0.33489712,  0.42814265,  0.33489712,  0.46713983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019870604895616015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98641602e-01, -2.70096498e-02,  4.45581522e-02, -2.69828040e-02,
        9.99635173e-01,  1.20393931e-03, -4.45744142e-02, -2.16840434e-19,
       -9.99006067e-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([ 0.11094655, -0.08023144,  0.11346097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52851322e+00, -3.34050920e-02, -4.52839001e+00, -3.34050920e-02,
        4.73371256e+01, -3.15791183e-01, -4.52839001e+00, -3.15791183e-01,
        4.53084275e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00029634165668220025
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.87321458e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.87321458e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650505, -0.08842067,  0.06199154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27313445e-02, 1.00395724e-01, 5.57364268e-02, 2.44105732e-02,
 -1.16223824e-02, 1.02359341e-01, 5.34107482e-02, 1.74711678e-02,
  1.73946906e-05, 7.41720295e-04, 1.31447063e-04, 1.02390493e-04,
  6.00568537e-05, 5.43171519e-05, 1.48174886e-05, 2.82600123e-04,
 -7.50498266e-05,-1.20322712e-04,-1.21650691e+00,-6.25892704e-04,
 -2.96165991e-05,-1.01140467e-03]


--- Step 1006 ---
qpos:
[ 0.0093459 , 0.14890808,-0.0167367 , 0.15119641, 0.00445337, 0.13602594,
 -0.02850965, 0.12717059, 0.01356049, 0.19216694,-0.01308407, 0.13629947,
  1.19344083,-0.0013844 , 0.95511063, 0.06449346, 0.09191764,-0.07016893,
  0.13114656, 0.49665281, 0.47851711, 0.50122683, 0.52261748]

qacc:
[ 8.07070848e+01, 1.00076453e+01,-2.48881753e+01, 1.92563971e+02,
  4.32420956e+01, 1.38764694e+01,-1.38769459e+02, 2.52323199e+02,
  3.66968089e+00, 2.41348140e-01, 2.89779847e+01,-1.05651762e+02,
 -3.02233474e-01, 1.23675081e+00,-1.02375807e+01, 3.57370007e+01,
 -4.71174446e+00,-2.03618672e+00, 8.09662178e-01,-5.68070850e+01,
  3.67484583e+01, 2.96309172e+01]

qfrc_actuator:
[-7.15839844e-03, 2.03832469e-01, 8.43685615e-03, 1.32297747e-01,
  2.48278947e-04, 1.79997546e-01, 7.93189105e-03, 1.17107125e-01,
  1.64072491e-04, 2.28970448e-01, 1.07447577e-03, 1.30753881e-01,
  1.23473219e-02,-2.89046964e-03, 1.29732626e-03,-2.51506402e-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, -0.18892084,  0.38702514, -0.18892084,  1.01597247,
        0.28570547,  0.38702514,  0.28570547,  0.57013643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025203631272253317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92671078, -0.3749961 ,  0.02418804, -0.37486843,  0.92702639,
        0.00978442, -0.02609207,  0.        , -0.99965954])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10854511, -0.02873313,  0.11659165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.30673355e-01, -1.55335064e-03,  4.30670554e-01, -1.55335064e-03,
        1.98703074e+00,  5.61349902e-03,  4.30670554e-01,  5.61349902e-03,
        4.30693602e-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: -0.002008090046804929
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99862523, -0.03016339,  0.04286984, -0.03013563,  0.99954498,
        0.00129369, -0.04288936,  0.        , -0.99907983])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11080539, -0.08026124,  0.11346833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.5056776 , -0.26810886, -4.49769366, -0.26810886, 24.36875748,
       -1.18404411, -4.49769366, -1.18404411,  4.57625882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028916936616252276
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91967607e-13,  9.59838035e-14,  1.00000000e+00, -1.84257811e-26,
        1.00000000e+00, -9.59838035e-14, -1.00000000e+00,  0.00000000e+00,
        1.91967607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650747, -0.0884211 ,  0.06199175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41002617e-02, 1.00474851e-01, 5.59594499e-02, 2.46828543e-02,
 -1.23755060e-02, 1.07990546e-01, 5.58306378e-02, 1.79757632e-02,
  6.39713839e-05, 7.94114587e-04, 1.72856727e-04,-1.74176635e-04,
  7.86717094e-05, 7.57292145e-05, 2.96011171e-05, 1.82173019e-04,
 -7.39981463e-05,-1.49469840e-04,-1.21652929e+00,-6.83141237e-04,
 -4.94075300e-05,-1.09308707e-03]


--- Step 1007 ---
qpos:
[ 0.0097105 , 0.15095518,-0.01768205, 0.15336421, 0.00472106, 0.13732068,
 -0.0295394 , 0.12914987, 0.01357755, 0.1966119 ,-0.01311313, 0.13891625,
  1.19376541,-0.00141369, 0.95538628, 0.06449879, 0.09167754,-0.07020769,
  0.13118355, 0.49621445, 0.47719735, 0.50116919, 0.52429319]

qacc:
[ 6.37244870e+01, 4.70761014e+01,-1.23955928e+02, 2.93350552e+02,
  2.79685463e+01, 5.10792693e+01,-2.14429492e+02, 3.09947170e+02,
  6.25330359e+00, 5.16393273e+01,-2.28162974e+02, 4.87646664e+02,
  3.86272547e-01, 1.04425185e-01,-8.22613165e+00, 2.85270613e+01,
 -4.71837520e+00,-2.27644691e+00, 8.38081678e-01,-5.89259422e+01,
  3.19035333e+01, 3.20081377e+01]

qfrc_actuator:
[-7.35509526e-03, 2.06472307e-01, 9.37031256e-03, 1.33266114e-01,
  2.14202274e-05, 1.83447049e-01, 8.97508780e-03, 1.18370817e-01,
  2.57330732e-04, 2.30019749e-01, 1.17215483e-03, 1.31585915e-01,
  1.24337107e-02,-2.84914152e-03, 1.29007282e-03,-2.38332308e-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, -0.12984026,  0.41063493, -0.12984026,  1.51346267,
        0.34237137,  0.41063493,  0.34237137,  0.5389291 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002511699062893834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93037836, -0.36602757,  0.02049197, -0.36593882,  0.93060401,
        0.00805995, -0.02202007,  0.        , -0.99975753])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10825152, -0.02863297,  0.11659751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.0263541 ,  0.42986626,  0.0263541 ,  2.3987701 ,
       -0.12065942,  0.42986626, -0.12065942,  0.4380707 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002009848498602394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98622122e-01, -3.34658254e-02,  4.04214890e-02, -3.34384437e-02,
        9.99439862e-01,  1.35349664e-03, -4.04441433e-02, -4.33680869e-19,
       -9.99181801e-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([ 0.11066259, -0.08029268,  0.11346686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.48291617, -0.47420878, -4.4577644 , -0.47420878, 26.70958541,
       -2.36443218, -4.4577644 , -2.36443218,  4.73444012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002817702182955073
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94017165e-13,  1.47756437e-13,  1.00000000e+00, -5.82185722e-26,
        1.00000000e+00, -1.47756437e-13, -1.00000000e+00,  0.00000000e+00,
        3.94017165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650916, -0.08842136,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52847116e-02, 1.01310540e-01, 5.57480361e-02, 2.49783853e-02,
 -1.30649126e-02, 1.13418340e-01, 5.79670339e-02, 1.90892303e-02,
  1.12616843e-04, 1.35914179e-03, 2.20785044e-04, 8.53208953e-04,
  1.50587480e-04, 7.60001937e-05, 2.11562906e-05, 1.44382098e-04,
 -7.02911264e-05,-1.81778337e-04,-1.21655687e+00,-7.47578689e-04,
 -7.38129421e-05,-1.17960279e-03]


--- Step 1008 ---
qpos:
[ 0.01008531, 0.15307038,-0.01860976, 0.15554747, 0.00499107, 0.13862906,
 -0.03058863, 0.13113311, 0.01359589, 0.20107294,-0.01314676, 0.14156179,
  1.19409159,-0.00144248, 0.95566213, 0.06450432, 0.09141842,-0.07025664,
  0.13122408, 0.49576926, 0.47582092, 0.50103789, 0.52608776]

qacc:
[ 4.06868904e+01, 7.21506811e+01,-1.90919455e+02, 3.77055325e+02,
  1.02350198e+01, 8.02453759e+01,-2.76014211e+02, 3.63051953e+02,
  3.74298900e+00, 9.27305596e+01,-4.18821863e+02, 9.05335005e+02,
  7.92374374e-01,-2.77064730e-01,-3.47419674e-01, 1.56585682e+00,
 -4.75607639e+00,-2.54326936e+00, 8.83546990e-01,-6.15324941e+01,
  2.66526719e+01, 3.46534246e+01]

qfrc_actuator:
[-0.00768165, 0.20974416, 0.01029753, 0.13442741,-0.00029643, 0.18724157,
  0.01004301, 0.12019935, 0.00030523, 0.23145703, 0.00119052, 0.13308848,
  0.01258033,-0.00279518, 0.00129178,-0.00237902, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.03679515,  0.42909865, -0.03679515,  1.39046319,
        0.08230185,  0.42909865,  0.08230185,  0.43773073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023644557314774464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34311425e-01, -3.56106608e-01,  1.58191245e-02, -3.56055577e-01,
        9.34445335e-01,  6.02849046e-03, -1.69288924e-02, -8.67361738e-19,
       -9.99856696e-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([ 0.10794301, -0.02852274,  0.11659426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.06819721,  0.42523956,  0.06819721,  3.96373845,
       -0.56661046,  0.42523956, -0.56661046,  0.52154273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019960322005577657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98622470e-01, -3.68966381e-02,  3.73068307e-02, -3.68709178e-02,
        9.99319087e-01,  1.37743454e-03, -3.73322507e-02,  2.16840434e-19,
       -9.99302909e-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([ 0.11051597, -0.0803256 ,  0.11345806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.4602007 , -0.71479998, -4.40255055, -0.71479998, 27.19692024,
       -3.69154345, -4.40255055, -3.69154345,  5.05956127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002741158678786493
  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([ 0.08651025, -0.08842143,  0.06199218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64045774e-02, 1.01861952e-01, 5.57411128e-02, 2.54394623e-02,
 -1.36868471e-02, 1.17663667e-01, 6.00568064e-02, 2.07465056e-02,
  7.13875258e-05, 2.11672441e-03, 2.99439424e-04, 1.56951539e-03,
  2.52906948e-04, 1.05383518e-04, 2.29822301e-05, 1.39280263e-05,
 -6.32539701e-05,-2.17315828e-04,-1.21659088e+00,-8.19589293e-04,
 -1.03870864e-04,-1.27011831e-03]


--- Step 1009 ---
qpos:
[ 0.01046482, 0.15525797,-0.01951611, 0.15774892, 0.00525969, 0.13995047,
 -0.03164973, 0.1331233 , 0.01361466, 0.20554826,-0.01318135, 0.14422273,
  1.1944202 ,-0.00147097, 0.9559373 , 0.06450773, 0.09114   ,-0.07031654,
  0.13126833, 0.49532051, 0.47439058, 0.50082579, 0.52800066]

qacc:
[  18.377545  ,  73.01364021,-197.04912386, 420.81372378,  -6.63595978,
   64.29815115,-232.8075458 , 359.61979822,   1.13388713,  52.96259275,
 -225.1354876 , 478.85338142,   1.50372627,  -1.25721311,   5.33554243,
  -20.31017808,  -4.82399414,  -2.74038598,   0.92885482, -63.41087424,
   23.19471771,  35.9889364 ]

qfrc_actuator:
[-0.00817564, 0.21287964, 0.01121436, 0.13551981,-0.00080956, 0.19030043,
  0.01109739, 0.12170797, 0.0003081 , 0.23221182, 0.00114673, 0.13385543,
  0.01276831,-0.00275159, 0.0012083 ,-0.00250305, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.05088155,  0.42765711,  0.05088155,  1.39948503,
       -0.11526673,  0.42765711, -0.11526673,  0.4443875 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022031279385726207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93834081, -0.34555124,  0.0105296 , -0.34552948,  0.93839988,
        0.00387736, -0.01122081,  0.        , -0.99993704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1076193 , -0.02840614,  0.11658624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.12306176,  0.41271702,  0.12306176,  1.75255214,
       -0.39415076,  0.41271702, -0.39415076,  0.54819913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001969345150241955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98617408e-01, -4.04336575e-02,  3.35915494e-02, -4.04108012e-02,
        9.99182225e-01,  1.35934084e-03, -3.36190422e-02, -2.16840434e-19,
       -9.99434720e-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([ 0.1103638 , -0.08035981,  0.11344299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.4373519 ,  2.96414654, -3.3021095 ,  2.96414654, 12.77611505,
        7.48531081, -3.3021095 ,  7.48531081, 11.15655917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002661197516414804
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17189261e-13,  2.60743288e-13,  1.00000000e+00, -1.08779300e-25,
        1.00000000e+00, -2.60743288e-13, -1.00000000e+00,  0.00000000e+00,
        4.17189261e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08651086, -0.08842129,  0.06199242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74163282e-02, 1.01522422e-01, 5.57576347e-02, 2.57516254e-02,
 -1.43158184e-02, 1.20001364e-01, 6.20780480e-02, 2.20518505e-02,
  2.35150961e-05, 1.90429108e-03, 4.27924253e-04, 8.82827842e-04,
  3.60828227e-04, 1.24934994e-04,-7.58029557e-05,-1.21455386e-04,
 -5.25214294e-05,-2.56081309e-04,-1.21663275e+00,-8.99016138e-04,
 -1.40641735e-04,-1.36402541e-03]


--- Step 1010 ---
qpos:
[ 0.01084341, 0.15751214,-0.0203967 , 0.15997197, 0.00552265, 0.14128047,
 -0.03271384, 0.13512415, 0.01363329, 0.2100333 ,-0.01321439, 0.14689195,
  1.19475236,-0.00149996, 0.95621137, 0.06450834, 0.09084185,-0.07038828,
  0.13131693, 0.49487067, 0.47290873, 0.50052896, 0.53002934]

qacc:
[-3.71733031e+00, 6.00722727e+01,-1.76194609e+02, 4.55784595e+02,
 -2.57952306e+01, 4.13519902e+01,-1.75148749e+02, 3.55437905e+02,
 -4.15406236e-01, 2.54364329e+01,-1.06334001e+02, 2.38194515e+02,
  2.99390899e+00,-3.82742818e+00, 6.61358179e+00,-2.59641035e+01,
 -4.93245834e+00,-2.95844900e+00, 1.08925626e+00,-6.38559765e+01,
  2.03482811e+01, 3.61616042e+01]

qfrc_actuator:
[-0.0088752 , 0.21513841, 0.01213193, 0.13672171,-0.0015436 , 0.19275329,
  0.01216158, 0.12284255, 0.00028431, 0.23253476, 0.00115261, 0.13425389,
  0.01301826,-0.00274972, 0.00113769,-0.00264856, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.09502392,  0.42005951,  0.09502392,  1.47610899,
       -0.23649361,  0.42005951, -0.23649361,  0.48417184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020949744106930983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94240942, -0.3344236 ,  0.00503479, -0.33441883,  0.94242286,
        0.00178662, -0.00534239,  0.        , -0.99998573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1072808 , -0.02828355,  0.11657826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.14856409,  0.40423786,  0.14856409,  1.6819711 ,
       -0.45987258,  0.40423786, -0.45987258,  0.59968412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019300206982614846
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99859973, -0.04406102,  0.0292781 , -0.0440421 ,  0.99902884,
        0.00129128, -0.02930657,  0.        , -0.99957047])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11020569, -0.08039528,  0.11342171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.41384993,  2.95637128, -3.2774899 ,  2.95637128,  4.92313411,
        0.45938604, -3.2774899 ,  0.45938604,  4.82822671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025755415805547854
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15531955e-13,  1.07765978e-13,  1.00000000e+00, -2.32270118e-26,
        1.00000000e+00, -1.07765978e-13, -1.00000000e+00,  0.00000000e+00,
        2.15531955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865109 , -0.08842111,  0.06199266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83584555e-02, 1.00088656e-01, 5.55873340e-02, 2.60363263e-02,
 -1.49805934e-02, 1.21762825e-01, 6.37280020e-02, 2.28343014e-02,
 -6.99066319e-06, 1.35039641e-03, 4.25699123e-04, 4.96250087e-04,
  4.89307526e-04, 1.12926127e-04,-1.17938978e-04,-1.61959920e-04,
 -3.91612132e-05,-2.97479260e-04,-1.21668248e+00,-9.83357262e-04,
 -1.83598886e-04,-1.46129346e-03]


--- Step 1011 ---
qpos:
[ 0.0112146 , 0.15982588,-0.02124384, 0.16222063, 0.00577562, 0.14262538,
 -0.03377452, 0.13713812, 0.01365081, 0.21452329,-0.0132456 , 0.14957207,
  1.19508857,-0.00152919, 0.95648489, 0.06450832, 0.09052392,-0.07047259,
  0.13137013, 0.49442259, 0.47137921, 0.50014218, 0.53217079]

qacc:
[ -28.50604092,  37.52879793,-125.95195235, 467.41628678, -45.09617324,
   36.79772678,-157.00732686, 364.65639477,  -3.05177432,  23.6773268 ,
 -120.02013687, 299.56685479,   3.24857651,  -3.86972251,   0.90503378,
   -4.81055138,  -4.94545118,  -3.14584056,   1.14841784, -64.27742288,
   16.60403343,  36.77307416]

qfrc_actuator:
[-9.90739601e-03, 2.16244401e-01, 1.30192584e-02, 1.37978638e-01,
 -2.38761401e-03, 1.95374355e-01, 1.32275427e-02, 1.23746219e-01,
  2.09408141e-04, 2.32597410e-01, 1.16843161e-03, 1.34787260e-01,
  1.32785741e-02,-2.73671274e-03, 1.16008421e-03,-2.66342021e-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, -0.11380719, -0.41536425, -0.11380719,  4.18783926,
       -1.0294398 , -0.41536425, -1.0294398 ,  0.71273338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018754442924615023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46055693e-01, -3.24002371e-01, -1.04390458e-03, -3.24002174e-01,
        9.46056269e-01, -3.57513151e-04,  1.10342758e-03,  5.42101086e-20,
       -9.99999391e-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([ 0.10693214, -0.02816991,  0.11656592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.1570971 ,  0.4009988 ,  0.1570971 ,  1.58695785,
       -0.45299123,  0.4009988 , -0.45299123,  0.60813924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018774406950425506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99827092, -0.05267586,  0.02608512, -0.05265789,  0.99861166,
        0.00137597, -0.02612138,  0.        , -0.99965878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11004373, -0.0804871 ,  0.11341346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.38774557,  2.94834601, -3.24954873,  2.94834601,  3.88182247,
       -0.45902877, -3.24954873, -0.45902877,  3.97126446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024759005145666424
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.24205904e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.24205904e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650976, -0.08842165,  0.06199295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93523004e-02, 9.77897474e-02, 5.51660443e-02, 2.62050329e-02,
 -1.55417088e-02, 1.23915023e-01, 6.49371061e-02, 2.32000381e-02,
 -6.08122658e-05, 7.63192214e-04, 3.07593248e-04, 5.99907032e-04,
  5.71720673e-04, 1.51528891e-04,-4.54476625e-05,-3.82578632e-05,
 -2.38770655e-05,-3.40405199e-04,-1.21673925e+00,-1.06982015e-03,
 -2.31711807e-04,-1.56018668e-03]


--- Step 1012 ---
qpos:
[ 0.01157349, 0.16220363,-0.02205121, 0.1644972 , 0.0060157 , 0.14400055,
 -0.03482747, 0.13916603, 0.01366692, 0.21901595,-0.01327634, 0.15226166,
  1.19542912,-0.00155888, 0.95675822, 0.0645106 , 0.09018665,-0.07056937,
  0.13142713, 0.4939778 , 0.46980288, 0.49966278, 0.53442333]

qacc:
[ -46.68172961,  30.54063766,-102.12564337, 469.97778766, -57.7596905 ,
   46.76514642,-166.6373949 , 370.58138857,  -3.77201226,  21.53966017,
 -110.74892272, 269.39443105,   3.77923751,  -4.76414321,  -7.48823409,
   25.23947428,  -4.83337975,  -3.11479159,   0.95115731, -64.76510673,
   14.91747867,  36.71559632]

qfrc_actuator:
[-1.10080459e-02, 2.17544496e-01, 1.38526794e-02, 1.38829864e-01,
 -3.14898492e-03, 1.98636908e-01, 1.42538315e-02, 1.24415857e-01,
  1.22619365e-04, 2.32664557e-01, 1.15380072e-03, 1.35253624e-01,
  1.35183047e-02,-2.75256506e-03, 1.20098134e-03,-2.52992718e-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, -0.13840085, -0.40782931, -0.13840085,  4.14855979,
       -1.26170102, -0.40782931, -1.26170102,  0.8588439 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001670353842297264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50050412e-01, -3.12001056e-01, -7.71721981e-03, -3.11990763e-01,
        9.50081755e-01, -2.53428793e-03,  8.12269025e-03, -4.33680869e-19,
       -9.99967010e-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([ 0.10656453, -0.02803899,  0.11654897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.18625193,  0.38831657,  0.18625193,  1.5002083 ,
       -0.51299112,  0.38831657, -0.51299112,  0.67672412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018131889209520489
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99819438, -0.05643225,  0.02057612, -0.05642027,  0.99840643,
        0.00116301, -0.02060896,  0.        , -0.99978761])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1098726 , -0.08052502,  0.11337981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.35856683,  2.93129365, -3.22561969,  2.93129365,  4.08271549,
       -0.25068092, -3.22561969, -0.25068092,  4.13075964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023581797655053416
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35398302e-13,  2.35398302e-13,  1.00000000e+00,  5.54123605e-26,
        1.00000000e+00, -2.35398302e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35398302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650718, -0.08842329,  0.06199329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00901899e-02, 9.60328777e-02, 5.43046946e-02, 2.57675548e-02,
 -1.58033243e-02, 1.26391153e-01, 6.57844618e-02, 2.32090689e-02,
 -7.76492132e-05, 4.19360660e-04, 1.44987197e-04, 5.05838302e-04,
  6.09327135e-04, 1.49325081e-04, 1.75674401e-05, 1.25687389e-04,
 -6.17803480e-06,-3.84349719e-04,-1.21680367e+00,-1.15801093e-03,
 -2.85571595e-04,-1.65899534e-03]


--- Step 1013 ---
qpos:
[ 0.01191739, 0.16465351,-0.02281759, 0.16680204, 0.00624127, 0.14541724,
 -0.03586725, 0.14120853, 0.01368116, 0.22350951,-0.01330689, 0.15495933,
  1.19577374,-0.00158805, 0.95703138, 0.06451383, 0.08983068,-0.07067795,
  0.13148654, 0.49353652, 0.46817795, 0.49909007, 0.53678693]

qacc:
[ -56.01735554,  38.50457179,-116.32734697, 482.05887865, -64.5251374 ,
   47.73956156,-151.16440871, 349.04753415,  -4.86924981,  17.17157309,
  -92.89270775, 229.89619735,   2.68384236,  -2.35866791,  -3.21692072,
   10.55930738,  -4.67596364,  -2.9484417 ,   0.60228751, -65.51391471,
   15.15251514,  36.26359678]

qfrc_actuator:
[-1.17690994e-02, 2.19323342e-01, 1.46873357e-02, 1.39567145e-01,
 -3.71186076e-03, 2.02014511e-01, 1.52861471e-02, 1.24921236e-01,
  1.16897257e-05, 2.32716947e-01, 1.15704146e-03, 1.35659111e-01,
  1.37348611e-02,-2.71442491e-03, 1.18373526e-03,-2.48763741e-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,  0.15743441,  0.40086649,  0.15743441,  1.44218714,
       -0.39725713,  0.40086649, -0.39725713,  0.58669024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001607583773095289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95393556, -0.29965338, -0.01465581, -0.29961803,  0.95404814,
       -0.00460319,  0.01536171,  0.        , -0.999882  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10618324, -0.02790446,  0.11653134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.2011455 ,  0.38081495,  0.2011455 ,  1.67129915,
       -0.65529541,  0.38081495, -0.65529541,  0.77679873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017395754835116493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98077553e-01, -6.02411858e-02,  1.45670391e-02, -6.02347707e-02,
        9.98183851e-01,  8.79132344e-04, -1.45935431e-02,  0.00000000e+00,
       -9.99893509e-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([ 0.10969349, -0.08056409,  0.11334132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.32828777,  2.89066404, -3.22151151,  2.89066404,  6.20464941,
        1.68366033, -3.22151151,  1.68366033,  5.8390371 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002227810432901961
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.9834717e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.9834717e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08650361, -0.08842553,  0.06199367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02432387e-02, 9.45301659e-02, 5.31285555e-02, 2.51006771e-02,
 -1.57217947e-02, 1.28214419e-01, 6.64221856e-02, 2.30114918e-02,
 -1.03569918e-04, 1.74823222e-04, 6.86695368e-05, 4.22883759e-04,
  6.08629729e-04, 2.11078975e-04, 4.52853172e-06, 5.12103040e-05,
  1.30856303e-05,-4.29382880e-04,-1.21687548e+00,-1.24724988e-03,
 -3.44601172e-04,-1.75943889e-03]


--- Step 1014 ---
qpos:
[ 0.01224186, 0.16719362,-0.02354118, 0.1691353 , 0.0064499 , 0.14688227,
 -0.03688864, 0.14326638, 0.01369388, 0.22799954,-0.01333587, 0.15766351,
  1.19612214,-0.00161571, 0.95730445, 0.06451393, 0.08945671,-0.07079809,
  0.13154738, 0.49310065, 0.46650624, 0.49842089, 0.53925903]

qacc:
[-7.17333687e+01, 5.77334804e+01,-1.50713021e+02, 5.02610096e+02,
 -7.46922847e+01, 4.37814735e+01,-1.27232684e+02, 3.25182203e+02,
 -3.80508328e+00, 4.20155758e+00,-4.85747340e+01, 1.59483484e+02,
  1.45276979e+00, 2.74828084e-01, 9.21219532e+00,-3.25679300e+01,
 -4.50036999e+00,-2.89169746e+00, 3.57592707e-01,-6.57805429e+01,
  1.27969347e+01, 3.62364554e+01]

qfrc_actuator:
[-1.21767833e-02, 2.21444474e-01, 1.54700791e-02, 1.40615098e-01,
 -4.13110980e-03, 2.05171491e-01, 1.63312954e-02, 1.25392863e-01,
 -7.71921378e-05, 2.32388381e-01, 1.17109193e-03, 1.35972395e-01,
  1.39373821e-02,-2.62693126e-03, 1.14225933e-03,-2.65939424e-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, -0.17865973, -0.39186763, -0.17865973,  3.42638588,
       -1.36580096, -0.39186763, -1.36580096,  1.05336737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013471850021843437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57657786e-01, -2.87071090e-01, -2.19488989e-02, -2.86995721e-01,
        9.57909280e-01, -6.57775686e-03,  2.29133378e-02,  8.67361738e-19,
       -9.99737455e-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([ 0.10578819, -0.02776738,  0.11651216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.20651675,  0.37792906,  0.20651675,  2.03736552,
       -0.87796593,  0.37792906, -0.87796593,  0.91043183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016590238787820145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97902815e-01, -6.42167692e-02,  8.13502352e-03, -6.42146355e-02,
        9.97935973e-01,  5.23485416e-04, -8.15184915e-03,  0.00000000e+00,
       -9.99966773e-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([ 0.10950585, -0.08060563,  0.11329904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.29973031,  2.10504695, -3.74919433,  2.10504695,  7.48959207,
        1.79100046, -3.74919433,  1.79100046,  5.30531704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000209577730170718
  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([ 0.08649992, -0.08842734,  0.06199404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99096820e-02, 9.29604997e-02, 5.18368321e-02, 2.47264638e-02,
 -1.54155164e-02, 1.29252293e-01, 6.67999076e-02, 2.27487707e-02,
 -8.42138112e-05,-3.62039476e-04, 1.68104518e-05, 3.16036764e-04,
  6.08106730e-04, 2.73406409e-04,-3.40507943e-05,-1.68667423e-04,
  3.33605969e-05,-4.75959465e-04,-1.21695447e+00,-1.33796070e-03,
 -4.08423334e-04,-1.86398110e-03]


--- Step 1015 ---
qpos:
[ 0.01254072, 0.16982724,-0.02422423, 0.17149746, 0.0066389 , 0.14839815,
 -0.03788623, 0.1453409 , 0.01370601, 0.23247811,-0.0133609 , 0.16037652,
  1.19647411,-0.00164167, 0.95757698, 0.06451264, 0.089065  ,-0.07092973,
  0.1316094 , 0.492671  , 0.46478804, 0.4976558 , 0.54183583]

qacc:
[-9.29677442e+01, 6.93279579e+01,-1.87517420e+02, 5.48174502e+02,
 -8.57245465e+01, 3.47938518e+01,-9.59509744e+01, 3.06606886e+02,
 -1.38883534e+00,-8.15357561e+00,-2.94802553e+01, 1.82601248e+02,
  1.23768521e+00, 6.89163441e-01, 3.40032852e+00,-1.31078806e+01,
 -4.43511192e+00,-2.87503366e+00, 2.96322669e-01,-6.48589934e+01,
  1.17628890e+01, 3.49202340e+01]

qfrc_actuator:
[-1.24685019e-02, 2.23351224e-01, 1.61679817e-02, 1.41855745e-01,
 -4.43819408e-03, 2.07906389e-01, 1.73736603e-02, 1.25802136e-01,
 -1.16948468e-04, 2.31444754e-01, 1.22567743e-03, 1.36388495e-01,
  1.41047315e-02,-2.54651760e-03, 1.12352641e-03,-2.72511353e-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, -0.39421207, -0.17342545, -0.39421207,  0.60355262,
       -0.39297054, -0.17342545, -0.39297054,  1.32393169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010803982988490763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61098680e-01, -2.74663137e-01, -2.91459813e-02, -2.74536927e-01,
        9.61540515e-01, -8.32552194e-03,  3.03117558e-02,  1.73472348e-18,
       -9.99540493e-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([ 0.10537843, -0.0276325 ,  0.11649711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.23034399,  0.36389722,  0.23034399,  2.23028868,
       -1.13914189,  0.36389722, -1.13914189,  1.15174092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001573363068371407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97676455e-01, -6.81173590e-02,  1.30996646e-03, -6.81173003e-02,
        9.97677315e-01,  8.94391945e-05, -1.31301618e-03, -1.35525272e-20,
       -9.99999138e-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([ 0.10930914, -0.08064694,  0.11325345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.2742416 , -4.13066427, -1.09852352, -4.13066427,  5.96960737,
       -6.37490842, -1.09852352, -6.37490842, 28.24514986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019689961302167547
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.81926157e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.81926157e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864967 , -0.08842806,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92368395e-02, 9.02681168e-02, 5.03693778e-02, 2.45367307e-02,
 -1.48753953e-02, 1.29525580e-01, 6.69134073e-02, 2.23852115e-02,
 -3.36801009e-05,-1.29224951e-03,-6.34095942e-05, 3.92162359e-04,
  5.86139551e-04, 2.79731855e-04,-5.29614236e-05,-7.96947028e-05,
  5.54802289e-05,-5.22948886e-04,-1.21704119e+00,-1.42851653e-03,
 -4.77467910e-04,-1.96846599e-03]


--- Step 1016 ---
qpos:
[ 0.01280705, 0.17253903,-0.02488261, 0.17388787, 0.00680702, 0.14998628,
 -0.03886076, 0.14743129, 0.01371814, 0.23694778,-0.01338726, 0.16310664,
  1.19682852,-0.00166307, 0.95784853, 0.06451388, 0.08865534,-0.07107239,
  0.13167231, 0.49224482, 0.46301705, 0.49680063, 0.54451757]

qacc:
[-1.16257613e+02, 9.19150301e+01,-2.94032561e+02, 6.77923544e+02,
 -9.06048329e+01, 6.33454849e+01,-1.53228391e+02, 3.34824772e+02,
  4.24065621e-02, 2.68429826e+01,-1.83155692e+02, 4.83004270e+02,
 -1.77696113e+00, 7.28378324e+00,-8.87604193e+00, 2.94495638e+01,
 -4.48752051e+00,-2.75607993e+00, 2.20196414e-01,-6.43344736e+01,
  1.56341099e+01, 3.27073712e+01]

qfrc_actuator:
[-1.27299654e-02, 2.25711317e-01, 1.68356251e-02, 1.43271168e-01,
 -4.59750737e-03, 2.11182794e-01, 1.83838407e-02, 1.26876631e-01,
 -1.27541789e-04, 2.31259854e-01, 1.24831888e-03, 1.37269656e-01,
  1.42402090e-02,-2.29362649e-03, 1.10250397e-03,-2.58566474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.43058046, -0.38699349, -0.18877386, -0.38699349,  0.43838315,
       -0.01599581, -0.18877386, -0.01599581,  0.46337246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009898768108064409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64194211e-01, -2.62390384e-01, -3.84812799e-02, -2.62181662e-01,
        9.64961806e-01, -1.04637487e-02,  3.98785523e-02,  1.73472348e-18,
       -9.99204534e-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([ 0.1049558 , -0.02749907,  0.11646012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.23978388,  0.35774744,  0.23978388,  2.27326736,
       -1.23501745,  0.35774744, -1.23501745,  1.25845642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014834301341092534
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97383715e-01, -7.20506603e-02, -5.86755624e-03, -7.20494135e-02,
        9.97400974e-01, -4.23862932e-04,  5.88284591e-03, -5.42101086e-20,
       -9.99982696e-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([ 0.10910317, -0.08068929,  0.11320506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.25121834, -3.93728869, -1.60331378, -3.93728869,  7.92982572,
       -9.03362736, -1.60331378, -9.03362736, 26.43527192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018457132182375657
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01514371e-13, -3.00757185e-13,  1.00000000e+00, -1.80909769e-25,
        1.00000000e+00,  3.00757185e-13, -1.00000000e+00,  0.00000000e+00,
       -6.01514371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08649382, -0.08842783,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82257698e-02, 8.78614794e-02, 4.89828862e-02, 2.44972378e-02,
 -1.40531523e-02, 1.30211667e-01, 6.67234904e-02, 2.26200504e-02,
 -9.46993777e-08,-1.06633975e-03,-2.94354151e-04, 8.16427924e-04,
  5.42792588e-04, 4.48482534e-04,-5.28439018e-05, 1.28297148e-04,
  7.84317137e-05,-5.69663320e-04,-1.21713333e+00,-1.51668139e-03,
 -5.49432974e-04,-2.07267979e-03]


--- Step 1017 ---
qpos:
[ 0.01303352, 0.17532545,-0.02552287, 0.17630746, 0.00695329, 0.15166764,
 -0.03981541, 0.1495362 , 0.01373127, 0.24141912,-0.01341989, 0.16585792,
  1.19718252,-0.00167032, 0.95811949, 0.06451708, 0.08822748,-0.07122559,
  0.13173582, 0.49182012, 0.46118687, 0.49586047, 0.54730433]

qacc:
[-1.40005186e+02, 1.07329373e+02,-3.59098030e+02, 7.70292725e+02,
 -9.41031960e+01, 9.71310926e+01,-2.27582350e+02, 3.74727036e+02,
  2.28464193e+00, 6.27416583e+01,-3.07183971e+02, 6.74696802e+02,
 -1.18886871e+01, 2.97738297e+01,-5.73083393e+00, 2.12358875e+01,
 -4.55124653e+00,-2.63301806e+00, 1.51929460e-01,-6.41313700e+01,
  1.91417332e+01, 3.04200228e+01]

qfrc_actuator:
[-1.29738525e-02, 2.28711908e-01, 1.74670072e-02, 1.44780545e-01,
 -4.55253174e-03, 2.14795632e-01, 1.93481659e-02, 1.28717203e-01,
 -8.54955646e-05, 2.32206794e-01, 1.25548992e-03, 1.38400284e-01,
  1.43565377e-02,-1.46147680e-03, 1.08016779e-03,-2.48625823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38600002, -0.33769945, -0.18696281, -0.33769945,  0.35999818,
        0.04696552, -0.18696281,  0.04696552,  0.30116908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007662108272094489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67174684e-01, -2.49872406e-01, -4.62267449e-02, -2.49587486e-01,
        9.68278772e-01, -1.19291967e-02,  4.77411529e-02, -1.73472348e-18,
       -9.98859741e-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([ 0.1045188 , -0.02736316,  0.11644412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336,  0.25314863,  0.3484183 ,  0.25314863,  2.6071017 ,
       -1.5813172 ,  0.3484183 , -1.5813172 ,  1.57960348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013916502507830277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99701642, -0.07602999, -0.01333031, -0.0760232 ,  0.99710553,
       -0.00101645,  0.01336901,  0.        , -0.99991063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888654, -0.08073279,  0.11315502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.23012351,  2.63276455, -3.31096598,  2.63276455, 30.02094937,
       20.50796433, -3.31096598, 20.50796433, 20.53734078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017238626180686445
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22016097e-13,  3.22016097e-13,  1.00000000e+00,  1.03694367e-25,
        1.00000000e+00, -3.22016097e-13, -1.00000000e+00,  0.00000000e+00,
       -3.22016097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08649119, -0.08842676,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68497818e-02, 8.68589503e-02, 4.83518994e-02, 2.45840186e-02,
 -1.29636064e-02, 1.30162181e-01, 6.65229274e-02, 2.36611817e-02,
  5.58745004e-05, 1.62783815e-04,-2.76782939e-04, 1.07589089e-03,
  5.37532786e-04, 1.05296766e-03,-3.13023372e-05, 9.98411233e-05,
  1.01051131e-04,-6.18024318e-04,-1.21722891e+00,-1.60567149e-03,
 -6.22626159e-04,-2.18449674e-03]


--- Step 1018 ---
qpos:
[ 0.01321337, 0.17818594,-0.02612975, 0.17876061, 0.00707715, 0.1534424 ,
 -0.04074857, 0.15165606, 0.01374572, 0.24589982,-0.01345767, 0.16863275,
  1.19753442,-0.00165546, 0.95839015, 0.06452077, 0.0877813 ,-0.07138856,
  0.13179963, 0.49139619, 0.45929138, 0.49484177, 0.55019345]

qacc:
[-1.60645481e+02, 7.30318634e+01,-2.56453266e+02, 7.20291255e+02,
 -9.55195471e+01, 9.36954256e+01,-2.16916168e+02, 3.69062667e+02,
  2.95729188e+00, 7.47027358e+01,-3.44886693e+02, 7.45682556e+02,
 -1.98544104e+01, 4.80283942e+01,-1.86728827e-01, 4.04188445e+00,
 -4.57864952e+00,-2.44301062e+00, 7.35645004e-02,-6.31136551e+01,
  2.19735237e+01, 2.68796968e+01]

qfrc_actuator:
[-1.32223610e-02, 2.30648856e-01, 1.80910676e-02, 1.45961272e-01,
 -4.44667503e-03, 2.18098872e-01, 2.03144525e-02, 1.30426590e-01,
 -3.06127443e-05, 2.33488546e-01, 1.31210917e-03, 1.39651960e-01,
  1.44295905e-02,-2.22157895e-04, 1.06236945e-03,-2.46457352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26600714, -0.22697789, -0.13871133, -0.22697789,  0.24929582,
        0.02734527, -0.13871133,  0.02734527,  0.22126117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004634531023725317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96997473, -0.23685974, -0.05519501, -0.23647719,  0.97154386,
       -0.01345639,  0.05681165,  0.        , -0.99838491])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10406886, -0.02722187,  0.11641587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013001833948651509
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99656778, -0.08006728, -0.02102137, -0.08004948,  0.99678946,
       -0.00168854,  0.02108908,  0.        , -0.9997776 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10865799, -0.08077754,  0.11310438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.21047241,  2.50606402, -3.3834481 ,  2.50606402, 14.39106719,
        7.5405981 , -3.3834481 ,  7.5405981 ,  9.79566865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016009299431153645
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.46743163e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.46743163e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08648875, -0.08842499,  0.06199546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51117251e-02, 8.49669729e-02, 4.80400973e-02, 2.42961458e-02,
 -1.17649481e-02, 1.28749944e-01, 6.64828753e-02, 2.46385557e-02,
  7.48740674e-05, 1.19967700e-03, 3.74495219e-05, 1.25489293e-03,
  6.30752408e-04, 1.58582587e-03,-2.48174249e-05, 2.23407451e-05,
  1.23400219e-04,-6.68487501e-04,-1.21732793e+00,-1.69547246e-03,
 -6.96599441e-04,-2.30460621e-03]


--- Step 1019 ---
qpos:
[ 0.01336272, 0.18113051,-0.02667477, 0.18125858, 0.00719802, 0.15530437,
 -0.04165345, 0.15380188, 0.01376135, 0.25039326,-0.01349882, 0.1714312 ,
  1.19788388,-0.00161419, 0.95866092, 0.0645197 , 0.08730817,-0.0715488 ,
  0.13187876, 0.49094213, 0.45734526, 0.49382469, 0.55312594]

qacc:
[-1.02987194e+02, 2.96338140e+01,-1.30012077e+02, 7.36009193e+02,
 -1.28023219e+01, 8.86732064e+01,-2.56848662e+02, 5.91084584e+02,
  2.54087691e+00, 7.42534109e+01,-3.36930332e+02, 7.33064323e+02,
 -2.39531485e+01, 5.77655921e+01, 1.65860822e+01,-5.29559546e+01,
 -6.73831780e+00, 6.80480716e-01, 3.82947023e+00,-1.58021535e+01,
  3.17353105e+01, 6.04572443e+00]

qfrc_actuator:
[-1.34331907e-02, 2.31332490e-01, 1.87237301e-02, 1.46609198e-01,
 -4.34824617e-03, 2.21356434e-01, 2.12900946e-02, 1.31731468e-01,
  1.34910754e-05, 2.34607773e-01, 1.32878320e-03, 1.40876632e-01,
  1.44555412e-02, 1.19457120e-03, 1.03131095e-03,-2.71961981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21448105, -0.18638784, -0.10612112, -0.18638784,  0.19955662,
        0.02621279, -0.10612112,  0.02621279,  0.16844171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002101971656776932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97257118, -0.22342716, -0.06469623, -0.22293446,  0.97472063,
       -0.01482978,  0.06637413,  0.        , -0.99779481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360435, -0.02707624,  0.11638353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012091567484505523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99603123, -0.08417058, -0.02893283, -0.08413509,  0.99645136,
       -0.00244397,  0.02903587,  0.        , -0.99957837])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1084175 , -0.08082366,  0.11305328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.29674358,  1.07086423,  4.16116032,  1.07086423,  8.55147155,
       -1.09494364,  4.16116032, -1.09494364,  4.5785246 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020813894419567658
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66702377e-13,  2.66702377e-13,  1.00000000e+00,  7.11301581e-26,
        1.00000000e+00, -2.66702377e-13, -1.00000000e+00,  0.00000000e+00,
       -2.66702377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08124508, -0.10874245,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29977507e-02, 8.18469456e-02, 4.69726248e-02, 2.32553526e-02,
 -1.05455262e-02, 1.27280947e-01, 6.63695786e-02, 2.51887809e-02,
  6.65756416e-05, 1.68923536e-03, 2.56197848e-04, 1.28625941e-03,
  7.61099711e-04, 1.89670417e-03,-4.65568280e-05,-2.58444529e-04,
  1.44510403e-04,-7.20568798e-04,-1.21742835e+00,-1.78243624e-03,
 -7.68499700e-04,-2.43141576e-03]


--- Step 1020 ---
qpos:
[ 0.01347797, 0.18416796,-0.02716135, 0.18380031, 0.00731813, 0.15724992,
 -0.04252517, 0.1559746 , 0.01377708, 0.25489392,-0.0135392 , 0.17425063,
  1.19823179,-0.00154708, 0.95893087, 0.0645176 , 0.08681002,-0.07170675,
  0.13196978, 0.49045863, 0.45533634, 0.49281218, 0.55610728]

qacc:
[-1.13108548e+02, 4.86450356e+01,-1.76185576e+02, 7.62107212e+02,
 -3.32216262e+00, 7.22515060e+01,-2.09414545e+02, 5.55593746e+02,
  1.96344905e-01, 5.01185010e+01,-2.50841381e+02, 6.00397152e+02,
 -2.25640810e+01, 5.54041348e+01, 3.84429144e+00,-1.06095482e+01,
 -6.25206803e+00, 5.74180696e-01, 2.97354647e+00,-1.94822792e+01,
  3.69351966e+01, 3.58083641e+00]

qfrc_actuator:
[-1.36366338e-02, 2.32236409e-01, 1.92487114e-02, 1.47445341e-01,
 -4.22922917e-03, 2.24040583e-01, 2.22027109e-02, 1.32847682e-01,
 -2.50688984e-06, 2.34805733e-01, 1.30400408e-03, 1.41915856e-01,
  1.44373595e-02, 2.50932727e-03, 1.00292217e-03,-2.76285090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2040983 , -0.17828785, -0.09934564, -0.17828785,  0.18299071,
        0.03788014, -0.09934564,  0.03788014,  0.13611776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.048171437772416e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97533157, -0.20795764, -0.07404023, -0.20736102,  0.97813783,
       -0.01574137,  0.07569509,  0.        , -0.99713101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311499, -0.02690682,  0.11635586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43067336, -0.23039646,  0.363864  , -0.23039646,  0.96291757,
        0.33701379,  0.363864  ,  0.33701379,  0.64406844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001108597569686116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95396092e-01, -8.83682984e-02, -3.71168929e-02, -8.83069271e-02,
        9.96087870e-01, -3.29283868e-03,  3.72626693e-02,  4.33680869e-19,
       -9.99305506e-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([ 0.10816093, -0.08087146,  0.11300105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.41316978, -1.25952524, -4.22961744, -1.25952524,  2.93909311,
        0.43896092, -4.22961744,  0.43896092,  4.28245291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002573007686467732
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15744211e-13,  2.15744211e-13,  1.00000000e+00,  4.65455644e-26,
        1.00000000e+00, -2.15744211e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15744211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08131518, -0.10872761,  0.06199273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16835078e-02, 7.84440110e-02, 4.43719866e-02, 2.18395244e-02,
 -1.02774021e-02, 1.25543884e-01, 6.58527936e-02, 2.50008473e-02,
  5.92910130e-06, 1.08788252e-03, 3.43617107e-04, 1.12971330e-03,
  8.64283203e-04, 1.89040620e-03,-8.58406284e-05,-6.52100072e-05,
  1.54957897e-04,-7.42568473e-04,-1.21744389e+00,-1.83070054e-03,
 -7.81006355e-04,-2.51215433e-03]


--- Step 1021 ---
qpos:
[ 0.0132207 , 0.18767746,-0.02723719, 0.18665349, 0.00744258, 0.15927283,
 -0.04336887, 0.15816983, 0.01379279, 0.25939396,-0.01357569, 0.17708526,
  1.19858029,-0.00146068, 0.95920006, 0.06451231, 0.08629745,-0.07185616,
  0.13206554, 0.48999882, 0.45327958, 0.49181495, 0.55906783]

qacc:
[-1.21142659e+03, 1.11520184e+02,-7.78648196e+02, 5.09670676e+03,
  1.76395925e+01, 6.93802776e+01,-1.92800548e+02, 4.76286445e+02,
 -2.65855885e-04, 1.92176000e+01,-1.32036509e+02, 3.84334003e+02,
 -1.56551647e+01, 4.01270476e+01, 9.97217322e+00,-3.32134316e+01,
 -3.60851473e+00, 2.13477199e+00, 1.18539369e+00,-7.75354135e+00,
  6.47892945e+00,-2.69537103e+01]

qfrc_actuator:
[-1.38020965e-02, 2.33620605e-01, 1.97055207e-02, 1.48413052e-01,
 -4.11664303e-03, 2.26384931e-01, 2.30258159e-02, 1.34052387e-01,
 -1.84563590e-05, 2.34380352e-01, 1.34033795e-03, 1.42641706e-01,
  1.43927064e-02, 3.39786292e-03, 9.54912438e-04,-2.92935962e-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, -0.26298179,  0.34105735, -0.26298179,  1.02395159,
        0.45746374,  0.34105735,  0.45746374,  0.78341355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001000947224778158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94654937e-01, -9.26793170e-02, -4.55203400e-02, -9.25824140e-02,
        9.95696010e-01, -4.23703015e-03,  4.57171059e-02, -8.67361738e-19,
       -9.98954427e-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([ 0.10788946, -0.08092111,  0.11294828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.51466737,  1.59674645,  4.22286895,  1.59674645, 13.03459597,
       -3.22154581,  4.22286895, -3.22154581,  5.73279464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002920218163806054
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.8018496e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.8018496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136958, -0.10871596,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01513184e-02, 7.50764138e-02, 4.18728711e-02, 2.06078474e-02,
 -1.01270744e-02, 1.23644992e-01, 6.50011762e-02, 2.48528543e-02,
 -8.01714493e-07, 1.39576401e-04, 2.85968570e-04, 7.90710103e-04,
  8.96764122e-04, 1.48646374e-03,-9.78487867e-05,-1.81843280e-04,
  1.62198829e-04,-7.70096224e-04,-1.21746218e+00,-1.87992489e-03,
 -7.91803839e-04,-2.60849286e-03]


--- Step 1022 ---
qpos:
[ 0.01293968, 0.19155018,-0.02715513, 0.1895551 , 0.00757297, 0.1613703 ,
 -0.04417993, 0.16038788, 0.01380848, 0.26388907,-0.01360818, 0.17992923,
  1.19893106,-0.00136225, 0.95946826, 0.06450532, 0.08577137,-0.07199804,
  0.13216406, 0.48956218, 0.45116918, 0.49083103, 0.56201436]

qacc:
[-7.59633125e+01, 1.38141886e+02, 6.25675279e-01, 3.17243184e+02,
  2.38933687e+01, 5.34807192e+01,-1.42925975e+02, 4.26964994e+02,
 -1.26349223e-02, 1.37965087e+00,-5.27998569e+01, 2.09155033e+02,
 -8.28122144e+00, 2.33655665e+01, 4.41368018e+00,-1.57221035e+01,
 -3.37636871e+00, 1.88374467e+00, 6.90308463e-01,-1.12266544e+01,
  9.37942408e+00,-2.61150136e+01]

qfrc_actuator:
[-1.35749464e-02, 2.33971282e-01, 1.97812519e-02, 1.48854973e-01,
 -4.01271945e-03, 2.28427178e-01, 2.38403421e-02, 1.35002024e-01,
 -3.43029288e-05, 2.33923219e-01, 1.44540570e-03, 1.43088175e-01,
  1.43586624e-02, 3.88484518e-03, 9.21781933e-04,-3.00747041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42061818, -0.38152955,  0.17707302, -0.38152955,  0.79014759,
        0.79620482,  0.17707302,  0.79620482,  2.13615715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008935027703815395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99386528, -0.0967217 , -0.05363502, -0.09658116,  0.99531147,
       -0.00521211,  0.05388768,  0.        , -0.998547  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10760666, -0.08096782,  0.11290076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.59120738, -1.33085537, -4.39408798, -1.33085537,  4.61572604,
       -0.00742607, -4.39408798, -0.00742607,  4.59345654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003148846725799792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.5258084e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.5258084e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08141175, -0.10870691,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27138021e-03, 5.17039147e-02, 2.13698032e-02, 5.46116029e-03,
 -1.02410333e-02, 1.21752082e-01, 6.43963729e-02, 2.46693087e-02,
 -1.74353731e-06,-4.48557811e-04, 1.40328719e-04, 4.62438609e-04,
  8.32826141e-04, 1.00731020e-03,-9.87462945e-05,-1.00969052e-04,
  1.40598877e-04,-7.78925372e-04,-1.21746155e+00,-1.80625893e-03,
 -7.50728820e-04,-2.63148776e-03]


--- Step 1023 ---
qpos:
[ 0.01266131, 0.19566162,-0.02697953, 0.19248167, 0.00771092, 0.16354318,
 -0.04495192, 0.16262902, 0.01382382, 0.26837845,-0.01363914, 0.18277783,
  1.19928524,-0.00125877, 0.95973533, 0.06450101, 0.08523261,-0.07213306,
  0.13226355, 0.48914747, 0.44900037, 0.4898603 , 0.56495159]

qacc:
[ 7.83822936e+00, 1.05209378e+02,-2.25881636e+01, 1.29896001e+02,
  3.02561246e+01, 3.72625153e+01,-8.47370560e+01, 3.63186415e+02,
 -6.60448154e-01,-2.45457363e+00,-2.11944471e+01, 1.01477126e+02,
 -1.41899121e+00, 7.42931236e+00,-9.50613562e+00, 3.13046827e+01,
 -3.16816760e+00, 1.71236321e+00, 2.39872097e-01,-1.32515660e+01,
  1.21605969e+01,-2.57493736e+01]

qfrc_actuator:
[-1.33297530e-02, 2.34189918e-01, 1.97168788e-02, 1.49031075e-01,
 -3.89955793e-03, 2.30437559e-01, 2.46516563e-02, 1.35434256e-01,
 -6.78214406e-05, 2.33629114e-01, 1.50129478e-03, 1.43313518e-01,
  1.43414628e-02, 4.00617415e-03, 9.13604949e-04,-2.85525409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39310339, -0.3784042 ,  0.10649197, -0.3784042 ,  0.53251331,
        0.49537348,  0.10649197,  0.49537348,  2.15334318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007874414398697118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99294925, -0.1010318 , -0.06200295, -0.1008354 ,  0.9948832 ,
       -0.00629649,  0.06232183,  0.        , -0.99805611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10731419, -0.08101772,  0.11285232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.63905628, -1.40285701, -4.42185882, -1.40285701,  3.9909761 ,
        0.20560671, -4.42185882,  0.20560671,  4.57382652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003280470247253586
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69217054e-13, -1.69217054e-13,  1.00000000e+00, -2.86344115e-26,
        1.00000000e+00,  1.69217054e-13, -1.00000000e+00,  0.00000000e+00,
       -1.69217054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08144441, -0.10870001,  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:
[ 1.55209387e-04, 3.36206320e-02, 1.33606256e-02, 3.19780047e-03,
 -1.04247640e-02, 1.19964837e-01, 6.35567187e-02, 2.39528043e-02,
 -1.97175150e-05,-6.58072167e-04,-5.93019119e-05, 2.04938248e-04,
  7.01773732e-04, 5.25708019e-04,-6.26035911e-05, 1.34266653e-04,
  1.18902260e-04,-7.91720221e-04,-1.21746705e+00,-1.73752377e-03,
 -7.12271706e-04,-2.66472885e-03]


--- Step 1024 ---
qpos:
[ 1.23877335e-02, 1.99927139e-01,-2.67455896e-02, 1.95426492e-01,
  7.85775946e-03, 1.65800842e-01,-4.56798425e-02, 1.64892668e-01,
  1.38389191e-02, 2.72861281e-01,-1.36696454e-02, 1.85627907e-01,
  1.19964249e+00,-1.15398420e-03, 9.60001655e-01, 6.44961972e-02,
  8.46819824e-02,-7.22618760e-02, 1.32362487e-01, 4.88753958e-01,
  4.46770422e-01, 4.88901974e-01, 5.67882575e-01]

qacc:
[ 1.42337533e+01, 7.78912156e+01,-5.87891825e+01, 1.67114760e+02,
  3.49682399e+01, 3.46067113e+01,-5.50814992e+01, 3.09435460e+02,
 -4.65572383e-01,-6.87909998e+00, 5.86849955e+00, 2.35616170e+01,
  1.25210810e+00, 1.74478023e-01, 3.37884846e-01,-2.87478703e+00,
 -2.96937245e+00, 1.55331847e+00,-1.35213294e-01,-1.46835840e+01,
  1.37098953e+01,-2.52763476e+01]

qfrc_actuator:
[-1.30728765e-02, 2.34308565e-01, 1.95873938e-02, 1.49264831e-01,
 -3.82037945e-03, 2.32522399e-01, 2.54415469e-02, 1.35759687e-01,
 -9.38655089e-05, 2.33346841e-01, 1.52853989e-03, 1.43389426e-01,
  1.43075577e-02, 3.96354215e-03, 8.61865274e-04,-2.88806255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35535281, -0.35495465,  0.01681721, -0.35495465,  0.36020482,
        0.10240958,  0.01681721,  0.10240958,  2.51687455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006843655219463942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99194525, -0.10535817, -0.07031557, -0.10509446,  0.99443434,
       -0.00744978,  0.07070911,  0.        , -0.99749698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10701168, -0.08106776,  0.11280678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.65911495, -1.41201088, -4.43999745, -1.41201088,  5.12774221,
       -0.14903315, -4.43999745, -0.14903315,  4.70651057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033333960118472894
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33060645e-13,  3.33060645e-13,  1.00000000e+00,  1.10929393e-25,
        1.00000000e+00, -3.33060645e-13, -1.00000000e+00,  0.00000000e+00,
       -3.33060645e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08146971, -0.10869485,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68947731e-04, 2.16532607e-02, 8.49987478e-03, 2.16661951e-03,
 -1.07251256e-02, 1.18205467e-01, 6.23721298e-02, 2.31160355e-02,
 -1.44906162e-05,-8.15164206e-04,-1.64442290e-04, 3.47554191e-05,
  4.97977870e-04, 2.29443226e-04,-6.26053936e-05,-3.28901631e-05,
  9.67791381e-05,-8.07349488e-04,-1.21747630e+00,-1.67175722e-03,
 -6.74634431e-04,-2.70606108e-03]


--- Step 1025 ---
qpos:
[ 1.21181744e-02, 2.04292455e-01,-2.64776489e-02, 1.98399479e-01,
  8.01355148e-03, 1.68164359e-01,-4.63653394e-02, 1.67176499e-01,
  1.38538527e-02, 2.77342163e-01,-1.37027222e-02, 1.88495758e-01,
  1.20000255e+00,-1.05185196e-03, 9.60266487e-01, 6.44947510e-02,
  8.41202477e-02,-7.23855148e-02, 1.32459940e-01, 4.88383653e-01,
  4.44480518e-01, 4.87949928e-01, 5.70809377e-01]

qacc:
[ 1.15818571e+01, 9.38794146e+01,-2.59112085e+02, 6.09938356e+02,
  3.46044534e+01, 6.21803568e+01,-1.03137706e+02, 3.04026070e+02,
 -3.21469094e-01, 4.06758695e+01,-2.21011985e+02, 5.26503534e+02,
  4.54887365e+00,-8.26211294e+00,-1.26916023e+01, 4.04002114e+01,
 -2.77588963e+00, 1.29351122e+00,-3.72381688e-01,-1.70283067e+01,
  1.19521244e+01,-2.36703601e+01]

qfrc_actuator:
[-1.28654604e-02, 2.34533885e-01, 1.93811238e-02, 1.50257759e-01,
 -3.80142738e-03, 2.34878677e-01, 2.61802160e-02, 1.36882252e-01,
 -1.15381515e-04, 2.33784872e-01, 1.61007552e-03, 1.44335599e-01,
  1.42528837e-02, 3.71773575e-03, 8.05296402e-04,-2.71025221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.31516949, -0.30583969, -0.07611761, -0.30583969,  0.45466927,
       -0.56050853, -0.07611761, -0.56050853,  2.56728631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005865433598767581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99085682, -0.10970905, -0.07852822, -0.10936612,  0.99396374,
       -0.00866758,  0.07900512,  0.        , -0.99687421])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10669872, -0.08111789,  0.11276512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.65507648, -1.35766811, -4.45269293, -1.35766811,  9.21902886,
       -1.39159217, -4.45269293, -1.39159217,  5.07938607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003322841345056865
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.67059289e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.67059289e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08148931, -0.10869105,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23961792e-04, 1.40170045e-02, 5.31986774e-03, 2.22984308e-03,
 -1.11509238e-02, 1.16245996e-01, 6.08856101e-02, 2.31045182e-02,
 -9.44923902e-06,-2.11187536e-04,-1.61172789e-04, 8.91475118e-04,
  2.89150514e-04,-8.31822938e-05,-8.71911440e-05, 1.68162187e-04,
  7.45143331e-05,-8.24842487e-04,-1.21748894e+00,-1.60743372e-03,
 -6.37612569e-04,-2.75255816e-03]


--- Step 1026 ---
qpos:
[ 1.18526155e-02, 2.08725638e-01,-2.61922203e-02, 2.01397028e-01,
  8.17729852e-03, 1.70648949e-01,-4.70128703e-02, 1.69478011e-01,
  1.38689884e-02, 2.81826262e-01,-1.37393688e-02, 1.91388676e-01,
  1.20036521e+00,-9.56514668e-04, 9.60530601e-01, 6.44933773e-02,
  8.35480638e-02,-7.25052868e-02, 1.32555360e-01, 4.88040460e-01,
  4.42134264e-01, 4.86994281e-01, 5.73733713e-01]

qacc:
[ 1.12309887e+01, 9.03690783e+01,-2.92323641e+02, 6.29590454e+02,
  3.00846458e+01, 8.95467772e+01,-1.60894505e+02, 3.13914205e+02,
  3.52425538e-01, 6.50938297e+01,-3.27656238e+02, 7.53648099e+02,
  7.62242704e+00,-1.64111243e+01,-1.90673464e+00, 3.65789085e+00,
 -2.61228266e+00, 9.66681770e-01,-5.07847224e-01,-2.02115860e+01,
  8.04060208e+00,-2.12882339e+01]

qfrc_actuator:
[-1.26533474e-02, 2.35064399e-01, 1.90942800e-02, 1.51227405e-01,
 -3.85774694e-03, 2.37413839e-01, 2.68899108e-02, 1.38707208e-01,
 -1.16414312e-04, 2.34528848e-01, 1.65601704e-03, 1.45645031e-01,
  1.41909891e-02, 3.26470289e-03, 7.67227576e-04,-2.71152052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27835165, -0.22416338, -0.16501642, -0.22416338,  1.13855152,
       -1.168522  , -0.16501642, -1.168522  ,  1.86570791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004969804747367887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89691099e-01, -1.14080899e-01, -8.65856616e-02, -1.13646798e-01,
        9.93471463e-01, -9.94268131e-03,  8.71546539e-02,  1.73472348e-18,
       -9.96194793e-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([ 0.10637423, -0.08116785,  0.11272868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.63170978, -1.51401543, -4.37727001, -1.51401543,  4.36906929,
        0.09084241, -4.37727001,  0.09084241,  4.6002891 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032607653097982414
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7023964e-13,  1.7023964e-13,  1.0000000e+00,  2.8981535e-26,
        1.0000000e+00, -1.7023964e-13, -1.0000000e+00,  0.0000000e+00,
       -1.7023964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08150451, -0.10868834,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22334343e-04, 9.39621182e-03, 3.27455429e-03, 1.77410484e-03,
 -1.16561365e-02, 1.13407296e-01, 5.94499457e-02, 2.39114316e-02,
  1.17537201e-05, 4.69935366e-04,-4.21304694e-05, 1.29728940e-03,
  8.76257745e-05,-4.04692578e-04,-5.55737229e-05,-2.38563054e-06,
  5.37113541e-05,-8.43418193e-04,-1.21750814e+00,-1.54414591e-03,
 -6.03620892e-04,-2.79966666e-03]


--- Step 1027 ---
qpos:
[ 1.15923508e-02, 2.13204739e-01,-2.58979911e-02, 2.04407813e-01,
  8.34798811e-03, 1.73253160e-01,-4.76236348e-02, 1.71796017e-01,
  1.38848913e-02, 2.86310262e-01,-1.37752940e-02, 1.94294626e-01,
  1.20072984e+00,-8.70231128e-04, 9.60794346e-01, 6.44922476e-02,
  8.29659107e-02,-7.26222281e-02, 1.32648210e-01, 4.87727273e-01,
  4.39734286e-01, 4.86027298e-01, 5.76657031e-01]

qacc:
[  14.53137778,  62.73518013,-189.50570983, 364.81673173,  25.78842885,
   88.56989936,-155.2203839 , 290.81321612,   1.42162951,  24.30816905,
 -139.83153836, 358.77278364,   9.00263376, -20.58592999,  -2.05057758,
    4.5794295 ,  -2.4923244 ,   0.70769663,  -0.64294009, -22.74725638,
    5.11406384, -19.43148391]

qfrc_actuator:
[-1.23689983e-02, 2.35468245e-01, 1.87620041e-02, 1.51713852e-01,
 -3.97956315e-03, 2.40034277e-01, 2.75874657e-02, 1.40202415e-01,
 -8.77041846e-05, 2.34475606e-01, 1.66487725e-03, 1.46288136e-01,
  1.41353298e-02, 2.72804102e-03, 7.66871643e-04,-2.69402291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25188676, -0.13758939, -0.21098839, -0.13758939,  1.78158193,
       -0.99754221, -0.21098839, -0.99754221,  0.90240229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041761842737212144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98845523, -0.11846123, -0.09446262, -0.11792397,  0.99295868,
       -0.01126951,  0.09513248,  0.        , -0.99546462])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10603762, -0.08121733,  0.11269834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.59394164, -1.5469045 , -4.32566599, -1.5469045 ,  4.3431774 ,
        0.08967598, -4.32566599,  0.08967598,  4.56187255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003156584500495774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75858277e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.75858277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08151635, -0.10868648,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93018456e-04, 6.24258650e-03, 2.00836707e-03, 1.01545057e-03,
 -1.21768461e-02, 1.09888311e-01, 5.82235273e-02, 2.45132399e-02,
  4.43795442e-05, 9.54703680e-05, 8.99114874e-05, 6.71885400e-04,
 -9.83445848e-05,-6.02716462e-04,-2.49796678e-05, 1.03277281e-05,
  3.56901985e-05,-8.62697119e-04,-1.21753626e+00,-1.48243595e-03,
 -5.74383853e-04,-2.84464039e-03]


--- Step 1028 ---
qpos:
[ 1.13366003e-02, 2.17713541e-01,-2.56005707e-02, 2.07440499e-01,
  8.52491855e-03, 1.75970020e-01,-4.81971815e-02, 1.74129771e-01,
  1.39016234e-02, 2.90792688e-01,-1.38108819e-02, 1.97212878e-01,
  1.20109536e+00,-7.92932079e-04, 9.61057634e-01, 6.44916696e-02,
  8.23741773e-02,-7.27370373e-02, 1.32737882e-01, 4.87445578e-01,
  4.37282019e-01, 4.85044272e-01, 5.79580278e-01]

qacc:
[ 1.20536082e+01, 7.43652669e+01,-2.96807827e+02, 6.37702335e+02,
  2.28125831e+01, 7.66484503e+01,-1.23038464e+02, 2.50612960e+02,
  1.50456542e+00, 2.19436750e+01,-1.31191929e+02, 3.39335519e+02,
  8.13285469e+00,-1.95563114e+01,-3.05697587e+00, 8.03410510e+00,
 -2.39506428e+00, 5.33004480e-01,-7.94115959e-01,-2.42839526e+01,
  3.49545484e+00,-1.82773226e+01]

qfrc_actuator:
[-1.21329647e-02, 2.35737636e-01, 1.84396667e-02, 1.52710749e-01,
 -4.08958896e-03, 2.42570141e-01, 2.81927393e-02, 1.41121082e-01,
 -5.95470588e-05, 2.34425383e-01, 1.68413060e-03, 1.46906258e-01,
  1.40780490e-02, 2.23494168e-03, 7.46531597e-04,-2.66546621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23534224, -0.08951436, -0.21765374, -0.08951436,  1.84189202,
       -0.66072502, -0.21765374, -0.66072502,  0.50707832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003485181519539511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98715286, -0.12283979, -0.10217441, -0.12218703,  0.99242651,
       -0.01264686,  0.10295413,  0.        , -0.9946861 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10568923, -0.08126616,  0.11267411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.54654515, -1.57237222, -4.2659956 , -1.57237222,  4.43789965,
        0.04004486, -4.2659956 ,  0.04004486,  4.53178531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030183992486997047
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83909240e-13,  1.83909240e-13,  1.00000000e+00,  3.38226086e-26,
        1.00000000e+00, -1.83909240e-13, -1.00000000e+00,  0.00000000e+00,
       -1.83909240e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815256 , -0.1086853 ,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50111312e-04, 4.05008373e-03, 1.18578746e-03, 1.33367394e-03,
 -1.26351585e-02, 1.06352697e-01, 5.69629930e-02, 2.45974753e-02,
  4.80539837e-05,-1.10073372e-04, 1.77973989e-05, 6.23327585e-04,
 -2.54194851e-04,-6.44064695e-04,-3.17394679e-05, 2.55415906e-05,
  2.00913549e-05,-8.82541335e-04,-1.21757169e+00,-1.42241794e-03,
 -5.48606962e-04,-2.88815544e-03]


--- Step 1029 ---
qpos:
[ 1.10850602e-02, 2.22239315e-01,-2.53014059e-02, 2.10494748e-01,
  8.70739279e-03, 1.78787041e-01,-4.87319505e-02, 1.76478994e-01,
  1.39185696e-02, 2.95273464e-01,-1.38469221e-02, 2.00145302e-01,
  1.20146131e+00,-7.25509182e-04, 9.61320412e-01, 6.44888291e-02,
  8.17731973e-02,-7.28502835e-02, 1.32823828e-01, 4.87196478e-01,
  4.34778742e-01, 4.84041408e-01, 5.82504037e-01]

qacc:
[ 1.09702736e+01, 6.09012509e+01,-2.71713560e+02, 6.18333765e+02,
  1.99810580e+01, 5.53369057e+01,-6.99787181e+01, 2.00167798e+02,
  3.81669338e-01, 2.78203603e+01,-1.59744689e+02, 4.00346855e+02,
  8.39436103e+00,-2.08101892e+01, 5.31890354e+00,-2.14775036e+01,
 -2.31166674e+00, 3.90764247e-01,-9.31749757e-01,-2.54323867e+01,
  2.15439175e+00,-1.73541770e+01]

qfrc_actuator:
[-1.19095054e-02, 2.35711171e-01, 1.81786392e-02, 1.53715914e-01,
 -4.24787377e-03, 2.44339784e-01, 2.87629914e-02, 1.41847748e-01,
 -6.75957178e-05, 2.34485001e-01, 1.70971535e-03, 1.47629175e-01,
  1.40198233e-02, 1.70052157e-03, 6.92919163e-04,-2.79045308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22467707, -0.06566782, -0.21486629, -0.06566782,  1.73944767,
       -0.46294691, -0.21486629, -0.46294691,  0.36616373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002891082194318854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85785596e-01, -1.27210794e-01, -1.09745949e-01, -1.26429720e-01,
        9.91875705e-01, -1.40752206e-02,  1.10644861e-01, -1.73472348e-18,
       -9.93860008e-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([ 0.10532969, -0.08131425,  0.1126558 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.49376512, -1.58558648, -4.20474023, -1.58558648,  4.85367248,
       -0.13571927, -4.20474023, -0.13571927,  4.54494417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028532935669842163
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89102277e-13,  1.94551139e-13,  1.00000000e+00,  7.57002911e-26,
        1.00000000e+00, -1.94551139e-13, -1.00000000e+00,  0.00000000e+00,
       -3.89102277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08153289, -0.1086846 ,  0.06199204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33487977e-04, 2.37155757e-03, 7.04663546e-04, 1.22694324e-03,
 -1.31066516e-02, 1.02394912e-01, 5.56431110e-02, 2.45266327e-02,
  1.23940520e-05,-1.31812556e-04,-2.86918163e-05, 7.16017748e-04,
 -3.55936709e-04,-7.30057960e-04,-6.73152082e-05,-1.28167331e-04,
  6.23160262e-06,-9.02706846e-04,-1.21761210e+00,-1.36368347e-03,
 -5.24563971e-04,-2.93099463e-03]


--- Step 1030 ---
qpos:
[ 1.08384939e-02, 2.26773855e-01,-2.50021172e-02, 2.13555412e-01,
  8.89405596e-03, 1.81699357e-01,-4.92319616e-02, 1.78842197e-01,
  1.39358896e-02, 2.99749164e-01,-1.38810498e-02, 2.03087725e-01,
  1.20182734e+00,-6.68335219e-04, 9.61582031e-01, 6.44836037e-02,
  8.11633210e-02,-7.29627864e-02, 1.32905786e-01, 4.86982645e-01,
  4.32227782e-01, 4.83011775e-01, 5.85428623e-01]

qacc:
[ 1.26345076e+01, 2.40972711e+01,-9.49583100e+01, 1.95693638e+02,
  1.47626333e+01, 5.70810402e+01,-7.92134600e+01, 1.93512030e+02,
  6.71842385e-01, 8.24472712e+00,-7.97277272e+01, 2.49191708e+02,
  8.44738515e+00,-2.13146045e+01, 4.71678236e+00,-2.07961320e+01,
 -2.22404733e+00, 1.85819142e-01,-9.97008591e-01,-2.72785405e+01,
 -9.88729030e-01,-1.57909630e+01]

qfrc_actuator:
[-1.16418349e-02, 2.35525793e-01, 1.79190627e-02, 1.53972007e-01,
 -4.45466590e-03, 2.45759144e-01, 2.93667942e-02, 1.43181051e-01,
 -6.15791878e-05, 2.34167416e-01, 1.77525894e-03, 1.48124138e-01,
  1.39716898e-02, 1.16354709e-03, 6.14038751e-04,-2.91620931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21763686, -0.05571661, -0.21038408, -0.05571661,  1.83611121,
       -0.42862512, -0.21038408, -0.42862512,  0.33115085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002381915156375992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98435297, -0.13156868, -0.11721313, -0.13064572,  0.99130706,
       -0.01555681,  0.11824099,  0.        , -0.99298493])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495994, -0.08136156,  0.11264288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.43904211, -1.58812494, -4.14523269, -1.58812494,  5.46575104,
       -0.39335357, -4.14523269, -0.39335357,  4.58974405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002667220529868758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.0812359e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.0812359e-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([ 0.08153871, -0.10868423,  0.06199257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76124883e-04, 1.17008481e-03, 2.97143059e-04, 3.88120992e-04,
 -1.35917721e-02, 9.87072975e-02, 5.42771353e-02, 2.50760436e-02,
  2.16511964e-05,-5.26539287e-04, 4.37324150e-06, 4.87400411e-04,
 -4.25911475e-04,-7.73865573e-04,-1.25466346e-04,-1.41912475e-04,
 -6.01854736e-06,-9.22952397e-04,-1.21765668e+00,-1.30602906e-03,
 -5.01684807e-04,-2.97297463e-03]


--- Step 1031 ---
qpos:
[ 1.05970823e-02, 2.31309269e-01,-2.47048160e-02, 2.16621741e-01,
  9.08336216e-03, 1.84700254e-01,-4.97012555e-02, 1.81218045e-01,
  1.39534438e-02, 3.04213858e-01,-1.39120839e-02, 2.06036713e-01,
  1.20219340e+00,-6.22150680e-04, 9.61842223e-01, 6.44798374e-02,
  8.05448455e-02,-7.30753037e-02, 1.32983549e-01, 4.86806614e-01,
  4.29632404e-01, 4.81948751e-01, 5.88354246e-01]

qacc:
[ 1.27572115e+01, 1.80419543e+01,-8.53554110e+01, 1.82354341e+02,
  9.06277165e+00, 5.67606347e+01,-8.52844038e+01, 1.87773961e+02,
  4.43360809e-01,-9.84539755e+00,-1.27841447e+01, 1.27194888e+02,
  9.24601988e+00,-2.31742199e+01,-7.34733511e+00, 2.06772253e+01,
 -2.14981046e+00,-3.61378914e-03,-1.04869570e+00,-2.90097782e+01,
 -4.03378630e+00,-1.43243311e+01]

qfrc_actuator:
[-1.13678376e-02, 2.35051207e-01, 1.76080217e-02, 1.54211243e-01,
 -4.65591981e-03, 2.47057404e-01, 2.99082257e-02, 1.44518584e-01,
 -6.51216178e-05, 2.33325798e-01, 1.80933610e-03, 1.48427572e-01,
  1.39402803e-02, 5.93857957e-04, 5.78657943e-04,-2.82836839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21296674, -0.03716632, -0.20969859, -0.03716632,  1.48070862,
       -0.22469059, -0.20969859, -0.22469059,  0.2527902 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019503916530101592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98285552, -0.13590116, -0.12460301, -0.13482203,  0.9907224 ,
       -0.01709227,  0.12576985,  0.        , -0.99205945])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045806 , -0.08140795,  0.11263504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.3848591 , -1.59265785, -4.08539231, -1.59265785,  5.4477774 ,
       -0.41437028, -4.08539231, -0.41437028,  4.54639808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002464567844168153
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50473712e-13,  2.25236856e-13,  1.00000000e+00,  1.01463282e-25,
        1.00000000e+00, -2.25236856e-13, -1.00000000e+00,  0.00000000e+00,
       -4.50473712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154342, -0.10868409,  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:
[ 2.86670457e-04, 8.93193194e-05,-8.09622401e-05, 2.89954143e-04,
 -1.40035441e-02, 9.51379838e-02, 5.30482485e-02, 2.57038836e-02,
  1.32925989e-05,-1.27376229e-03,-1.12162466e-04, 2.75863959e-04,
 -4.60880967e-04,-8.31586909e-04,-1.07671389e-04, 6.40661745e-05,
 -1.55257055e-05,-9.42761804e-04,-1.21770751e+00,-1.25001686e-03,
 -4.81518879e-04,-3.01145886e-03]


--- Step 1032 ---
qpos:
[ 1.03608695e-02, 2.35837413e-01,-2.44105850e-02, 2.19703114e-01,
  9.27233650e-03, 1.87764718e-01,-5.01484626e-02, 1.83606249e-01,
  1.39708140e-02, 3.08660109e-01,-1.39399927e-02, 2.08995034e-01,
  1.20256042e+00,-5.91209442e-04, 9.62101847e-01, 6.44792587e-02,
  7.99177608e-02,-7.31881252e-02, 1.33056676e-01, 4.86668510e-01,
  4.26992249e-01, 4.80850469e-01, 5.91281834e-01]

qacc:
[ 1.25490968e+01, 2.91512486e+01,-1.78231485e+02, 4.39827133e+02,
 -1.28130049e+00, 4.71500856e+01,-9.75252320e+01, 2.26445709e+02,
 -2.39710282e-01,-1.41483564e+01,-2.28849192e+01, 1.89323298e+02,
  1.35025305e+01,-3.28738202e+01,-1.16642754e+01, 3.67638855e+01,
 -2.15231263e+00,-7.60311836e-02,-1.15879601e+00,-2.98922286e+01,
 -4.12708606e+00,-1.38948518e+01]

qfrc_actuator:
[-1.10922148e-02, 2.34247708e-01, 1.72859166e-02, 1.54935622e-01,
 -4.85398044e-03, 2.48127331e-01, 3.03313612e-02, 1.45286315e-01,
 -9.21619210e-05, 2.32000196e-01, 1.80483451e-03, 1.48864062e-01,
  1.38976026e-02,-2.39156741e-04, 6.06723233e-04,-2.65076427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20985626, -0.12634072, -0.16756394, -0.12634072,  0.52487588,
       -0.2375201 , -0.16756394, -0.2375201 ,  0.38894289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001586571346378005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9812926 , -0.14019575, -0.13194689, -0.13894531,  0.99012381,
       -0.01868291,  0.13326302,  0.        , -0.99108071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1041924 , -0.08145333,  0.11263184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.33304265, -1.58189624, -4.03396367, -1.58189624,  5.188703  ,
       -0.33554241, -4.03396367, -0.33554241,  4.46462372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022488946052241776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17093739e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.17093739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815473 , -0.10868408,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89663761e-04,-9.25694548e-04,-3.64483085e-04, 7.14528811e-04,
 -1.43347175e-02, 9.16725262e-02, 5.19016898e-02, 2.58283942e-02,
 -1.15982189e-05,-2.20789883e-03,-3.26174297e-04, 3.69229218e-04,
 -5.05329611e-04,-1.11539983e-03,-1.30164301e-05, 1.67623044e-04,
 -2.22492150e-05,-9.61887823e-04,-1.21776440e+00,-1.19576800e-03,
 -4.63900369e-04,-3.04614480e-03]


--- Step 1033 ---
qpos:
[ 1.01292042e-02, 2.40349403e-01,-2.41185587e-02, 2.22798970e-01,
  9.45868812e-03, 1.90873389e-01,-5.05779286e-02, 1.86007007e-01,
  1.39877040e-02, 3.13083301e-01,-1.39655453e-02, 2.11963562e-01,
  1.20292857e+00,-5.78502854e-04, 9.62361544e-01, 6.44800634e-02,
  7.92820069e-02,-7.33013670e-02, 1.33124689e-01, 4.86567669e-01,
  4.24306073e-01, 4.79716719e-01, 5.94212192e-01]

qacc:
[ 1.07304381e+01, 1.38920682e+01,-1.38640749e+02, 3.96242609e+02,
 -8.90813070e+00, 3.40928503e+01,-8.87849065e+01, 2.41956670e+02,
 -7.08153680e-01,-1.63385109e+01,-2.73781545e+01, 2.12939112e+02,
  1.59665708e+01,-3.90200849e+01,-5.49799808e+00, 1.60378759e+01,
 -2.16727628e+00,-1.05071134e-01,-1.27880447e+00,-3.03056448e+01,
 -3.39216381e+00,-1.38345628e+01]

qfrc_actuator:
[-1.08532280e-02, 2.32935107e-01, 1.69768032e-02, 1.55619895e-01,
 -5.04820744e-03, 2.49014335e-01, 3.07331206e-02, 1.45849416e-01,
 -1.32976321e-04, 2.30626827e-01, 1.82917460e-03, 1.49357238e-01,
  1.38427540e-02,-1.22151713e-03, 6.19572438e-04,-2.58138814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20763215, -0.12357011, -0.16685783, -0.12357011,  0.35906079,
       -0.11214371, -0.16685783, -0.11214371,  0.29068255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012552953760914458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97965491, -0.14444748, -0.13932404, -0.14300848,  0.98951247,
       -0.02033831,  0.1408007 ,  0.        , -0.99003796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379749, -0.08149791,  0.11263157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.28501499, -1.5458259 , -3.99647041, -1.5458259 ,  5.96219093,
       -0.64872794, -3.99647041, -0.64872794,  4.53594152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020237195854584666
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85756461e-14,  2.74302584e-13,  1.00000000e+00,  1.88104769e-26,
        1.00000000e+00, -2.74302584e-13, -1.00000000e+00,  0.00000000e+00,
       -6.85756461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155058, -0.10868414,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53737131e-04,-2.04205399e-03,-5.80644725e-04, 6.30204838e-04,
 -1.45129549e-02, 8.92723134e-02, 5.11641729e-02, 2.57625734e-02,
 -2.93263420e-05,-2.81714708e-03,-5.12638145e-04, 3.81005441e-04,
 -6.07829034e-04,-1.33552623e-03, 2.35618983e-05, 7.65226524e-05,
 -2.77960225e-05,-9.81185185e-04,-1.21782467e+00,-1.14275803e-03,
 -4.46467505e-04,-3.08149178e-03]


--- Step 1034 ---
qpos:
[ 9.90159318e-03, 2.44850345e-01,-2.38346286e-02, 2.25911537e-01,
  9.63985204e-03, 1.94018602e-01,-5.09998612e-02, 1.88419345e-01,
  1.40039240e-02, 3.17497547e-01,-1.39985178e-02, 2.14946642e-01,
  1.20329743e+00,-5.85088968e-04, 9.62621406e-01, 6.44836495e-02,
  7.86374497e-02,-7.34151080e-02, 1.33187148e-01, 4.86503308e-01,
  4.21572271e-01, 4.78547501e-01, 5.97146248e-01]

qacc:
[ 9.26129761e+00, 4.14664845e+01,-2.35493894e+02, 5.34063157e+02,
 -1.72732627e+01, 5.02834145e+01,-1.56708649e+02, 3.13428323e+02,
 -1.07961602e+00, 3.82992733e+01,-2.11780061e+02, 4.72846497e+02,
  1.66013102e+01,-4.09881288e+01,-9.64654808e+00, 3.05960243e+01,
 -2.20085222e+00,-1.24820710e-01,-1.38834423e+00,-3.07509472e+01,
 -2.44422385e+00,-1.38375513e+01]

qfrc_actuator:
[-1.06376508e-02, 2.32784555e-01, 1.67113527e-02, 1.56487680e-01,
 -5.21995803e-03, 2.50673151e-01, 3.11530707e-02, 1.46568642e-01,
 -1.81685545e-04, 2.31171826e-01, 1.81708070e-03, 1.50163861e-01,
  1.37965310e-02,-2.23113838e-03, 6.49883674e-04,-2.43439863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2059832 , -0.11943488, -0.16782249, -0.11943488,  0.26425046,
       -0.04146729, -0.16782249, -0.04146729,  0.23549438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.305716620559956e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97793374, -0.14865504, -0.14678994, -0.14700817,  0.98888911,
       -0.02206624,  0.14843924,  0.        , -0.98892153])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339742, -0.08154192,  0.11263297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.24173058, -1.50051102, -3.96746077, -1.50051102,  7.27059855,
       -1.14553112, -3.96746077, -1.14553112,  4.67497546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017920692913979408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54880036e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54880036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155341, -0.10868416,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27051038e-04,-1.55138922e-03,-7.96145426e-04, 7.57589835e-04,
 -1.45538741e-02, 8.86100749e-02, 5.06613412e-02, 2.58429734e-02,
 -4.01685128e-05,-1.27626572e-03,-6.96763603e-04, 6.62660851e-04,
 -7.09780544e-04,-1.43299781e-03, 4.55577204e-05, 1.53250087e-04,
 -3.26512879e-05,-1.00077360e-03,-1.21788717e+00,-1.09051446e-03,
 -4.28310523e-04,-3.11850330e-03]


--- Step 1035 ---
qpos:
[ 9.67707809e-03, 2.49351872e-01,-2.35631275e-02, 2.29046411e-01,
  9.81339912e-03, 1.97190603e-01,-5.14250551e-02, 1.90842698e-01,
  1.40196684e-02, 3.21917729e-01,-1.40415213e-02, 2.17951435e-01,
  1.20366572e+00,-6.08592867e-04, 9.62881353e-01, 6.44880512e-02,
  7.79838136e-02,-7.35293979e-02, 1.33243645e-01, 4.86474381e-01,
  4.18788477e-01, 4.77343069e-01, 6.00085396e-01]

qacc:
[ 6.81344482e+00, 8.00687315e+01,-3.72618025e+02, 7.61025441e+02,
 -2.48550967e+01, 6.61434546e+01,-2.29091375e+02, 3.98558402e+02,
 -8.03745975e-01, 7.96970303e+01,-3.59221750e+02, 7.32300798e+02,
  1.35605138e+01,-3.47956950e+01,-3.58659683e+00, 9.79808560e+00,
 -2.26970205e+00,-1.37207329e-01,-1.49054719e+00,-3.13621087e+01,
 -1.04465642e+00,-1.38803235e+01]

qfrc_actuator:
[-1.04729507e-02, 2.33794153e-01, 1.64611208e-02, 1.57688334e-01,
 -5.37460870e-03, 2.52696272e-01, 3.15692937e-02, 1.47555020e-01,
 -2.16997056e-04, 2.32756443e-01, 1.80971262e-03, 1.51363156e-01,
  1.37448279e-02,-3.07123790e-03, 6.32077531e-04,-2.40256603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20481789, -0.11397227, -0.1701784 , -0.11397227,  0.21035503,
       -0.00370834, -0.1701784 , -0.00370834,  0.20730145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9845053421746255e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76632965e-01, -1.48657851e-01, -1.55205974e-01, -1.46815470e-01,
        9.88888691e-01, -2.33318338e-02,  1.56949893e-01,  3.46944695e-18,
       -9.87606567e-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([ 0.102987  , -0.08153574,  0.11262533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.20373956, -1.47367674, -3.93696624, -1.47367674,  8.55223887,
       -1.62772091, -3.93696624, -1.62772091,  4.81302455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015563245664705627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91702676e-14,  1.78340535e-13,  1.00000000e+00, -1.59026733e-26,
        1.00000000e+00, -1.78340535e-13, -1.00000000e+00,  0.00000000e+00,
        8.91702676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155591, -0.10868408,  0.06199568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74273478e-04,-1.55319603e-04,-7.01562600e-04, 1.10640967e-03,
 -1.44491478e-02, 8.86939547e-02, 5.06646016e-02, 2.62390781e-02,
 -2.81329105e-05, 5.99303927e-04,-3.87094507e-04, 1.11975619e-03,
 -7.96995945e-04,-1.30769474e-03, 1.48420642e-05, 4.49241556e-05,
 -3.68851001e-05,-1.02084992e-03,-1.21795191e+00,-1.03892667e-03,
 -4.09286607e-04,-3.15775963e-03]


--- Step 1036 ---
qpos:
[ 9.45532730e-03, 2.53856553e-01,-2.33004042e-02, 2.32197983e-01,
  9.97822209e-03, 2.00376553e-01,-5.18548878e-02, 1.93278045e-01,
  1.40354116e-02, 3.26339154e-01,-1.40841503e-02, 2.20976134e-01,
  1.20403163e+00,-6.43470358e-04, 9.63141100e-01, 6.44912476e-02,
  7.73208206e-02,-7.36442784e-02, 1.33293801e-01, 4.86479959e-01,
  4.15952390e-01, 4.76103574e-01, 6.03030883e-01]

qacc:
[ 5.93698658e+00, 6.20503348e+01,-2.81150952e+02, 5.68800451e+02,
 -2.78154326e+01, 5.49950787e+01,-2.17940172e+02, 4.15608373e+02,
 -2.26663613e-03, 4.08605014e+01,-2.23130434e+02, 5.54851304e+02,
  7.53501153e+00,-2.16130582e+01, 2.59658240e+00,-1.12615301e+01,
 -2.33923196e+00,-1.47657111e-01,-1.58531988e+00,-3.19782043e+01,
  2.53318152e-01,-1.39504555e+01]

qfrc_actuator:
[-1.03216873e-02, 2.34391966e-01, 1.61920859e-02, 1.58561604e-01,
 -5.51449520e-03, 2.54134245e-01, 3.19733092e-02, 1.48626612e-01,
 -2.26443701e-04, 2.32911974e-01, 1.88176967e-03, 1.52376762e-01,
  1.36899274e-02,-3.57349802e-03, 5.90727968e-04,-2.47447971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20412579, -0.10776265, -0.17336248, -0.10776265,  0.18829671,
        0.0098394 , -0.17336248,  0.0098394 ,  0.19800958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3252194836405687e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97473325, -0.15277817, -0.16295376, -0.15068695,  0.98826051,
       -0.02519151,  0.16488948,  0.        , -0.98631205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257949, -0.08157916,  0.11262747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.17130433, -1.49050221, -3.89591876, -1.49050221,  9.56021993,
       -2.06169355, -3.89591876, -2.06169355,  4.9600679 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013183156576453137
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31614488e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.31614488e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155817, -0.10868385,  0.06199634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56248388e-04, 2.47849740e-04,-4.08899236e-04, 8.48122650e-04,
 -1.42078843e-02, 8.86794833e-02, 5.11950697e-02, 2.67487342e-02,
 -1.26930650e-08, 3.02020893e-04, 1.32711833e-04, 1.03292547e-03,
 -8.22771213e-04,-9.63055056e-04,-3.54557542e-05,-6.88732182e-05,
 -4.06064980e-05,-1.04188816e-03,-1.21801915e+00,-9.88074999e-04,
 -3.89305304e-04,-3.20060636e-03]


--- Step 1037 ---
qpos:
[ 9.23708755e-03, 2.58366104e-01,-2.30456259e-02, 2.35359759e-01,
  9.88657202e-03, 2.04113060e-01,-5.17622172e-02, 1.96129339e-01,
  1.40514827e-02, 3.30756175e-01,-1.41236408e-02, 2.24005574e-01,
  1.20439447e+00,-6.85282644e-04, 9.63399900e-01, 6.44907357e-02,
  7.66566184e-02,-7.37544149e-02, 1.33334833e-01, 4.86498268e-01,
  4.13076878e-01, 4.74887809e-01, 6.05944302e-01]

qacc:
[ 7.37183744e+00, 4.89499174e+01,-2.05171857e+02, 3.81848620e+02,
 -7.95549202e+02, 1.07353170e+02,-1.04860995e+03, 6.91098685e+03,
  5.17996040e-01,-4.96844571e+00,-9.97649566e+00, 8.83233966e+01,
  3.24275882e+00,-1.16322008e+01, 9.42296315e+00,-3.58719641e+01,
 -3.02319719e-01, 1.18600330e+00,-2.28091440e+00, 2.55101482e+00,
  7.95982718e+00,-2.59586799e+01]

qfrc_actuator:
[-1.01261349e-02, 2.34917432e-01, 1.58953371e-02, 1.59093106e-01,
 -5.65912182e-03, 2.55489542e-01, 3.23904349e-02, 1.49388896e-01,
 -2.20655649e-04, 2.32389897e-01, 1.90632558e-03, 1.52579723e-01,
  1.36545939e-02,-3.83632631e-03, 4.92668733e-04,-2.67795700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.14449622,  1.53296918,  3.85056546,  1.53296918,  7.95046529,
       -1.51521468,  3.85056546, -1.51521468,  4.74772643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010794351643345079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.85695823e-13, -5.14261098e-13,  1.00000000e+00,  1.98348357e-25,
        1.00000000e+00,  5.14261098e-13, -1.00000000e+00,  0.00000000e+00,
        3.85695823e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156025, -0.10868342,  0.061997  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99176383e-04, 4.50347297e-04,-3.26402605e-04, 5.28348693e-04,
 -1.39157989e-02, 8.92238340e-02, 5.18073698e-02, 2.69001303e-02,
  1.94993572e-05,-4.38091982e-04, 8.48208551e-05, 2.25874548e-04,
 -7.39390868e-04,-6.56088393e-04,-1.28193362e-04,-2.13199076e-04,
 -4.37622971e-05,-1.06390322e-03,-1.21808900e+00,-9.37682482e-04,
 -3.68286622e-04,-3.24697710e-03]


--- Step 1038 ---
qpos:
[ 9.02194447e-03, 2.62875591e-01,-2.27952765e-02, 2.38527887e-01,
  9.81691988e-03, 2.08017009e-01,-5.16761255e-02, 1.98964600e-01,
  1.40674898e-02, 3.35163680e-01,-1.41607674e-02, 2.27031230e-01,
  1.20475403e+00,-7.30671142e-04, 9.63657621e-01, 6.44877330e-02,
  7.59863981e-02,-7.38589623e-02, 1.33365540e-01, 4.86520915e-01,
  4.10131250e-01, 4.73706123e-01, 6.08845026e-01]

qacc:
[ 6.37525875e+00, 2.49472756e+01,-1.13988033e+02, 2.25560880e+02,
  6.57890335e+01, 2.06371675e+02,-3.47642362e+02,-4.34929585e+01,
 -6.24598090e-02,-2.67879707e+01, 9.21337051e+01,-1.51287588e+02,
  3.96347321e-01,-4.60167979e+00, 5.80976875e+00,-2.29116726e+01,
 -1.50451433e+00, 1.39727139e+00,-2.58116335e+00,-4.61224028e+00,
  2.58806535e+01,-2.80899782e+01]

qfrc_actuator:
[-9.95911952e-03, 2.34775168e-01, 1.56201435e-02, 1.59401613e-01,
 -5.59085920e-03, 2.56235294e-01, 3.22901401e-02, 1.49255049e-01,
 -2.41560641e-04, 2.31590675e-01, 1.88171436e-03, 1.52356758e-01,
  1.36151720e-02,-3.93763222e-03, 4.51196448e-04,-2.79761362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2044186 , -0.01032976,  0.20415744, -0.01032976,  0.79975706,
        0.03012235,  0.20415744,  0.03012235,  0.20594271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.277179173309554e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97096234, -0.16113   , -0.17683115, -0.15852255,  0.98693319,
       -0.02887004,  0.17917236,  0.        , -0.9838177 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10169293, -0.08166664,  0.11269039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.444416873271132e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21713803e-13,  3.28685521e-13,  1.00000000e+00, -2.70085430e-25,
        1.00000000e+00, -3.28685521e-13, -1.00000000e+00,  0.00000000e+00,
        8.21713803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156221, -0.10868258,  0.06199766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76089747e-04,-1.00681935e-04,-2.63910345e-04, 3.10459979e-04,
 -9.97214871e-04, 6.23087054e-02, 2.55370748e-02, 5.95033257e-03,
 -4.23797833e-06,-1.17274577e-03,-1.50406551e-04,-2.48745171e-04,
 -6.25061108e-04,-4.09499750e-04,-1.27105967e-04,-1.48554394e-04,
 -5.94681734e-05,-1.06490827e-03,-1.21808510e+00,-8.57498075e-04,
 -3.12528585e-04,-3.25767995e-03]


--- Step 1039 ---
qpos:
[ 8.81015787e-03, 2.67376270e-01,-2.25466640e-02, 2.41705035e-01,
  9.77050053e-03, 2.11997400e-01,-5.15789980e-02, 2.01789991e-01,
  1.40831073e-02, 3.39557607e-01,-1.41962462e-02, 2.30052034e-01,
  1.20511083e+00,-7.78776772e-04, 9.63915125e-01, 6.44840453e-02,
  7.53098264e-02,-7.39584612e-02, 1.33386068e-01, 4.86549912e-01,
  4.07115838e-01, 4.72553072e-01, 6.11734805e-01]

qacc:
[ 6.79355072e+00, 1.12775309e+01,-9.28728803e+01, 2.51835098e+02,
  6.84466807e+01, 5.03514207e+01, 7.11680318e+00,-2.47471848e+02,
 -5.27325391e-01,-3.23125632e+01, 1.08300325e+02,-1.81136422e+02,
  1.20660552e-01,-3.31798676e+00, 1.67228471e+00,-6.49265306e+00,
 -1.58783988e+00, 1.26214243e+00,-2.54476566e+00,-6.96831812e+00,
  2.44607230e+01,-2.69964438e+01]

qfrc_actuator:
[-0.00977471, 0.23391571, 0.0153753 , 0.15982463,-0.00555299, 0.25640541,
  0.03221723, 0.14948822,-0.00027822, 0.2307208 , 0.00188038, 0.1520979 ,
  0.01356277,-0.00403137, 0.00049698,-0.00281345, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20707207, -0.02706679, -0.20529547, -0.02706679,  0.99156829,
       -0.10343042, -0.20529547, -0.10343042,  0.22070866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011557770540843697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69158848e-01, -1.65520497e-01, -1.82576264e-01, -1.62659320e-01,
        9.86206350e-01, -3.06427900e-02,  1.85129881e-01, -3.46944695e-18,
       -9.82714062e-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([ 0.10120377, -0.08171017,  0.11276265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.175103443728513e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.98950953e-13, -4.49475476e-13,  1.00000000e+00,  4.04056408e-25,
        1.00000000e+00,  4.49475476e-13, -1.00000000e+00,  0.00000000e+00,
        8.98950953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156399, -0.10868115,  0.06199829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91160459e-04,-1.12198496e-03,-3.46746467e-04, 3.99654830e-04,
 -2.06136319e-03, 5.39617419e-02, 2.57419018e-02, 6.96946511e-03,
 -2.40903579e-05,-1.72212048e-03,-3.23485430e-04,-3.32932971e-04,
 -5.14054379e-04,-3.23242771e-04,-3.21551540e-05,-4.09771892e-05,
 -8.32007085e-05,-1.08352676e-03,-1.21809180e+00,-7.78783221e-04,
 -2.52853857e-04,-3.31910599e-03]


--- Step 1040 ---
qpos:
[ 8.60222026e-03, 2.71864157e-01,-2.23016096e-02, 2.44891871e-01,
  9.74756623e-03, 2.16031478e-01,-5.14748409e-02, 2.04604952e-01,
  1.40990069e-02, 3.43937176e-01,-1.42308593e-02, 2.33064068e-01,
  1.20546537e+00,-8.29014684e-04, 9.64172104e-01, 6.44818309e-02,
  7.46271552e-02,-7.40539520e-02, 1.33396941e-01, 4.86590202e-01,
  4.04036858e-01, 4.71417599e-01, 6.14613407e-01]

qacc:
[ 7.60549013e+00, 1.24092537e+01,-1.07002056e+02, 2.82323646e+02,
  6.75207352e+01, 3.04045682e+01, 3.68654834e+01,-2.63321201e+02,
  4.36844711e-01,-3.90747156e+01, 1.46543821e+02,-2.82961641e+02,
  1.57733935e-01,-2.73872221e+00,-5.28373304e+00, 1.72129935e+01,
 -1.52488116e+00, 1.00201062e+00,-2.41389403e+00,-9.74588095e+00,
  1.87772147e+01,-2.47706316e+01]

qfrc_actuator:
[-0.00956361, 0.23307851, 0.01511223, 0.16029339,-0.00552564, 0.25611214,
  0.03216351, 0.15052769,-0.00027072, 0.23004719, 0.00192829, 0.15166031,
  0.01352397,-0.00410225, 0.00048856,-0.00273231, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2125768 , -0.06108742, -0.20361047, -0.06108742,  1.08469664,
       -0.26165428, -0.20361047, -0.26165428,  0.29107859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019090768539887812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96728215, -0.16999898, -0.18832308, -0.16686584,  0.98544424,
       -0.03248761,  0.19110475,  0.        , -0.98156965])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.100708  , -0.08175355,  0.11284042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.983887329889191e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48347899e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.48347899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0815656 , -0.10867913,  0.06199889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19837277e-04,-1.68326141e-03,-5.82171391e-04, 4.01393382e-04,
 -3.19837877e-03, 4.96984065e-02, 2.50839023e-02, 8.48711815e-03,
  1.65012460e-05,-1.87143779e-03,-4.11266432e-04,-5.42286017e-04,
 -4.14393442e-04,-2.57003372e-04,-3.45496156e-05, 7.32988512e-05,
 -1.05918998e-04,-1.10311189e-03,-1.21810563e+00,-6.99236915e-04,
 -1.95694660e-04,-3.38110609e-03]


--- Step 1041 ---
qpos:
[ 8.39874350e-03, 2.76338493e-01,-2.20616750e-02, 2.48080148e-01,
  9.74788112e-03, 2.20104748e-01,-5.13688049e-02, 2.07408526e-01,
  1.41151435e-02, 3.48300733e-01,-1.42641004e-02, 2.36067002e-01,
  1.20581762e+00,-8.79285541e-04, 9.64428949e-01, 6.44766125e-02,
  7.39386863e-02,-7.41464676e-02, 1.33398663e-01, 4.86646648e-01,
  4.00900814e-01, 4.70288730e-01, 6.17480436e-01]

qacc:
[   8.5991399 ,  -0.78783284, -28.56037714,  69.58056248,  65.17051964,
   23.69119533,  37.02882702,-261.14004148,   0.371861  , -43.321604  ,
  159.69973223,-300.82701222,  -1.85538915,   2.06867603,   8.97893034,
  -31.44207105,  -1.44940018,   0.74379824,  -2.28778674, -12.39056289,
   12.99652866, -22.56538468]

qfrc_actuator:
[-0.00932058, 0.2324042 , 0.01484076, 0.16035925,-0.00547865, 0.25567504,
  0.0320854 , 0.15159387,-0.00027276, 0.22928452, 0.00200586, 0.1512101 ,
  0.01349336,-0.00405239, 0.00045299,-0.00289665, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22124708, -0.06060332, -0.21278512, -0.06060332,  1.02340869,
       -0.22846361, -0.21278512, -0.22846361,  0.28631579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026588841316952034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96532158, -0.17454103, -0.19413829, -0.17111485,  0.9846499 ,
       -0.03441334,  0.19716479,  0.        , -0.98037036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10020745, -0.08179669,  0.11292209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  4.09247819,  -1.97944364,  -3.58192415,  -1.97944364,
        32.1377727 , -15.49839625,  -3.58192415, -15.49839625,
        12.65720501,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.8576379349058425e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47066344e-13,  1.49413269e-12,  1.00000000e+00, -1.11621625e-24,
        1.00000000e+00, -1.49413269e-12, -1.00000000e+00,  0.00000000e+00,
        7.47066344e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08156706, -0.10867657,  0.06199948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55716371e-04,-1.88179199e-03,-7.34678244e-04,-3.30306547e-05,
 -4.32864136e-03, 4.64270454e-02, 2.46010851e-02, 1.00595602e-02,
  1.37717744e-05,-2.07014066e-03,-4.30017757e-04,-5.68182134e-04,
 -3.32412472e-04,-9.92257646e-05,-4.87591040e-05,-1.65850629e-04,
 -1.24584813e-04,-1.12121681e-03,-1.21812842e+00,-6.21244358e-04,
 -1.43559330e-04,-3.43494443e-03]


--- Step 1042 ---
qpos:
[ 8.19917375e-03, 2.80798741e-01,-2.18273117e-02, 2.51271136e-01,
  9.74653599e-03, 2.24212383e-01,-5.12597015e-02, 2.10193640e-01,
  1.41311237e-02, 3.52646098e-01,-1.42965926e-02, 2.39068155e-01,
  1.20616812e+00,-9.29424304e-04, 9.64685699e-01, 6.44667637e-02,
  7.32414508e-02,-7.42437310e-02, 1.33366840e-01, 4.86716818e-01,
  3.97767177e-01, 4.69145369e-01, 6.20314948e-01]

qacc:
[ 7.36051174e+00, 2.29845720e+00,-4.55470898e+01, 1.08524628e+02,
 -4.69443450e+00, 2.15296562e-01, 1.40236858e+02,-4.80935933e+02,
 -1.73600280e-01,-2.96952700e+01, 7.78558108e+01,-9.45856201e+01,
 -1.67386227e+00, 2.11235217e+00, 1.39394982e+01,-4.87285162e+01,
 -2.19167742e+00,-1.18696302e+00,-8.38598072e+00, 1.00700357e+00,
 -1.40144352e+01,-8.67863901e+00]

qfrc_actuator:
[-0.0091138 , 0.23181575, 0.01460272, 0.1605073 ,-0.00548228, 0.25519792,
  0.03197724, 0.15209538,-0.00029832, 0.22838704, 0.00204713, 0.15112897,
  0.01346245,-0.0040201 , 0.00043838,-0.00313339, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23334483, -0.09574545, -0.21279713, -0.09574545,  0.09402166,
        0.06268675, -0.21279713,  0.06268675,  0.2051397 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003385418249827765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96327   , -0.17911932, -0.20006793, -0.17537657,  0.98382736,
       -0.03642512,  0.20335675,  0.        , -0.97910471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09970339, -0.08183941,  0.11300649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24649621e-04,-1.95598505e-03,-7.75403789e-04, 2.71617091e-05,
 -5.49790901e-03, 4.38391383e-02, 2.43452806e-02, 1.11151733e-02,
 -1.03131230e-05,-2.32011506e-03,-5.10106603e-04,-2.08478692e-04,
 -2.48971143e-04,-6.40210721e-05,-6.14870788e-05,-2.53521309e-04,
 -1.38639041e-04,-1.13768687e-03,-1.21815954e+00,-5.46018771e-04,
 -9.62336131e-05,-3.48018536e-03]


--- Step 1043 ---
qpos:
[ 8.00303736e-03, 2.85255381e-01,-2.16040552e-02, 2.54476825e-01,
  9.76656050e-03, 2.28314151e-01,-5.11722381e-02, 2.12966675e-01,
  1.41469381e-02, 3.56977566e-01,-1.43315637e-02, 2.42074425e-01,
  1.20651729e+00,-9.79452141e-04, 9.64941206e-01, 6.44607899e-02,
  7.25389597e-02,-7.43376160e-02, 1.33331476e-01, 4.86808741e-01,
  3.94568521e-01, 4.68000542e-01, 6.23143984e-01]

qacc:
[ 6.26192140e+00, 5.55018624e+01,-2.61719629e+02, 5.21906779e+02,
  5.69119769e+01, 2.80242239e+01,-6.09688061e+01,-1.07924054e+02,
 -2.04872214e-01,-1.13495997e+00,-4.27846255e+01, 1.41742996e+02,
 -8.34029909e-01, 8.96937538e-01,-1.34755854e+01, 4.46034411e+01,
 -1.31389468e+00, 8.44630098e-01,-8.85405812e-01,-1.93195567e+01,
  1.36177212e+01,-2.30394070e+01]

qfrc_actuator:
[-0.00893   , 0.23252746, 0.01438725, 0.16132416,-0.00551843, 0.25541379,
  0.03184911, 0.15237623,-0.00031996, 0.22812737, 0.00208444, 0.15142538,
  0.0134367 ,-0.0039985 , 0.00043103,-0.00291366, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24614123, -0.11080063, -0.21979245, -0.11080063,  0.22422042,
        0.0110506 , -0.21979245,  0.0110506 ,  0.24057045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000395927769591014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96111005, -0.1836023 , -0.20629509, -0.17951363,  0.98300061,
       -0.03853126,  0.20986263,  0.        , -0.97773088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919088, -0.08188199,  0.11309007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09101393,  1.24584154, -3.89670038,  1.24584154, 12.77085887,
        2.77509439, -3.89670038,  2.77509439,  4.97825891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.802536006015545e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.77935815e-12,  5.77935815e-12,  1.00000000e+00, -3.34009806e-23,
        1.00000000e+00, -5.77935815e-12, -1.00000000e+00,  0.00000000e+00,
        5.77935815e-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([ 0.08155512, -0.10866056,  0.06199987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98440477e-04,-7.02324105e-04,-7.70656762e-04, 6.92798075e-04,
 -5.45081221e-03, 4.21844397e-02, 2.40096881e-02, 1.23038668e-02,
 -1.07781503e-05,-1.82233851e-03,-5.62625366e-04, 1.63035908e-04,
 -1.87207875e-04,-4.77672709e-05,-6.89498948e-05, 1.96610204e-04,
 -1.26171843e-04,-1.12572407e-03,-1.21816647e+00,-5.04183615e-04,
 -7.66397403e-05,-3.44361362e-03]


--- Step 1044 ---
qpos:
[ 7.81124034e-03, 2.89719736e-01,-2.13929031e-02, 2.57693973e-01,
  9.80502093e-03, 2.32381120e-01,-5.11286148e-02, 2.15728162e-01,
  1.41620451e-02, 3.61301081e-01,-1.43697094e-02, 2.45088523e-01,
  1.20686528e+00,-1.02884171e-03, 9.65195691e-01, 6.44574875e-02,
  7.18304423e-02,-7.44287689e-02, 1.33291606e-01, 4.86922914e-01,
  3.91304799e-01, 4.66850124e-01, 6.25969322e-01]

qacc:
[   7.7140867 ,  66.70166986,-266.82716836, 465.57256038,  47.80682303,
   52.31227157,-203.95801172,  96.05393952,  -0.93606227,  14.1061735 ,
  -96.29739716, 236.50671347,  -1.22840168,   1.98687789,  -9.48319663,
   31.19199452,  -1.50659414,   0.68299991,  -1.12644482, -21.10388501,
   12.97588366, -21.95516265]

qfrc_actuator:
[-0.00869007, 0.23390789, 0.01415758, 0.16197889,-0.00552544, 0.25644476,
  0.03176798, 0.15318253,-0.00037468, 0.22834213, 0.0021578 , 0.15187111,
  0.01341408,-0.00394785, 0.00038021,-0.00278176, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.26045534, -0.11633386, -0.23303094, -0.11633386,  0.1452626 ,
        0.0575066 , -0.23303094,  0.0575066 ,  0.23174686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044653267733254864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58831613e-01, -1.88106777e-01, -2.12738758e-01, -1.83640976e-01,
        9.82148584e-01, -4.07449573e-02,  2.16605472e-01, -6.93889390e-18,
       -9.76259222e-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([ 0.09868002, -0.08192453,  0.11317299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09109686,  1.69033112, -3.72556764,  1.69033112,  8.58980795,
        2.04111483, -3.72556764,  2.04111483,  5.01717317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.427107905951357e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.63703427e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.63703427e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08154437, -0.10864934,  0.06199982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52239430e-04, 6.96736007e-04,-5.02995398e-04, 5.96766082e-04,
 -6.52943928e-03, 4.33568386e-02, 2.49566758e-02, 1.36994494e-02,
 -4.39084475e-05,-1.06396932e-03,-4.17380492e-04, 3.38964747e-04,
 -1.43410785e-04,-1.36695599e-06,-6.25407921e-05, 1.33630203e-04,
 -1.40163130e-04,-1.14797978e-03,-1.21821431e+00,-4.26805791e-04,
 -2.84875692e-05,-3.50105723e-03]


--- Step 1045 ---
qpos:
[ 7.62323287e-03, 2.94188398e-01,-2.11862979e-02, 2.60913547e-01,
  9.85970894e-03, 2.36378802e-01,-5.11452989e-02, 2.18480493e-01,
  1.41766137e-02, 3.65616689e-01,-1.44092299e-02, 2.48114827e-01,
  1.20721231e+00,-1.07746648e-03, 9.65449859e-01, 6.44547075e-02,
  7.11149967e-02,-7.45178131e-02, 1.33246388e-01, 4.87059780e-01,
  3.87974762e-01, 4.65689855e-01, 6.28793539e-01]

qacc:
[   6.62981085,  23.14716446, -83.30375491, 125.77820148,  41.05793067,
   57.14086528,-296.13771522, 276.92331005,  -0.69347374,  17.97138613,
 -127.38793473, 337.64483253,  -1.30853222,   2.3019217 ,  -1.94617489,
    6.35853487,  -1.73201053,   0.52718609,  -1.33711281, -23.40698169,
   12.84072417, -20.92768804]

qfrc_actuator:
[-0.00848975, 0.23418847, 0.01396033, 0.16210765,-0.00553834, 0.25707292,
  0.03171041, 0.15457469,-0.00041313, 0.22818431, 0.00218348, 0.1525082 ,
  0.01339337,-0.00389808, 0.00037256,-0.00275616, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27378885, -0.11583685, -0.24807692, -0.11583685,  0.1200683 ,
        0.07177815, -0.24807692,  0.07177815,  0.24027281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004851802766721265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95641082, -0.19261417, -0.21949517, -0.18773367,  0.98127457,
       -0.04308466,  0.22368374,  0.        , -0.97466178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09817354, -0.08196744,  0.11325219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09097045,  1.89852904, -3.62375865,  1.89852904,  8.4725537 ,
        2.2955621 , -3.62375865,  2.2955621 ,  5.29364197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.674081796675721e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.26632752e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.26632752e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08153571, -0.10863952,  0.0619999 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21013760e-04, 4.29907709e-04,-1.52914431e-04, 1.36858901e-04,
 -7.46687220e-03, 4.55747875e-02, 2.70380469e-02, 1.56548543e-02,
 -3.36267569e-05,-9.74736405e-04,-2.84784050e-04, 5.70760524e-04,
 -1.05239252e-04, 1.77596721e-05,-2.39025633e-05, 2.45147632e-05,
 -1.51965522e-04,-1.17140850e-03,-1.21826747e+00,-3.51041592e-04,
  1.82239597e-05,-3.56035628e-03]


--- Step 1046 ---
qpos:
[ 7.43882159e-03, 2.98652912e-01,-2.09809740e-02, 2.64140545e-01,
  9.90294959e-03, 2.40293687e-01,-5.12151345e-02, 2.21223419e-01,
  1.41911200e-02, 3.69923158e-01,-1.44487682e-02, 2.51148141e-01,
  1.20755854e+00,-1.12501710e-03, 9.65704156e-01, 6.44495427e-02,
  7.03859731e-02,-7.46133852e-02, 1.33170494e-01, 4.87217298e-01,
  3.84652401e-01, 4.64512753e-01, 6.31577183e-01]

qacc:
[ 6.19626251e+00, 1.29240341e+01,-8.30486059e+01, 2.10255257e+02,
 -2.84751841e+01, 1.92661886e+01,-1.86390954e+02, 1.63786878e+02,
 -6.23184270e-02, 2.10177012e+00,-5.27379520e+01, 1.75900205e+02,
 -1.62778451e+00, 3.10744991e+00, 7.51422297e+00,-2.57184517e+01,
 -3.39453942e+00,-1.63198777e+00,-7.66910886e+00, 2.01840414e+00,
 -1.91918032e+01,-1.13209643e+01]

qfrc_actuator:
[-0.00829663, 0.23361417, 0.01376206, 0.16245785,-0.00559545, 0.257135  ,
  0.03168322, 0.15553948,-0.00042395, 0.22778833, 0.00219776, 0.15286204,
  0.01337915,-0.00383148, 0.00036949,-0.00288202, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28221986, -0.09629544, -0.26528332, -0.09629544,  0.06878686,
        0.07747425, -0.26528332,  0.07747425,  0.25409741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005065867126635775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95382134, -0.19710498, -0.2266594 , -0.1917649 ,  0.98038239,
       -0.04556966,  0.23119489,  0.        , -0.97290746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09767434, -0.08201116,  0.11332443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10170881e-04,-5.21331885e-04,-1.81644771e-04, 3.50036874e-04,
 -8.33771151e-03, 4.89541683e-02, 2.99745737e-02, 1.70639039e-02,
 -4.24299508e-06,-1.12532153e-03,-2.53343018e-04, 3.00458216e-04,
 -7.18286280e-05, 4.73860858e-05,-1.60107634e-05,-1.28614069e-04,
 -1.61635870e-04,-1.19679371e-03,-1.21832702e+00,-2.76960147e-04,
  6.36821994e-05,-3.62358827e-03]


--- Step 1047 ---
qpos:
[ 7.25788287e-03, 3.03105335e-01,-2.07765356e-02, 2.67375982e-01,
  9.96506436e-03, 2.44147282e-01,-5.13083908e-02, 2.23964244e-01,
  1.42059140e-02, 3.74218901e-01,-1.44877979e-02, 2.54185128e-01,
  1.20790410e+00,-1.17149396e-03, 9.65957685e-01, 6.44446498e-02,
  6.96504166e-02,-7.47057155e-02, 1.33092991e-01, 4.87397333e-01,
  3.81246189e-01, 4.63324285e-01, 6.34370389e-01]

qacc:
[  5.88125148,  3.36606645,-68.22884329,217.62004356, 45.86442848,
 -20.18688217,-36.13052428, 79.95114664,  0.38661979, -8.18379202,
  -5.99150539, 74.33733873, -1.34035353,  2.69418202, -1.84775759,
   5.0655336 , -1.63318895,  0.81046219, -0.40192812,-30.56796011,
  20.31945927,-22.07048301]

qfrc_actuator:
[-0.00810915, 0.23256918, 0.01354399, 0.16284618,-0.00562239, 0.25702292,
  0.03174448, 0.15570142,-0.00041845, 0.22727161, 0.00222216, 0.15304623,
  0.0133582 ,-0.00377314, 0.00033186,-0.00286528, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27627204, -0.10876831, -0.25396003, -0.10876831,  0.1224338 ,
        0.06588724, -0.25396003,  0.06588724,  0.24805326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004916820022779495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95103557, -0.20140407, -0.23445199, -0.19554959,  0.97950824,
       -0.04820744,  0.23935683,  0.        , -0.97093167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0971752 , -0.08205643,  0.11338432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09198762,  1.32357514, -3.87201647,  1.32357514,  9.24133765,
        1.76020731, -3.87201647,  1.76020731,  4.69368099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5401940733947295e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80208300e-12,  3.60416601e-12,  1.00000000e+00,  6.49500630e-24,
        1.00000000e+00, -3.60416601e-12, -1.00000000e+00,  0.00000000e+00,
       -1.80208300e-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([ 0.0815003 , -0.10861632,  0.06199957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03347562e-04,-1.52009184e-03,-3.93254635e-04, 3.51573874e-04,
 -7.79055120e-03, 5.28384580e-02, 3.26433450e-02, 1.76830578e-02,
  1.74806132e-05,-1.33461163e-03,-2.79447690e-04, 1.20331076e-04,
 -5.24163132e-05, 5.32514414e-05,-6.50059069e-05, 6.23068181e-06,
 -1.47749429e-04,-1.17953163e-03,-1.21833498e+00,-2.28400764e-04,
  8.85719551e-05,-3.57075402e-03]


--- Step 1048 ---
qpos:
[ 0.00707821, 0.30753933,-0.02057261, 0.27060866, 0.01004429, 0.24795869,
 -0.05141419, 0.22670406, 0.01422121, 0.37850059,-0.01452612, 0.25722743,
  1.20824873,-0.00121558, 0.96621023, 0.06444002, 0.06890797,-0.07479546,
  0.13301241, 0.48759999, 0.37776007, 0.46212207, 0.63717091]

qacc:
[   2.13421736, -28.42624267,  76.63163605,-107.08614897,  40.67432941,
  -22.90755698,   5.19371856,  27.66343611,   0.65886161,  -9.84331641,
  -12.92003659, 110.57789539,  -2.60105269,   5.60379183,  -2.03495797,
    5.50777756,  -1.72275804,   0.64604827,  -0.77058767, -29.8411418 ,
   18.14881231, -21.28438136]

qfrc_actuator:
[-0.00805064, 0.23125139, 0.01334966, 0.16266758,-0.00567472, 0.25680021,
  0.03183259, 0.15575093,-0.00040349, 0.22647464, 0.0022166 , 0.1533067 ,
  0.01334388,-0.00363143, 0.00027889,-0.00285344, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.26662468, -0.11534232, -0.24038484, -0.11534232,  0.12595735,
        0.06749551, -0.24038484,  0.06749551,  0.23423874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004652579420130742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48079471e-01, -2.05714967e-01, -2.42542096e-01, -1.99296704e-01,
        9.78611952e-01, -5.09850090e-02,  2.47842974e-01, -6.93889390e-18,
       -9.68800217e-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([ 0.09668236, -0.08210248,  0.11343934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09383399,  1.48161395, -3.8163198 ,  1.48161395,  8.51861509,
        1.71783753, -3.8163198 ,  1.71783753,  4.76075191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5358711430070735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37807350e-12,  1.64177756e-12,  1.00000000e+00,  7.18782283e-24,
        1.00000000e+00, -1.64177756e-12, -1.00000000e+00,  0.00000000e+00,
       -4.37807350e-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([ 0.0814774 , -0.10860402,  0.06199929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.37348442e-05,-2.39387295e-03,-6.00653851e-04,-2.64317290e-04,
 -8.78931987e-03, 5.55396267e-02, 3.38537037e-02, 1.78244597e-02,
  3.10318309e-05,-1.74416761e-03,-3.61631841e-04, 1.83480411e-04,
 -3.33437590e-05, 1.42491290e-04,-8.44240940e-05, 3.33589100e-06,
 -1.59691986e-04,-1.21587216e-03,-1.21841143e+00,-1.50382793e-04,
  1.38175322e-04,-3.66315356e-03]


--- Step 1049 ---
qpos:
[ 0.00689968, 0.31195555,-0.02037266, 0.27383118, 0.01013823, 0.25173129,
 -0.05153499, 0.22944372, 0.0142363 , 0.38276526,-0.01456301, 0.26027617,
  1.2085918 ,-0.00125435, 0.96646166, 0.06443362, 0.06815821,-0.07488323,
  0.13292746, 0.48782545, 0.37419665, 0.46090346, 0.6399775 ]

qacc:
[ 1.88586575e+00,-3.26779141e+01, 1.22205240e+02,-2.70190127e+02,
  3.42276550e+01,-1.00483625e+01,-3.72977635e+01, 8.46736064e+01,
 -2.30866302e-01,-1.34655941e+01,-1.02082400e+01, 1.27930470e+02,
 -5.60713447e+00, 1.23791874e+01, 4.17061207e+00,-1.58729135e+01,
 -1.82888645e+00, 4.93878035e-01,-1.08995997e+00,-2.97780202e+01,
  1.65059702e+01,-2.05498301e+01]

qfrc_actuator:
[-7.97992446e-03, 2.30420178e-01, 1.31517889e-02, 1.62156635e-01,
 -5.76583091e-03, 2.56498787e-01, 3.19530623e-02, 1.56123267e-01,
 -4.36444181e-04, 2.25570407e-01, 2.26367560e-03, 1.53627585e-01,
  1.33282513e-02,-3.31716314e-03, 2.00794342e-04,-2.95115605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25506885, -0.11507535, -0.22763519, -0.11507535,  0.11781916,
        0.06938319, -0.22763519,  0.06938319,  0.21999389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042879387934302224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44163804e-01, -2.14040880e-01, -2.50481962e-01, -2.06884256e-01,
        9.76824704e-01, -5.48853643e-02,  2.56424680e-01,  6.93889390e-18,
       -9.66564216e-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([ 0.09620295, -0.08219642,  0.11349555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09463344,  1.57203227, -3.78083821,  1.57203227,  8.36272923,
        1.77462878, -3.78083821,  1.77462878,  4.83250519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8612700438621075e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88017561e-12,  1.09129939e-12,  1.00000000e+00, -4.23443328e-24,
        1.00000000e+00, -1.09129939e-12, -1.00000000e+00,  0.00000000e+00,
        3.88017561e-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([ 0.08145901, -0.10859352,  0.0619992 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71981038e-05,-2.46343816e-03,-8.30150255e-04,-6.52348099e-04,
 -9.73841693e-03, 5.72091068e-02, 3.45535234e-02, 1.82339337e-02,
 -1.43329709e-05,-2.09379930e-03,-4.00910706e-04, 2.25264435e-04,
 -3.07842373e-06, 3.38521098e-04,-1.18112360e-04,-1.08706057e-04,
 -1.68777767e-04,-1.25055838e-03,-1.21848870e+00,-7.25468698e-05,
  1.87428247e-04,-3.75035647e-03]


--- Step 1050 ---
qpos:
[ 0.0067251 , 0.31635791,-0.02018082, 0.27705928, 0.01025158, 0.25546814,
 -0.05166456, 0.23218493, 0.01425113, 0.38700983,-0.01459745, 0.2633317 ,
  1.20893308,-0.0012857 , 0.96671169, 0.06442742, 0.06740351,-0.07496802,
  0.13284164, 0.48807577, 0.37054983, 0.45965486, 0.64280034]

qacc:
[   6.24025963,  15.33280334,-102.17380369, 214.50305566,  44.18411409,
  -19.79385539,  -4.00434871,  69.35183599,  -0.25081704, -19.75269013,
    4.90217186, 119.16726339,  -7.36515576,  16.66321419,  -2.03130258,
    5.5527206 ,  -1.23246798,   0.74577785,  -0.22045357, -38.33392353,
   16.68603363, -17.59834278]

qfrc_actuator:
[-7.74250842e-03, 2.30171677e-01, 1.29199787e-02, 1.62484439e-01,
 -5.86690713e-03, 2.55932838e-01, 3.21004069e-02, 1.56387073e-01,
 -4.62118257e-04, 2.24503879e-01, 2.35907614e-03, 1.53963699e-01,
  1.33066104e-02,-2.90326505e-03, 1.44942825e-04,-2.93515667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24282495, -0.11854456, -0.21192249, -0.11854456,  0.13374868,
        0.06101475, -0.21192249,  0.06101475,  0.2086947 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003823948370372197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94085695, -0.21833763, -0.25906924, -0.21050323,  0.97587329,
       -0.05796302,  0.26547426,  0.        , -0.96411795])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09571803, -0.08224365,  0.11354334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09691262,  1.89067845, -3.63456022,  1.89067845,  6.60032589,
        1.30226196, -3.63456022,  1.30226196,  4.77434221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.631851267778263e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52845332e-12,  1.52845332e-12,  1.00000000e+00, -2.33616955e-24,
        1.00000000e+00, -1.52845332e-12, -1.00000000e+00,  0.00000000e+00,
        1.52845332e-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([ 0.07886146, -0.10362459,  0.06199899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33208784e-04,-1.98229788e-03,-9.19390502e-04, 1.68176979e-04,
 -1.05777669e-02, 5.84463800e-02, 3.54030446e-02, 1.84927578e-02,
 -1.61791192e-05,-2.45695873e-03,-4.27595992e-04, 2.25451617e-04,
  5.33422324e-05, 4.87112593e-04,-1.23431488e-04,-5.43369545e-06,
 -1.75063178e-04,-1.28441649e-03,-1.21856803e+00, 4.86153797e-06,
  2.36363725e-04,-3.83448967e-03]


--- Step 1051 ---
qpos:
[ 0.00655471, 0.32074691,-0.01999543, 0.28030301, 0.0103811 , 0.25918017,
 -0.05179742, 0.23492852, 0.01426607, 0.39123219,-0.01462956, 0.2663851 ,
  1.20927259,-0.00130812, 0.96696101, 0.06442195, 0.06664326,-0.07505067,
  0.13275335, 0.48835138, 0.36682476, 0.45837508, 0.64563519]

qacc:
[ 6.52422385e+00, 3.14646618e+01,-1.97790687e+02, 4.71942537e+02,
  3.60647442e+01,-1.89674025e+01, 1.03084502e+01, 5.33616605e+01,
  1.66151376e-01,-4.00119722e+01, 1.07887245e+02,-1.28592560e+02,
 -8.62224626e+00, 1.98354157e+01,-2.52283744e+00, 9.02437079e+00,
 -1.39058654e+00, 5.34288266e-01,-6.15638292e-01,-3.65655305e+01,
  1.39552701e+01,-1.74028862e+01]

qfrc_actuator:
[-7.51483570e-03, 2.29814420e-01, 1.27267633e-02, 1.63303811e-01,
 -5.98453377e-03, 2.55611193e-01, 3.22281639e-02, 1.56477601e-01,
 -4.65559171e-04, 2.23314369e-01, 2.42861831e-03, 1.53844477e-01,
  1.32867620e-02,-2.41604133e-03, 1.45113112e-04,-2.88768576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23185933, -0.12083486, -0.19788301, -0.12083486,  0.13132556,
        0.06138973, -0.19788301,  0.06138973,  0.19437244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033082189752886294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93738712, -0.22263612, -0.26784054, -0.21406901,  0.97490162,
       -0.06116615,  0.27473597,  0.        , -0.96151971])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09523818, -0.08229098,  0.11358883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09976812, -1.91931017,  3.62275408, -1.91931017,  2.29658556,
       -0.9553137 ,  3.62275408, -0.9553137 ,  3.5936495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4104366916764004e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43973723e-13,  6.29315815e-13,  1.00000000e+00, -5.94057593e-25,
        1.00000000e+00, -6.29315815e-13, -1.00000000e+00,  0.00000000e+00,
        9.43973723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07882839, -0.10362015,  0.06199877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49446799e-04,-1.80498734e-03,-7.64155597e-04, 6.93239704e-04,
 -1.16684251e-02, 5.97765257e-02, 3.59234315e-02, 1.84931807e-02,
  5.46401574e-06,-2.78741928e-03,-5.31102533e-04,-2.45865636e-04,
  1.22595016e-04, 6.04979313e-04,-5.78250379e-05, 3.12475208e-05,
 -1.75331727e-04,-1.32582928e-03,-1.21866815e+00, 7.46701395e-05,
  2.80547018e-04,-3.93479156e-03]


--- Step 1052 ---
qpos:
[ 0.00638694, 0.32512681,-0.01981684, 0.28355985, 0.01052247, 0.26287986,
 -0.05194568, 0.23767355, 0.01428082, 0.39543853,-0.01466501, 0.26944409,
  1.2096097 ,-0.00131808, 0.96720997, 0.06441798, 0.0658768 ,-0.0751319 ,
  0.13266121, 0.48865258, 0.36302477, 0.45706277, 0.64847922]

qacc:
[ 3.98729945e+00, 3.30144055e+01,-1.85172223e+02, 4.14955561e+02,
  2.58260778e+01, 2.90570525e+01,-1.31964623e+02, 1.85380695e+02,
 -2.05017695e-01,-6.96624625e-01,-4.98346548e+01, 1.58280206e+02,
 -1.19543293e+01, 2.75513025e+01,-4.05053808e+00, 1.58127983e+01,
 -1.55129183e+00, 3.55036108e-01,-9.62612146e-01,-3.55922789e+01,
  1.20628040e+01,-1.72281383e+01]

qfrc_actuator:
[-7.38360511e-03, 2.29823029e-01, 1.25583075e-02, 1.63997542e-01,
 -6.11661342e-03, 2.56841967e-01, 3.23421695e-02, 1.56888763e-01,
 -4.91412294e-04, 2.23019851e-01, 2.44629322e-03, 1.54168342e-01,
  1.32574004e-02,-1.72955172e-03, 1.52255901e-04,-2.80419549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22242611, -0.11849709, -0.1882334 , -0.11849709,  0.11986811,
        0.06456252, -0.1882334 ,  0.06456252,  0.18178257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002741661728555818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33755090e-01, -2.26924534e-01, -2.76779132e-01, -2.17567772e-01,
        9.73912345e-01, -6.44903784e-02,  2.84193062e-01, -6.93889390e-18,
       -9.58767075e-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([ 0.09476179, -0.08233837,  0.11363259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.10018589, -1.9844838 ,  3.58794487, -1.9844838 ,  2.33216445,
       -0.97788847,  3.58794487, -0.97788847,  3.5593181 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5130244963192956e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.15010524e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.15010524e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.078802  , -0.10361562,  0.06199874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56383591e-04,-1.28509451e-03,-6.65516850e-04, 5.90853164e-04,
 -1.26112249e-02, 6.21143071e-02, 3.61548560e-02, 1.87719574e-02,
 -1.26940944e-05,-2.11729665e-03,-6.79452284e-04, 1.70694738e-04,
  1.81537490e-04, 8.44888966e-04,-1.98386750e-05, 7.69919823e-05,
 -1.72475298e-04,-1.36407633e-03,-1.21876710e+00, 1.45036827e-04,
  3.25441315e-04,-4.02633656e-03]


--- Step 1053 ---
qpos:
[ 0.00622177, 0.32950385,-0.01964649, 0.28683045, 0.01067256, 0.26657393,
 -0.05211237, 0.2404204 , 0.01429539, 0.39963576,-0.01470573, 0.27252531,
  1.2099451 ,-0.00131574, 0.96745925, 0.06440969, 0.06510355,-0.07521231,
  0.13256399, 0.4889795 , 0.35915201, 0.45571662, 0.65133036]

qacc:
[ 3.84834041e+00, 4.65061637e+01,-2.23397664e+02, 4.60131562e+02,
  1.85387455e+01, 4.68711213e+01,-1.83645746e+02, 2.41428209e+02,
 -2.08239927e-01, 4.72639338e+01,-2.71946500e+02, 6.50752687e+02,
 -1.16455849e+01, 2.72074975e+01, 1.45568565e+01,-4.78905633e+01,
 -1.69609662e+00, 2.04703261e-01,-1.26883605e+00,-3.50475708e+01,
  1.07318767e+01,-1.70849055e+01]

qfrc_actuator:
[-7.23933322e-03, 2.30283019e-01, 1.23721246e-02, 1.64736417e-01,
 -6.25952986e-03, 2.58628836e-01, 3.24968849e-02, 1.57439039e-01,
 -5.12710737e-04, 2.23300542e-01, 2.47307292e-03, 1.55354792e-01,
  1.32277771e-02,-1.09036066e-03, 1.36946633e-04,-3.03746359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21464973, -0.11479549, -0.18137392, -0.11479549,  0.11292914,
        0.06438117, -0.18137392,  0.06438117,  0.17390149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002118070522442508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29957848e-01, -2.31191599e-01, -2.85882574e-01, -2.20985323e-01,
        9.72908241e-01, -6.79341037e-02,  2.93843306e-01, -1.38777878e-17,
       -9.55853604e-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([ 0.09428799, -0.0823859 ,  0.11367458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09840878,  1.92206025, -3.61975675,  1.92206025, 21.177433  ,
        9.06881753, -3.61975675,  9.06881753,  8.91387425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.058587599979624e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39355471e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.39355471e-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([ 0.07878102, -0.10361103,  0.06199886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55517974e-04,-5.26597640e-04,-5.67416979e-04, 6.59194777e-04,
 -1.33492520e-02, 6.43848288e-02, 3.70346776e-02, 1.92372159e-02,
 -1.18224579e-05,-1.17967847e-03,-5.35942332e-04, 1.06466672e-03,
  2.71670134e-04, 8.61951111e-04,-2.22894013e-05,-2.32895617e-04,
 -1.66707922e-04,-1.40029904e-03,-1.21886634e+00, 2.15814645e-04,
  3.71097178e-04,-4.11222435e-03]


--- Step 1054 ---
qpos:
[ 0.00605989, 0.33387881,-0.01948141, 0.29010525, 0.0108291 , 0.2702581 ,
 -0.05229182, 0.24317099, 0.01430983, 0.4038256 ,-0.0147472 , 0.27562256,
  1.21028112,-0.0013079 , 0.96770835, 0.06439994, 0.06432304,-0.0752924 ,
  0.13246061, 0.48933212, 0.35520793, 0.45433547, 0.65418704]

qacc:
[ 4.81793393e+00, 2.02401684e+01,-9.17118104e+01, 1.68255713e+02,
  1.34595693e+01, 2.94606482e+01,-1.37998698e+02, 2.24072367e+02,
 -1.40102515e-01, 2.44414897e+01,-1.63550270e+02, 4.33190100e+02,
 -4.11443027e+00, 1.09608504e+01, 4.50278247e+00,-1.52365036e+01,
 -1.81790072e+00, 8.05614013e-02,-1.54088281e+00,-3.47127496e+01,
  9.81641216e+00,-1.69857293e+01]

qfrc_actuator:
[-7.05275154e-03, 2.30425408e-01, 1.21972227e-02, 1.64963918e-01,
 -6.39279332e-03, 2.59504894e-01, 3.26674411e-02, 1.58018583e-01,
 -5.31210895e-04, 2.23304493e-01, 2.57960932e-03, 1.56187791e-01,
  1.31926958e-02,-8.92682699e-04, 1.50724431e-04,-3.10049547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20874992, -0.11123732, -0.17664311, -0.11123732,  0.108357  ,
        0.06322035, -0.17664311,  0.06322035,  0.16893822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014321904796853844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92599214, -0.23542818, -0.29514765, -0.22430959,  0.97189175,
       -0.07149569,  0.30368367,  0.        , -0.95277292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09381603, -0.08243367,  0.11371481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09541631,  2.06146531, -3.53875621,  2.06146531, 15.39898947,
        6.58477795, -3.53875621,  6.58477795,  7.93130962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.147389355384611e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40930125e-13,  8.81860249e-13,  1.00000000e+00, -3.88838750e-25,
        1.00000000e+00, -8.81860249e-13, -1.00000000e+00,  0.00000000e+00,
        4.40930125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0787644 , -0.10360639,  0.06199912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98463296e-04,-3.96860661e-04,-3.85534028e-04, 1.84297102e-04,
 -1.39198192e-02, 6.54090901e-02, 3.80807011e-02, 1.97135828e-02,
 -8.71986690e-06,-8.64515921e-04,-2.14704220e-04, 7.73152124e-04,
  3.22116284e-04, 4.45142379e-04,-2.94178462e-05,-8.04162261e-05,
 -1.58168495e-04,-1.43519000e-03,-1.21896668e+00, 2.86980734e-04,
  4.17599558e-04,-4.19439615e-03]


--- Step 1055 ---
qpos:
[ 0.00590064, 0.33825175,-0.01932018, 0.29336968, 0.01098974, 0.27393513,
 -0.05247513, 0.24592692, 0.01432418, 0.40800836,-0.01478783, 0.27871909,
  1.21061926,-0.00130103, 0.96795678, 0.06439378, 0.06353493,-0.07537254,
  0.1323501 , 0.48971   , 0.35119359, 0.4529189 , 0.65704768]

qacc:
[ 3.77352605e+00,-1.26391505e+01, 8.14834167e+01,-2.44236307e+02,
  8.44884592e+00, 1.17094968e+01,-7.65190826e+01, 1.75539434e+02,
 -9.22783270e-02,-1.30934360e+01, 3.56874028e+01,-4.29300173e+01,
  2.60761813e+00,-4.08138486e+00,-1.20015795e+01, 4.01171928e+01,
 -1.89666875e+00,-1.22911681e-02,-1.78478328e+00,-3.41594210e+01,
  9.27417421e+00,-1.69653000e+01]

qfrc_actuator:
[-6.91353366e-03, 2.30430847e-01, 1.20294042e-02, 1.64444820e-01,
 -6.52147639e-03, 2.59965250e-01, 3.28314504e-02, 1.58364487e-01,
 -5.48008048e-04, 2.23055574e-01, 2.64280834e-03, 1.56149180e-01,
  1.31648417e-02,-1.04680384e-03, 1.60684530e-04,-2.90276058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20504903, -0.1104109 , -0.17278465, -0.1104109 ,  0.10630417,
        0.06309883, -0.17278465,  0.06309883,  0.16472832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.777030597212083e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22676329e-01, -2.35627411e-01, -3.05201760e-01, -2.23706638e-01,
        9.71843466e-01, -7.39974112e-02,  3.14044155e-01,  1.38777878e-17,
       -9.49408378e-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([ 0.09333573, -0.08243396,  0.11374547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.09248876,  2.23522801, -3.42815111,  2.23522801, 11.59047995,
        4.88885097, -3.42815111,  4.88885097,  7.28012439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.86388608795357e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.44562015e-13,  1.48912403e-12,  1.00000000e+00,  1.10874519e-24,
        1.00000000e+00, -1.48912403e-12, -1.00000000e+00,  0.00000000e+00,
       -7.44562015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07875129, -0.10360171,  0.06199948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58819839e-04,-4.43520944e-04,-3.45585226e-04,-5.60006778e-04,
 -1.43717247e-02, 6.62316136e-02, 3.88371677e-02, 1.98593635e-02,
 -6.34933189e-06,-8.86921610e-04,-1.63659878e-04,-7.99865402e-05,
  2.62552590e-04, 1.60207935e-05,-1.54374143e-05, 1.88760536e-04,
 -1.46973490e-04,-1.46918872e-03,-1.21906844e+00, 3.58615472e-04,
  4.65065255e-04,-4.27414237e-03]


--- Step 1056 ---
qpos:
[ 0.00574284, 0.34262312,-0.01916273, 0.29661595, 0.01089174, 0.27802496,
 -0.05226047, 0.24898179, 0.01433845, 0.41218288,-0.01482832, 0.28180655,
  1.21095952,-0.00129806, 0.96820408, 0.06439179, 0.06274477,-0.07544868,
  0.13223088, 0.49009303, 0.34711679, 0.45151776, 0.65988671]

qacc:
[ 2.04486782e+00,-2.77865186e+01, 1.66146936e+02,-4.55851564e+02,
 -5.20718518e+02, 3.28296758e+01,-5.46284432e+02, 4.67206200e+03,
 -6.40315129e-02,-2.94712732e+01, 1.24281954e+02,-2.66674207e+02,
  5.08764764e+00,-1.02543973e+01,-1.46699893e+01, 4.79665330e+01,
 -5.15788729e-01, 9.99787746e-01,-2.17438698e+00,-6.23539106e+00,
  1.93424012e+01,-2.38322347e+01]

qfrc_actuator:
[-6.83888932e-03, 2.30496920e-01, 1.18842918e-02, 1.63543918e-01,
 -6.68315919e-03, 2.60425940e-01, 3.29877493e-02, 1.58283076e-01,
 -5.63767863e-04, 2.22622077e-01, 2.62547198e-03, 1.55686697e-01,
  1.31464939e-02,-1.31897568e-03, 9.91698837e-05,-2.69504397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09094465,  2.51338016, -3.22780859,  2.51338016,  6.85814022,
        2.15471713, -3.22780859,  2.15471713,  5.76874652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.796785314299055e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48102486e-11,  1.98481989e-11,  1.00000000e+00, -4.92438750e-22,
        1.00000000e+00, -1.98481989e-11, -1.00000000e+00,  0.00000000e+00,
        2.48102486e-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([ 0.07874098, -0.10359695,  0.06199992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.81756749e-05,-4.31716400e-04,-3.52876586e-04,-9.57043720e-04,
 -1.47396443e-02, 6.69180642e-02, 3.91419844e-02, 1.94982683e-02,
 -4.84656295e-06,-1.10899821e-03,-2.71631634e-04,-5.19842669e-04,
  1.38679684e-04,-2.07666941e-04,-4.80007724e-05, 2.16039328e-04,
 -1.33364328e-04,-1.50239142e-03,-1.21917096e+00, 4.30977958e-04,
  5.13660624e-04,-4.35196611e-03]


--- Step 1057 ---
qpos:
[ 0.00558567, 0.34698486,-0.01900657, 0.29986437, 0.01076434, 0.28244138,
 -0.051907  , 0.25207216, 0.01435268, 0.41634475,-0.01486744, 0.28488642,
  1.21130121,-0.00129981, 0.96845065, 0.06439003, 0.06195459,-0.07552484,
  0.13207235, 0.49046696, 0.34302659, 0.45010892, 0.66270422]

qacc:
[ 8.88633988e-01,-4.81398187e+00,-9.46996951e+00, 5.34187195e+01,
 -5.82870853e+01, 1.16433596e+02, 6.12416613e+01, 9.43506716e+01,
 -3.51732069e-02,-3.56677962e+01, 1.31858772e+02,-2.47676851e+02,
  4.99546594e+00,-1.09689979e+01,-2.16528875e+00, 5.01550127e+00,
 -2.10009882e-03,-6.89216608e-03,-9.83034983e+00, 6.11952577e-01,
  8.51057618e-01,-3.96305928e+00]

qfrc_actuator:
[-6.80286630e-03, 2.29747592e-01, 1.17365008e-02, 1.63650801e-01,
 -6.58579119e-03, 2.60576247e-01, 3.27391332e-02, 1.58217617e-01,
 -5.78891994e-04, 2.21833279e-01, 2.63117383e-03, 1.55298087e-01,
  1.31177956e-02,-1.60538759e-03, 3.74414578e-05,-2.69639484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.78899043e-05,-1.25833621e-03,-3.67381790e-04, 4.32363479e-05,
 -1.66829883e-03, 4.62852696e-02, 1.89451636e-02, 4.46550004e-03,
 -3.98676743e-06,-1.62857226e-03,-3.22332677e-04,-4.67519648e-04,
  4.01039043e-06,-2.98137804e-04,-5.82469230e-05, 4.73599790e-06,
 -1.38813090e-04,-1.52223043e-03,-1.21920505e+00, 5.31061792e-04,
  5.77060036e-04,-4.40791741e-03]


--- Step 1058 ---
qpos:
[ 0.00542949, 0.35132611,-0.01884948, 0.30312771, 0.01063567, 0.2870689 ,
 -0.05147364, 0.25518438, 0.01436685, 0.42048897,-0.01490389, 0.28795972,
  1.21164377,-0.00130694, 0.96869722, 0.06438583, 0.06116441,-0.07560104,
  0.13187449, 0.49083178, 0.33892308, 0.44869244, 0.66550011]

qacc:
[ 1.39031935e+00, 7.29746574e-02,-9.69149546e+01, 3.54019818e+02,
 -2.65733904e+00, 1.00143819e+02,-4.39866431e+01, 1.38866097e+02,
 -1.37950464e-02,-4.38638719e+01, 1.47334171e+02,-2.44177447e+02,
  4.96053990e+00,-1.16196722e+01, 6.91244442e+00,-2.51958265e+01,
 -1.89321429e-03,-6.87660872e-03,-9.83037672e+00, 6.31414588e-01,
  8.76155856e-01,-3.96343166e+00]

qfrc_actuator:
[-6.73651438e-03, 2.28180419e-01, 1.15861478e-02, 1.64367065e-01,
 -6.45876793e-03, 2.60390407e-01, 3.24007909e-02, 1.58341111e-01,
 -5.93622944e-04, 2.20750253e-01, 2.68493307e-03, 1.54955938e-01,
  1.30828731e-02,-1.91572823e-03, 3.94998258e-05,-2.82089855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.93875039e-05,-2.49821023e-03,-5.07060592e-04, 6.37695738e-04,
 -6.33393686e-05, 2.96096148e-02, 1.16083414e-02, 2.79470355e-03,
 -3.60701598e-06,-2.22059525e-03,-3.85236979e-04,-4.43298387e-04,
 -1.02224040e-04,-3.72275525e-04,-2.40452915e-05,-1.31790010e-04,
 -1.11661719e-04,-1.52219549e-03,-1.21920811e+00, 5.58999732e-04,
  5.89866061e-04,-4.40315610e-03]


--- Step 1059 ---
qpos:
[ 0.0052755 , 0.35564301,-0.01869269, 0.30638906, 0.01050948, 0.29182463,
 -0.05099018, 0.25830821, 0.01438153, 0.42461335,-0.01493895, 0.29102481,
  1.21198694,-0.00132069, 0.96894299, 0.06438156, 0.06037051,-0.07567225,
  0.13167933, 0.49120781, 0.33473537, 0.4473008 , 0.66827323]

qacc:
[   2.99528428, -35.28202609,  86.43813534, -99.42583079,   4.54117934,
   53.242377  ,   6.73755856,  21.63270712,   0.56971047, -46.46594652,
  158.7489659 ,-278.82742666,   5.91353419, -14.17505281,  -1.4987468 ,
    2.31717751,  -0.92999186,   1.2457198 ,   0.67483578,  -9.18535455,
   27.7459725 , -32.42435071]

qfrc_actuator:
[-0.00659931, 0.22666984, 0.01143254, 0.16422814,-0.00631257, 0.25952618,
  0.03199426, 0.15827562,-0.0005726 , 0.21967827, 0.00271241, 0.15453717,
  0.01303356,-0.00229113, 0.        ,-0.00282145, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.414123399076875e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20076572e-12,  6.28790206e-13,  1.00000000e+00, -1.38381993e-24,
        1.00000000e+00, -6.28790206e-13, -1.00000000e+00,  0.00000000e+00,
        2.20076572e-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([ 0.0786892 , -0.10353563,  0.06199875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33850021e-04,-3.13705475e-03,-7.61494417e-04,-2.61873589e-04,
  1.48415383e-04, 1.80214310e-02, 7.14558647e-03, 1.61727900e-03,
  3.20010448e-05,-2.55136628e-03,-5.39774410e-04,-5.46116554e-04,
 -1.95631405e-04,-4.77785139e-04,-6.81998525e-05,-1.17391358e-05,
 -8.44844575e-05,-1.52209634e-03,-1.21921091e+00, 5.86930606e-04,
  6.02614199e-04,-4.39829384e-03]


--- Step 1060 ---
qpos:
[ 0.005124  , 0.35994049,-0.01854115, 0.30964147, 0.01038633, 0.29664995,
 -0.05047566, 0.26144358, 0.01439661, 0.42871794,-0.01497428, 0.29408162,
  1.21232967,-0.00133989, 0.96918832, 0.06437789, 0.0595729 ,-0.07573889,
  0.13148422, 0.49159358, 0.33046629, 0.44593209, 0.67102336]

qacc:
[ 3.30993889e+00,-2.88414287e+01, 9.99836643e+01,-2.23269088e+02,
  5.57447510e+00, 2.84733747e+01,-1.59228467e+01, 1.12872867e+02,
  4.50566579e-01,-4.19146181e+01, 1.43050110e+02,-2.62215019e+02,
  4.19243294e+00,-1.09525124e+01,-2.84062925e+00, 8.07755919e+00,
 -9.26399412e-01, 1.14414354e+00, 1.16337346e-02,-8.81581757e+00,
  2.67924376e+01,-3.09314277e+01]

qfrc_actuator:
[-0.00645672, 0.22603963, 0.01127784, 0.16380009,-0.0061581 , 0.25802256,
  0.0315624 , 0.15841779,-0.00056616, 0.21878193, 0.00272433, 0.15412996,
  0.01296496,-0.00257791, 0.        ,-0.00278453, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11624433, -3.79777177,  1.5875758 , -3.79777177,  7.82089019,
        8.86219068,  1.5875758 ,  8.86219068, 25.3162258 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.44503733215579e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59209599e-13,  3.72806399e-13,  1.00000000e+00,  2.08476917e-25,
        1.00000000e+00, -3.72806399e-13, -1.00000000e+00,  0.00000000e+00,
       -5.59209599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07866696, -0.10350611,  0.06199789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52919982e-04,-2.70262158e-03,-9.55345076e-04,-6.03885649e-04,
  1.80000450e-04, 9.93169330e-03, 4.14446076e-03, 1.16000612e-03,
  2.54545760e-05,-2.59565359e-03,-6.45379180e-04,-5.55483204e-04,
 -2.94035144e-04,-4.33161736e-04,-3.30278048e-05, 2.73724312e-05,
 -1.02524831e-04,-1.55148347e-03,-1.21926138e+00, 7.22630017e-04,
  6.88342161e-04,-4.48138318e-03]


--- Step 1061 ---
qpos:
[ 0.00497537, 0.36422427,-0.01839757, 0.31290682, 0.01030514, 0.30145547,
 -0.05000004, 0.26455531, 0.01441139, 0.43280572,-0.01501267, 0.29714663,
  1.21267095,-0.00136204, 0.96943284, 0.06437966, 0.05877084,-0.07580192,
  0.13128695, 0.49199048, 0.32611737, 0.44457743, 0.67375347]

qacc:
[ 3.71968693e+00, 2.97117392e+01,-1.80262299e+02, 4.09149271e+02,
  7.50528289e+01, 3.47294603e+01,-6.49083470e+01,-2.61354003e+02,
 -2.95742510e-01, 2.67671363e+00,-7.29500619e+01, 2.22981507e+02,
  1.65286171e+00,-5.41831932e+00,-1.77873531e+01, 6.00824640e+01,
 -1.11263072e+00, 9.00033852e-01,-5.38595457e-01,-1.22843261e+01,
  2.44525695e+01,-2.87848564e+01]

qfrc_actuator:
[-0.0062943 , 0.22601347, 0.0111453 , 0.16451999,-0.00603575, 0.25687051,
  0.0310966 , 0.15896403,-0.00060407, 0.21833617, 0.00272803, 0.15458515,
  0.01290616,-0.00270352, 0.        ,-0.00249498, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20407269, -0.11597456, -0.16791534, -0.11597456,  0.07412895,
        0.0897486 , -0.16791534,  0.0897486 ,  0.14208577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7510005229087762e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89690389, -0.26262509, -0.35579696, -0.24411852,  0.96489795,
       -0.09684051,  0.3687405 ,  0.        , -0.92953238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09000717, -0.08274167,  0.11440663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.12990685, -0.40489732, -4.1100108 , -0.40489732, 32.17823531,
       -2.76317837, -4.1100108 , -2.76317837,  4.4021211 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.223083097750773e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.52339953e-13,  3.00935981e-13,  1.00000000e+00, -2.26406162e-25,
        1.00000000e+00, -3.00935981e-13, -1.00000000e+00,  0.00000000e+00,
        7.52339953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07864871, -0.10348173,  0.06199737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76936598e-04,-1.90904381e-03,-8.78814747e-04, 5.48956905e-04,
  1.49836246e-04, 5.12218143e-03, 2.06020198e-03, 1.11138801e-03,
 -2.04187435e-05,-2.19092878e-03,-6.75523504e-04, 3.01493855e-04,
 -3.30817631e-04,-2.85463176e-04,-1.54113280e-05, 2.86089628e-04,
 -1.17805391e-04,-1.58031128e-03,-1.21931209e+00, 8.56900038e-04,
  7.70867406e-04,-4.56157082e-03]


--- Step 1062 ---
qpos:
[ 0.00482957, 0.36849866,-0.01826104, 0.31619214, 0.01025905, 0.30620608,
 -0.04957059, 0.26764643, 0.01442612, 0.43687889,-0.01505338, 0.30023307,
  1.21301065,-0.00138597, 0.96967803, 0.06437814, 0.05796393,-0.07586207,
  0.13108563, 0.49239909, 0.3216903 , 0.44323082, 0.67646503]

qacc:
[ 3.59650804e+00, 4.68249836e+01,-2.59442928e+02, 5.96694397e+02,
  6.13543550e+01, 1.46250029e+01,-7.22638626e+01,-1.67206954e+02,
 -3.85240159e-02, 2.99463434e+01,-2.16461638e+02, 5.78575513e+02,
  6.59857113e-02,-2.04108633e+00, 1.08892923e+01,-3.67402347e+01,
 -1.21310706e+00, 7.21343884e-01,-1.01370370e+00,-1.43019634e+01,
  2.26768067e+01,-2.71867511e+01]

qfrc_actuator:
[-0.00613912, 0.22610325, 0.01101312, 0.16557306,-0.00593728, 0.25638152,
  0.0306147 , 0.15912642,-0.0006148 , 0.21802368, 0.00278295, 0.15570441,
  0.012864  ,-0.00276826, 0.        ,-0.00268027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20417046, -0.12383224, -0.16233038, -0.12383224,  0.08490195,
        0.09098288, -0.16233038,  0.09098288,  0.134765  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7156530383100875e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92220444e-01, -2.67364931e-01, -3.63948722e-01, -2.47560823e-01,
        9.63595348e-01, -1.00983390e-01,  3.77698713e-01, -1.38777878e-17,
       -9.25928551e-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([ 0.0894109 , -0.08279363,  0.11455623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.13658784,  3.81825649, -1.59131276,  3.81825649, 10.04551894,
       14.17811455, -1.59131276, 14.17811455, 38.15609641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.974637992035684e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.56522966e-13,  8.69567135e-13,  1.00000000e+00, -4.83934081e-25,
        1.00000000e+00, -8.69567135e-13, -1.00000000e+00,  0.00000000e+00,
        5.56522966e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07863391, -0.10346146,  0.06199715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75009270e-04,-1.28471111e-03,-6.66146069e-04, 9.40791965e-04,
 -1.85864403e-03, 5.44479166e-03, 3.45689223e-03, 2.43915379e-03,
 -3.99574135e-06,-1.80077556e-03,-5.15020416e-04, 9.98558403e-04,
 -3.00718717e-04,-2.01891047e-04, 2.06195507e-05,-1.72225908e-04,
 -1.27078388e-04,-1.61053722e-03,-1.21937237e+00, 9.86038229e-04,
  8.49388703e-04,-4.64220639e-03]


--- Step 1063 ---
qpos:
[ 0.00468592, 0.37276808,-0.01813061, 0.31948537, 0.01019633, 0.31081946,
 -0.04922548, 0.27072003, 0.0144411 , 0.44093831,-0.01509344, 0.30333355,
  1.21334881,-0.00141088, 0.96992345, 0.06437345, 0.0571845 ,-0.07593505,
  0.13091551, 0.49299929, 0.3173737 , 0.44153021, 0.67917355]

qacc:
[ 2.70131288e+00, 2.60280080e+01,-1.31272758e+02, 2.69308322e+02,
 -2.84794523e+01, 1.76755516e+01,-2.49868043e+02, 1.72046658e+02,
  2.74794736e-01, 8.08561174e+00,-1.08944164e+02, 3.46669478e+02,
 -5.46816297e-01,-4.57086377e-01, 9.90124616e+00,-3.41489107e+01,
  6.87044393e+00,-3.20713059e+00, 7.79952775e+00,-1.22675356e+02,
 -1.67465379e+02, 1.58671637e+01]

qfrc_actuator:
[-0.00602489, 0.22629927, 0.01086568, 0.16599721,-0.00588082, 0.2557298 ,
  0.03016374, 0.15904718,-0.00060935, 0.21758264, 0.00290458, 0.15642447,
  0.01282123,-0.00279647, 0.        ,-0.00284212, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20410463, -0.00232914,  0.20409134, -0.00232914,  1.03844332,
        0.00952166,  0.20409134,  0.00952166,  0.20421329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1152147914666572e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.887329  , -0.27209156, -0.37230824, -0.25090088,  0.96227137,
       -0.10527376,  0.38690566,  0.        , -0.9221193 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08882147, -0.08284631,  0.11470088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 4.52428082,  1.39082197, -4.30519816,  1.39082197,  7.57831825,
        0.98662645, -4.30519816,  0.98662645,  4.84301685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002950304236499224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40769947e-14, -1.41115492e-13,  1.00000000e+00,  1.32757214e-26,
        1.00000000e+00,  1.41115492e-13, -1.00000000e+00,  0.00000000e+00,
        9.40769947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05674518, -0.03576058,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34490430e-04,-7.68832582e-04,-5.13394978e-04, 3.52948767e-04,
 -3.56526606e-03, 7.36289936e-03, 5.25030292e-03, 3.37441869e-03,
  1.60622816e-05,-1.64820437e-03,-3.24247575e-04, 6.35052879e-04,
 -2.64943264e-04,-1.40244016e-04,-1.82261237e-05,-1.70710490e-04,
 -1.31481333e-04,-1.64149613e-03,-1.21943854e+00, 1.11156909e-03,
  9.25135682e-04,-4.72226408e-03]


--- Step 1064 ---
qpos:
[ 0.00454447, 0.3770267 ,-0.0180018 , 0.32278272, 0.01010902, 0.31531036,
 -0.0489434 , 0.27378064, 0.01445628, 0.44498163,-0.01513227, 0.30644031,
  1.21368561,-0.00143677, 0.97016805, 0.06437253, 0.05642535,-0.0760206 ,
  0.1307699 , 0.49375545, 0.31315304, 0.43952989, 0.68187551]

qacc:
[ 2.74507376e+00,-1.56148720e+00,-3.05761799e+01, 1.07256746e+02,
 -4.11462603e+01,-1.27280494e+01,-1.33069543e+02, 9.23232581e+01,
  2.23988399e-01,-1.21405039e+01,-1.18348803e+01, 1.24646719e+02,
  1.80567779e-02,-1.29728921e+00,-1.26069243e+01, 4.22820234e+01,
  5.06873224e+00,-3.14267014e+00, 6.12858947e+00,-1.01432187e+02,
 -1.41936967e+02, 1.41630783e+01]

qfrc_actuator:
[-0.00590018, 0.22556422, 0.01071095, 0.16619011,-0.00584739, 0.25497821,
  0.02978796, 0.15952046,-0.00061221, 0.21669663, 0.00292219, 0.15672631,
  0.01277283,-0.00283834, 0.        ,-0.00263366, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2041848 ,  0.10706338,  0.17386451,  0.10706338,  0.38713905,
       -0.11266071,  0.17386451, -0.11266071,  0.27355972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.829622227709002e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88240802, -0.27616063, -0.38090864, -0.2535464 ,  0.9611115 ,
       -0.10944825,  0.39632097,  0.        , -0.91811203])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826106, -0.0828903 ,  0.11484098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 5.39462233, -1.61712356,  5.14653879, -1.61712356,  2.91118327,
       -0.78033568,  5.14653879, -0.78033568,  5.14942857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047211086852279316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87903763e-14, -3.52742258e-13,  1.00000000e+00,  2.07378501e-26,
        1.00000000e+00,  3.52742258e-13, -1.00000000e+00,  0.00000000e+00,
        5.87903763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05646009, -0.03593414,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37834300e-04,-1.40446096e-03,-4.15888335e-04, 1.36689531e-04,
 -2.69722198e-03, 1.33023290e-02, 9.02891319e-03, 4.70967572e-03,
  1.25673795e-05,-1.98321480e-03,-3.85752627e-04, 2.22572930e-04,
 -2.35848514e-04,-1.32219701e-04,-3.38567114e-05, 1.95180711e-04,
  7.12926313e-05,-1.56637436e-03,-1.21978343e+00, 9.59215061e-04,
  9.02700559e-04,-4.45238203e-03]


--- Step 1065 ---
qpos:
[ 0.00440562, 0.38126277,-0.01787082, 0.32607806, 0.00999229, 0.31970277,
 -0.0487126 , 0.27683045, 0.01447077, 0.44900191,-0.01516819, 0.30954879,
  1.21402098,-0.0014629 , 0.97041258, 0.0643727 , 0.055681  ,-0.07611793,
  0.13064322, 0.49463709, 0.30901096, 0.43727639, 0.68456974]

qacc:
[   3.20132531, -39.76332226, 105.41331745,-122.3993264 , -48.17560258,
   -9.25301704,-108.9762244 ,  70.98671759,  -0.64091134, -35.00849437,
   73.37594147, -30.78187649,  -0.82478496,   0.5824169 ,  -3.35752372,
   11.70166791,   3.70163153,  -2.94537356,   4.73365629, -84.86859825,
 -118.07431379,  12.22050067]

qfrc_actuator:
[-0.00575236, 0.22374578, 0.01054981, 0.16603183,-0.00575989, 0.25433112,
  0.02946973, 0.16013246,-0.00067338, 0.21516095, 0.00291204, 0.15677936,
  0.01272641,-0.00283477, 0.        ,-0.00258148, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20440991,  0.1137297 ,  0.16984984,  0.1137297 ,  0.45743098,
       -0.16942029,  0.16984984, -0.16942029,  0.31785199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2322857967555575e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87743014, -0.27965257, -0.38975735, -0.25557261,  0.96010127,
       -0.11352619,  0.40595442,  0.        , -0.91389333])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08772398, -0.08292768,  0.11497625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.46409208, -1.92136638,  6.17193953, -1.92136638,  3.14229017,
       -1.03409933,  6.17193953, -1.03409933,  6.14216999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006037842173549496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59693626e-14, -2.75816176e-13,  1.00000000e+00,  1.26790938e-26,
        1.00000000e+00,  2.75816176e-13, -1.00000000e+00,  0.00000000e+00,
        4.59693626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05623282, -0.03606469,  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:
[ 1.61891660e-04,-2.83126171e-03,-5.48023978e-04,-2.41667515e-04,
 -1.37438866e-03, 1.86144973e-02, 1.18024939e-02, 5.95742048e-03,
 -4.66772792e-05,-2.84920708e-03,-5.03678821e-04,-5.02859480e-05,
 -2.14483526e-04,-7.85748663e-05, 2.60214533e-06, 5.79407916e-05,
  2.40769397e-04,-1.47142954e-03,-1.22009263e+00, 8.43623649e-04,
  8.76592003e-04,-4.17833206e-03]


--- Step 1066 ---
qpos:
[ 0.00426906, 0.38547074,-0.01773968, 0.32936717, 0.00984024, 0.3240132 ,
 -0.04851563, 0.27987219, 0.01448412, 0.45299305,-0.0152006 , 0.31265771,
  1.21435486,-0.00148844, 0.97065729, 0.06437181, 0.05494709,-0.07622654,
  0.13053032, 0.49562077, 0.30493624, 0.43480551, 0.68725404]

qacc:
[   2.80700764, -49.88516906, 146.80497739,-224.66137261, -56.64885763,
  -30.26473242, -14.81007499, -12.37662508,  -1.07638174, -47.35369109,
  110.40596897, -84.6151777 ,  -1.6798451 ,   2.55131381,   3.5643263 ,
  -11.8055615 ,   2.60978537,  -2.82200912,   3.44277338, -71.34069079,
 -100.6655408 ,  10.9313171 ]

qfrc_actuator:
[-0.00562742, 0.22196796, 0.01039943, 0.1656851 ,-0.0056253 , 0.25348768,
  0.02923499, 0.16008508,-0.00075098, 0.21337312, 0.00295408, 0.15677393,
  0.01268123,-0.00278652, 0.        ,-0.00263967, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20481265,  0.12151527,  0.16487043,  0.12151527,  0.47461953,
       -0.19885711,  0.16487043, -0.19885711,  0.35137729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9652876720074235e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.872374  , -0.2826489 , -0.39883983, -0.25705747,  0.95922344,
       -0.11752386,  0.4157945 ,  0.        , -0.90945859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08720527, -0.08296011,  0.11510728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.22847651, -2.12721137,  6.90838942, -2.12721137,  3.06052001,
       -1.28338516,  6.90838942, -1.28338516,  6.83330025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006973066469849326
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.96079479e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.96079479e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05605142, -0.03616018,  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:
[ 1.43903247e-04,-3.62959954e-03,-8.58927974e-04,-5.01014886e-04,
  2.36991845e-04, 2.25348453e-02, 1.40738865e-02, 6.43614959e-03,
 -7.80479350e-05,-3.61983630e-03,-6.52786498e-04,-1.53980269e-04,
 -1.88241641e-04,-1.75393106e-05, 1.37679133e-06,-5.60105053e-05,
  3.85284209e-04,-1.37151019e-03,-1.22036747e+00, 7.58685653e-04,
  8.50835882e-04,-3.92236907e-03]


--- Step 1067 ---
qpos:
[ 0.00413451, 0.38965506,-0.01761381, 0.33265855, 0.00964663, 0.32826223,
 -0.04833462, 0.28290774, 0.01449712, 0.45695699,-0.0152336 , 0.3157674 ,
  1.2146878 ,-0.00151425, 0.97090196, 0.06437024, 0.05422026,-0.07634612,
  0.13042654, 0.49668772, 0.30092154, 0.43214538, 0.68992602]

qacc:
[   2.39449444, -12.07222102, -10.29077425,  71.08145683, -65.37381147,
  -48.71806601,  81.20197009,-114.57844021,  -0.30215515, -32.73034562,
   61.37237653, -27.04946473,  -0.52486595,   0.26580047,   2.05800978,
   -7.21778175,   1.76897112,  -2.73933458,   2.28145405, -60.17528659,
  -87.50510141,  10.2399784 ]

qfrc_actuator:
[-0.00551697, 0.22116998, 0.0102744 , 0.1658339 ,-0.00548029, 0.25265582,
  0.02907117, 0.15943065,-0.00076668, 0.21217716, 0.00297241, 0.15682279,
  0.01264752,-0.00280097, 0.        ,-0.00267359, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20536131,  0.12917116,  0.15964986,  0.12917116,  0.41854243,
       -0.1724828 ,  0.15964986, -0.1724828 ,  0.34491548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.717515113585693e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86722396, -0.28520586, -0.40814241, -0.25805535,  0.95846628,
       -0.12144883,  0.42582865,  0.        , -0.90480382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08670066, -0.08298897,  0.11523462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.69049495, -2.24158842,  7.35656128, -2.24158842,  2.81865644,
       -1.48447846,  7.35656128, -1.48447846,  7.23816544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007590350889388198
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.31338406e-14,  7.31338406e-14,  1.00000000e+00,  5.34855865e-27,
        1.00000000e+00, -7.31338406e-14, -1.00000000e+00,  0.00000000e+00,
       -7.31338406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05590652, -0.03622719,  0.0619783 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26110451e-04,-3.16916792e-03,-1.04380000e-03,-5.39717516e-05,
  2.15515750e-03, 2.56453589e-02, 1.55456389e-02, 6.17190804e-03,
 -2.44476000e-05,-3.49222824e-03,-8.56129958e-04,-1.38600310e-04,
 -1.47589521e-04,-6.09828187e-05,-1.24709967e-05,-3.83969326e-05,
  5.13201271e-04,-1.26984230e-03,-1.22060939e+00, 6.94707243e-04,
  8.25183453e-04,-3.68213703e-03]


--- Step 1068 ---
qpos:
[ 0.00400176, 0.39382171,-0.0174947 , 0.33595869, 0.00940779, 0.33247321,
 -0.04815909, 0.28593741, 0.01451025, 0.46089733,-0.01526912, 0.31887987,
  1.21502001,-0.00154024, 0.97114628, 0.06437025, 0.05349811,-0.07647596,
  0.13032807, 0.49782086, 0.29695665, 0.42932136, 0.69258524]

qacc:
[ 2.10536763e+00, 1.27476909e+01,-1.11018377e+02, 2.72067568e+02,
 -6.98035473e+01,-4.62610818e+01, 1.15138803e+02,-1.74439014e+02,
  1.49962172e-01,-1.86031399e+01, 1.06743253e+01, 5.53597479e+01,
 -2.95777364e-01, 5.18701329e-02,-5.31281785e+00, 1.78538982e+01,
  1.17174835e+00,-2.56581610e+00, 1.32695089e+00,-5.13686055e+01,
 -7.41043306e+01, 9.41450553e+00]

qfrc_actuator:
[-0.00541584, 0.22089568, 0.01016995, 0.16632726,-0.0052909 , 0.25177213,
  0.02889229, 0.15882162,-0.00076334, 0.21136379, 0.0029792 , 0.15699248,
  0.01263665,-0.00279916, 0.        ,-0.00258638, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20597813,  0.14321208,  0.1480449 ,  0.14321208,  0.3379616 ,
       -0.12767497,  0.1480449 , -0.12767497,  0.32948525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.293916068339642e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86197105, -0.28736716, -0.41764342, -0.25861022,  0.9578205 ,
       -0.12530219,  0.43603516,  0.        , -0.89992963])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620589, -0.08301538,  0.11535933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.92818362, -2.28839722,  7.59074   , -2.28839722,  2.49001571,
       -1.63945654,  7.59074   , -1.63945654,  7.43393302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007944752541905881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98714667e-14,  6.98714667e-14,  1.00000000e+00,  4.88202185e-27,
        1.00000000e+00, -6.98714667e-14, -1.00000000e+00,  0.00000000e+00,
       -6.98714667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05579073, -0.03627115,  0.06197726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13785017e-04,-2.40637696e-03,-9.35421913e-04, 3.12523478e-04,
  4.43190773e-03, 2.76780938e-02, 1.61095016e-02, 5.85792672e-03,
  7.91795508e-06,-3.07826192e-03,-8.65263536e-04,-1.88641536e-05,
 -1.11217802e-04,-4.45217901e-05,-1.53908453e-05, 8.22506756e-05,
  6.29687400e-04,-1.16827785e-03,-1.22082063e+00, 6.45369652e-04,
  7.98957987e-04,-3.45590666e-03]


--- Step 1069 ---
qpos:
[ 0.00387095, 0.39796939,-0.01737826, 0.33926077, 0.00912323, 0.33666335,
 -0.04798499, 0.28896074, 0.01452328, 0.46481389,-0.01530516, 0.32199362,
  1.21535142,-0.00156563, 0.97139072, 0.06436927, 0.05277901,-0.07661495,
  0.13023191, 0.49900433, 0.29302739, 0.42635725, 0.69523315]

qacc:
[ 2.25679515e+00,-1.37574090e+01, 5.59656583e+00, 4.33504771e+01,
 -6.93086268e+01,-3.57366884e+01, 1.12094778e+02,-1.97302153e+02,
 -7.33471842e-02,-2.74014231e+01, 4.69763760e+01,-6.96110267e+00,
 -1.15579524e+00, 1.99017962e+00, 3.27827428e+00,-1.10204247e+01,
  7.60703358e-01,-2.28881041e+00, 5.76486503e-01,-4.46912119e+01,
 -5.96925837e+01, 8.20792028e+00]

qfrc_actuator:
[-0.00530313, 0.22006918, 0.01008145, 0.16643415,-0.0050546 , 0.25075202,
  0.02870029, 0.15854381,-0.00078442, 0.21034345, 0.00301676, 0.15707257,
  0.01262354,-0.00275205, 0.        ,-0.00264154, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20658721,  0.16180833,  0.12843807,  0.16180833,  0.27101442,
       -0.08116643,  0.12843807, -0.08116643,  0.30884197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010616727708894164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85660722, -0.28918173, -0.42731487, -0.25877137,  0.95727422,
       -0.129087  ,  0.44638711,  0.        , -0.89483996])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0857174 , -0.08304024,  0.11548272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.01421456, -2.2887539 ,  7.68044533, -2.2887539 ,  2.1049655 ,
       -1.76094175,  7.68044533, -1.76094175,  7.48945823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000808344043792944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86726792e-14,  6.86726792e-14,  1.00000000e+00,  4.71593687e-27,
        1.00000000e+00, -6.86726792e-14, -1.00000000e+00,  0.00000000e+00,
       -6.86726792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05569819, -0.03629652,  0.06197684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23457919e-04,-2.49390379e-03,-7.36649745e-04,-3.12486195e-05,
  6.93927645e-03, 2.84083871e-02, 1.61372501e-02, 5.86018711e-03,
 -8.25392210e-06,-3.04969043e-03,-7.45990994e-04,-8.90070752e-05,
 -8.82573578e-05, 1.26263641e-05,-2.26958746e-06,-5.35344937e-05,
  7.37261949e-04,-1.07266971e-03,-1.22100495e+00, 6.09141920e-04,
  7.73808630e-04,-3.25360459e-03]


--- Step 1070 ---
qpos:
[ 0.00374277, 0.40210436,-0.01726863, 0.3425774 , 0.00883216, 0.34081882,
 -0.04784454, 0.29197604, 0.01453618, 0.46871436,-0.0153458 , 0.32511738,
  1.21568225,-0.00159065, 0.97163477, 0.0643703 , 0.0520609 ,-0.07676234,
  0.13013533, 0.5002302 , 0.2891243 , 0.42326822, 0.69786883]

qacc:
[ 2.96686510e+00, 3.08416712e+01,-1.87162640e+02, 4.36019929e+02,
 -9.76297242e+00, 3.14780437e+01,-1.43773098e+02, 7.90989883e+01,
 -1.08782019e-01, 1.14292672e+01,-1.08579843e+02, 2.86947082e+02,
 -6.26170339e-01, 1.04453731e+00,-6.61204092e+00, 2.24205793e+01,
  2.46555135e-01,-2.09812949e+00,-1.05075496e-01,-4.04988308e+01,
 -5.10957721e+01, 6.09026107e+00]

qfrc_actuator:
[-0.00514885, 0.2200204 , 0.00996562, 0.16721783,-0.00475381, 0.25071324,
  0.02853405, 0.15947944,-0.00080222, 0.2102027 , 0.00303626, 0.15763186,
  0.01260379,-0.00273175, 0.        ,-0.00253161, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20712037,  0.19609459, -0.06667655,  0.19609459,  0.19495295,
       -0.03578418, -0.06667655, -0.03578418,  0.10187971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011647148988909158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.51121570e-01, -2.90703187e-01, -4.37131251e-01, -2.58591469e-01,
        9.56813282e-01, -1.32811124e-01,  4.56861604e-01, -1.38777878e-17,
       -8.89537787e-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([ 0.08523299, -0.08306434,  0.11560576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.99177885, -2.25811563,  7.66612307, -2.25811563,  1.68287893,
       -1.85833509,  7.66612307, -1.85833509,  7.44439193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008046600140070859
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.4493544e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.4493544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05562429, -0.03630694,  0.06197691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67516085e-04,-1.73759173e-03,-7.68953827e-04, 6.42019856e-04,
  9.53659550e-03, 2.92618211e-02, 1.59883691e-02, 7.09900955e-03,
 -9.22844925e-06,-2.13143755e-03,-7.45527755e-04, 3.94241740e-04,
 -6.84145972e-05, 3.44660525e-06,-1.28268759e-05, 1.05322498e-04,
  8.37964105e-04,-9.88824226e-04,-1.22116653e+00, 5.85370491e-04,
  7.52005427e-04,-3.08579289e-03]


--- Step 1071 ---
qpos:
[ 0.00361661, 0.40623193,-0.0171658 , 0.34591432, 0.00855437, 0.34491813,
 -0.04775422, 0.29498605, 0.01454897, 0.47260656,-0.01539251, 0.32826247,
  1.21601274,-0.0016156 , 0.97187878, 0.06437194, 0.05134194,-0.07691808,
  0.13003647, 0.50149613, 0.28524729, 0.42005942, 0.70048961]

qacc:
[ 2.25499313e+00, 4.91762065e+01,-2.63292143e+02, 5.98932713e+02,
  1.93576586e+01, 5.37730759e+01,-2.73311144e+02, 2.88922862e+02,
 -9.89986871e-02, 4.83116077e+01,-2.67018730e+02, 6.22334781e+02,
 -2.75862226e-01, 3.48979374e-01,-1.87094352e+00, 6.48691672e+00,
 -2.09423580e-01,-2.08793283e+00,-5.68834801e-01,-3.79074655e+01,
 -4.96906231e+01, 5.12952141e+00]

qfrc_actuator:
[-0.00504208, 0.22024431, 0.00985636, 0.16828769,-0.00447075, 0.25114339,
  0.02839833, 0.16081005,-0.00081798, 0.210556  , 0.00303147, 0.15877123,
  0.01259603,-0.00272754, 0.        ,-0.00250279, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20723578,  0.18075377, -0.1013644 ,  0.18075377,  0.17065824,
       -0.06522534, -0.1013644 , -0.06522534,  0.09092545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011857805888701587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45490931e-01, -2.91936278e-01, -4.47122237e-01, -2.58071652e-01,
        9.56437771e-01, -1.36476419e-01,  4.67487014e-01, -1.38777878e-17,
       -8.83999939e-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([ 0.08475426, -0.08308687,  0.11572528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.89452985, -1.85280003,  7.67402982, -1.85280003,  2.85767948,
       -1.21608551,  7.67402982, -1.21608551,  7.60092097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007892249905420978
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.03362817e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.03362817e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05486024, -0.03509449,  0.06197732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30212663e-04,-1.02018057e-03,-5.87732419e-04, 9.71930932e-04,
  1.01466639e-02, 3.12756633e-02, 1.74825626e-02, 8.81735252e-03,
 -7.34417106e-06,-1.10322587e-03,-5.64254126e-04, 1.02216252e-03,
 -4.67795056e-05,-1.01110697e-05, 1.61285899e-06, 3.20786494e-05,
  9.34332926e-04,-9.10864716e-04,-1.22131475e+00, 5.71541571e-04,
  7.36366525e-04,-2.93781635e-03]


--- Step 1072 ---
qpos:
[ 0.00349163, 0.41034663,-0.01706343, 0.34926122, 0.00827988, 0.34897047,
 -0.04768706, 0.29799398, 0.0145617 , 0.47649033,-0.01544036, 0.33143003,
  1.21634276,-0.00163984, 0.9721232 , 0.06437022, 0.05062091,-0.07708188,
  0.12993296, 0.50279692, 0.28139312, 0.41673987, 0.70309391]

qacc:
[ 1.32373261e+00, 4.05008129e+00,-7.59435638e+01, 2.45083524e+02,
  4.75196101e+00,-2.03232496e+00,-7.24886972e+01, 1.02528791e+02,
 -6.17416660e-02, 3.66710795e+01,-2.30655499e+02, 5.98343009e+02,
 -1.13317252e+00, 2.17382268e+00, 1.08338212e+01,-3.68072349e+01,
 -5.19260225e-01,-2.01630592e+00,-1.16343581e+00,-3.45706371e+01,
 -4.54386783e+01, 4.25056554e+00]

qfrc_actuator:
[-0.00498203, 0.21944217, 0.0097715 , 0.1687721 ,-0.00421552, 0.25112691,
  0.02831083, 0.16101118,-0.00083249, 0.21040549, 0.00308643, 0.15992378,
  0.01259015,-0.00267956, 0.        ,-0.00268179, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20666805,  0.1794131 , -0.10257983,  0.1794131 ,  0.17009962,
       -0.06395853, -0.10257983, -0.06395853,  0.09480397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010779622000523974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39702540e-01, -2.92859898e-01, -4.57310316e-01, -2.57191675e-01,
        9.56155364e-01, -1.40069132e-01,  4.78280344e-01,  1.38777878e-17,
       -8.78207215e-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([ 0.08428272, -0.08310742,  0.1158383 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.72862566, -4.03369353,  6.59249354, -4.03369353,  7.62770948,
       -0.06174674,  6.59249354, -0.06174674,  7.69084521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007644926653562756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26117512e-14,  7.26117512e-14,  1.00000000e+00,  5.27246642e-27,
        1.00000000e+00, -7.26117512e-14, -1.00000000e+00,  0.00000000e+00,
       -7.26117512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05481047, -0.03508694,  0.06197799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60685264e-05,-1.59394194e-03,-3.82429303e-04, 4.28899899e-04,
  9.73436615e-03, 3.39202368e-02, 1.98488836e-02, 9.27000137e-03,
 -5.45707507e-06,-9.68543803e-04,-2.49468002e-04, 1.09667043e-03,
 -3.54381604e-05, 3.57632293e-05,-7.34995127e-07,-1.78183231e-04,
  1.02968428e-03,-8.29361317e-04,-1.22145590e+00, 5.61757012e-04,
  7.22869664e-04,-2.78741792e-03]


--- Step 1073 ---
qpos:
[ 0.00336749, 0.41444601,-0.01696213, 0.35261181, 0.00800167, 0.35300211,
 -0.04762058, 0.30100031, 0.01457436, 0.4803654 ,-0.01548819, 0.33460962,
  1.21667239,-0.00166334, 0.97236751, 0.06436704, 0.04989711,-0.07725353,
  0.12982271, 0.50412694, 0.2775597 , 0.41331752, 0.70568072]

qacc:
[ 9.36353522e-01,-9.94927274e+00,-7.55214137e+00, 7.94239699e+01,
 -5.21648356e+00,-2.84298857e+01, 6.76293949e+01,-7.61909221e+01,
 -4.15065397e-02, 1.22856317e+01,-1.05387161e+02, 3.04544802e+02,
 -9.77321747e-01, 1.94701518e+00, 4.30807677e+00,-1.51388609e+01,
 -6.92023851e-01,-1.96266652e+00,-1.68238102e+00,-3.13977953e+01,
 -4.16941789e+01, 4.10938152e+00]

qfrc_actuator:
[-0.00493223, 0.21856541, 0.00966216, 0.16894293,-0.00391906, 0.2510865 ,
  0.02826313, 0.16048026,-0.00084624, 0.21004492, 0.00310374, 0.16052422,
  0.01257477,-0.00264151, 0.        ,-0.00275098, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20562304,  0.18510871, -0.08952988,  0.18510871,  0.17819904,
       -0.05670087, -0.08952988, -0.05670087,  0.08839039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.423587664237148e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83375831, -0.29348934, -0.46766557, -0.25597156,  0.95596235,
       -0.14357768,  0.48920919,  0.        , -0.87216648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08381567, -0.0831266 ,  0.11594605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.47924553, -4.50389789,  5.97109852, -4.50389789,  8.3113887 ,
        0.62767141,  5.97109852,  0.62767141,  7.95268739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007299566613411385
  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([ 0.05477076, -0.03507095,  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:
[ 5.40460637e-05,-1.96876718e-03,-5.17783932e-04, 8.79478358e-05,
  9.86510796e-03, 3.60838113e-02, 2.09086267e-02, 8.82991052e-03,
 -4.23638306e-06,-1.03499644e-03,-2.18246859e-04, 5.62420777e-04,
 -2.81466269e-05, 3.85117938e-05,-2.63046261e-05,-8.06360069e-05,
  1.12328541e-03,-7.49411516e-04,-1.22158544e+00, 5.56506293e-04,
  7.11788157e-04,-2.64509974e-03]


--- Step 1074 ---
qpos:
[ 0.00324403, 0.41853377,-0.01686533, 0.35596277, 0.00772675, 0.35702666,
 -0.04755118, 0.30400474, 0.01458698, 0.48423189,-0.01553595, 0.33778489,
  1.21700149,-0.00168564, 0.97261181, 0.06436168, 0.04916995,-0.07743283,
  0.12970396, 0.50548207, 0.27374514, 0.40979841, 0.70824907]

qacc:
[ 7.21247495e-01,-2.16246449e+00,-1.52542087e+01, 3.48152898e+01,
  4.60730101e+00,-2.10660936e+01, 6.82288703e+01,-9.64121645e+01,
 -3.09507049e-02,-2.00202909e+01, 7.08268703e+01,-1.33015697e+02,
 -1.49072462e+00, 3.07720426e+00, 6.70722067e+00,-2.32093235e+01,
 -8.40856828e-01,-1.90969270e+00,-2.12711360e+00,-2.90501855e+01,
 -3.87901730e+01, 3.81925986e+00]

qfrc_actuator:
[-0.0048887 , 0.21829058, 0.00953893, 0.16898116,-0.00362766, 0.2508112 ,
  0.02819057, 0.16011407,-0.00085953, 0.20965074, 0.00309772, 0.1602978 ,
  0.01255902,-0.00257422, 0.        ,-0.00286136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20455579,  0.18550187, -0.08620979,  0.18550187,  0.177284  ,
       -0.05868206, -0.08620979, -0.05868206,  0.07828669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.9316175613882364e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27665245e-01, -2.93845714e-01, -4.78147403e-01, -2.54438621e-01,
        9.55852863e-01, -1.46990787e-01,  5.00231177e-01, -2.77555756e-17,
       -8.65891892e-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([ 0.08334941, -0.08314474,  0.1160509 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.15360444, -4.8640803 ,  5.2454532 , -4.8640803 ,  8.92642715,
        1.64392889,  5.2454532 ,  1.64392889,  8.67801078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006878374602727055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07038791e-14,  8.07038791e-14,  1.00000000e+00,  6.51311610e-27,
        1.00000000e+00, -8.07038791e-14, -1.00000000e+00,  0.00000000e+00,
       -8.07038791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05473914, -0.03504838,  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:
[ 4.29861514e-05,-1.61733287e-03,-6.36338494e-04,-7.12941672e-05,
  1.03434544e-02, 3.66995181e-02, 2.08194922e-02, 8.53067611e-03,
 -3.50122505e-06,-1.12108170e-03,-2.69420565e-04,-2.76699653e-04,
 -2.37052474e-05, 7.00766905e-05,-2.52987793e-05,-1.19228072e-04,
  1.21594398e-03,-6.71263340e-04,-1.22170284e+00, 5.54109700e-04,
  7.00900471e-04,-2.51035672e-03]


--- Step 1075 ---
qpos:
[ 0.00312167, 0.42261192,-0.01677278, 0.35931108, 0.00746536, 0.36104333,
 -0.04748086, 0.30700807, 0.01460008, 0.48808912,-0.01558326, 0.3409509 ,
  1.21732981,-0.00170556, 0.97285599, 0.06435466, 0.04843887,-0.07761953,
  0.12957519, 0.50685946, 0.26994755, 0.40618707, 0.71079805]

qacc:
[   1.18159931,  -6.135455  ,  13.78057188, -43.77683169,  18.55063238,
  -15.06268593,  42.50650164, -54.89264057,   0.43311943, -31.86739226,
  129.94347315,-270.9152915 ,  -2.63357715,   5.66444851,   5.03214312,
  -17.3525069 ,  -0.97937077,  -1.8542155 ,  -2.50653391, -27.4536294 ,
  -36.53785258,   3.32336008]

qfrc_actuator:
[-0.0048136 , 0.21809529, 0.00942897, 0.16887067,-0.00338034, 0.25008788,
  0.02809977, 0.16009617,-0.00083701, 0.20923972, 0.00313093, 0.15983531,
  0.01254308,-0.00243688, 0.        ,-0.00294188, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20400479,  0.1804478 , -0.09516589,  0.1804478 ,  0.16842128,
       -0.06747128, -0.09516589, -0.06747128,  0.07606983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.674340395177838e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.21425119e-01, -2.93937711e-01, -4.88734483e-01, -2.52606833e-01,
        9.55824577e-01, -1.50296926e-01,  5.11322365e-01, -2.77555756e-17,
       -8.59388992e-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([ 0.08288213, -0.08316166,  0.11615351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.76502682, -5.21933851,  4.30396251, -5.21933851,  9.03443674,
        2.7520729 ,  4.30396251,  2.7520729 , 10.10241649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006399977217602243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67364826e-14,  8.67364826e-14,  1.00000000e+00,  7.52321741e-27,
        1.00000000e+00, -8.67364826e-14, -1.00000000e+00,  0.00000000e+00,
       -8.67364826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05471399, -0.03502078,  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:
[ 7.23692936e-05,-1.37174065e-03,-5.70504684e-04,-2.12592866e-04,
  1.04259643e-02, 3.61887896e-02, 2.05323862e-02, 8.59435086e-03,
  3.24418065e-05,-1.23096061e-03,-2.82516015e-04,-5.34680412e-04,
 -1.40624066e-05, 1.47937590e-04,-2.95091078e-05,-9.14667812e-05,
  1.30818051e-03,-5.94234217e-04,-1.22181103e+00, 5.54235801e-04,
  6.90745255e-04,-2.38152922e-03]


--- Step 1076 ---
qpos:
[ 0.00300055, 0.42667404,-0.01668018, 0.36265161, 0.00736657, 0.36528371,
 -0.04720465, 0.31012967, 0.01461357, 0.49193701,-0.01563081, 0.34410832,
  1.21765703,-0.00172168, 0.97309941, 0.06435137, 0.04770792,-0.07781405,
  0.12943514, 0.50823331, 0.26617209, 0.40250098, 0.71333322]

qacc:
[ 1.30766139e+00,-3.66248342e+01, 1.27804195e+02,-2.37729444e+02,
  2.19470324e+02,-4.32380546e+01, 1.04002464e+02, 1.40293392e+03,
  3.66852752e-01,-2.86423989e+01, 1.15771620e+02,-2.44706458e+02,
 -3.69651863e+00, 8.28110674e+00,-1.20721645e+01, 4.13368591e+01,
  3.19600188e-02,-1.95119733e+00,-2.81651751e+00,-1.76768274e+01,
 -2.79491638e+01, 1.23395169e+01]

qfrc_actuator:
[-0.00473802, 0.2170272 , 0.00932851, 0.16846079,-0.00313551, 0.24927687,
  0.02805211, 0.15971914,-0.00082903, 0.20887598, 0.00315176, 0.15941539,
  0.01252173,-0.00222367, 0.        ,-0.00273786, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.33222148, -2.60883857,  5.76983451, -2.60883857, 21.69457976,
        6.94611132,  5.76983451,  6.94611132,  9.47291523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005879896091623982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05469402, -0.03498941,  0.06198292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99297890e-05,-2.09901974e-03,-5.07060785e-04,-5.02334671e-04,
  9.99167543e-03, 3.56290990e-02, 2.03882215e-02, 8.25910298e-03,
  2.77732718e-05,-1.25784997e-03,-3.27581361e-04,-5.02096295e-04,
  4.20861451e-06, 2.42724389e-04,-2.83381277e-05, 1.94109469e-04,
  1.40046123e-03,-5.17681731e-04,-1.22191284e+00, 5.56692806e-04,
  6.82053682e-04,-2.25725971e-03]


--- Step 1077 ---
qpos:
[ 0.00288094, 0.43071291,-0.01658612, 0.36597804, 0.00729905, 0.36968812,
 -0.04685305, 0.31325197, 0.01462707, 0.49577324,-0.01567628, 0.3472547 ,
  1.217983  ,-0.00173281, 0.97334213, 0.06435451, 0.04697673,-0.07801619,
  0.12928274, 0.50960221, 0.26241759, 0.39874274, 0.71585391]

qacc:
[ 1.60830312e+00,-6.25073556e+01, 2.28745230e+02,-4.33793567e+02,
  4.14016053e+01, 9.53137883e+00, 2.69482031e+02,-4.71869608e+02,
  2.20685949e-02,-4.30055254e+01, 1.71106649e+02,-3.39556722e+02,
 -4.65929924e+00, 1.06438688e+01,-2.00253802e+01, 6.94894311e+01,
 -5.79406461e-02,-1.90730717e+00,-3.08947337e+00,-1.68326464e+01,
 -2.67463757e+01, 1.19029066e+01]

qfrc_actuator:
[-0.00464495, 0.21544574, 0.00923118, 0.16771769,-0.0030289 , 0.24825583,
  0.02780726, 0.15875916,-0.00084763, 0.20829587, 0.00325444, 0.15886426,
  0.01249721,-0.00194955, 0.        ,-0.00240334, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.87635415, -2.38027115,  5.37269461, -2.38027115, 26.95240352,
        9.3373467 ,  5.37269461,  9.3373467 , 10.01308974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000533117521339041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04125543e-13,  1.56188314e-13,  1.00000000e+00, -1.62631930e-26,
        1.00000000e+00, -1.56188314e-13, -1.00000000e+00,  0.00000000e+00,
        1.04125543e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05467819, -0.03495531,  0.06198447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92617391e-05,-3.01666865e-03,-6.54813096e-04,-8.68854239e-04,
  1.93481883e-03, 2.32752167e-02, 9.79657063e-03, 1.36746452e-03,
 -8.82271450e-08,-1.49648847e-03,-2.55341568e-04,-6.35146073e-04,
  3.42011732e-05, 3.27896931e-04, 5.00470527e-06, 3.40921523e-04,
  1.49255725e-03,-4.56197427e-04,-1.22196716e+00, 5.52795814e-04,
  6.43924383e-04,-2.15888539e-03]


--- Step 1078 ---
qpos:
[ 0.00276333, 0.43472955,-0.0164938 , 0.36928784, 0.00723852, 0.37418737,
 -0.0464584 , 0.3163774 , 0.0146405 , 0.49959248,-0.01571829, 0.3503966 ,
  1.21830805,-0.00173905, 0.97358541, 0.06435659, 0.04624503,-0.07822581,
  0.12911705, 0.51096518, 0.25868314, 0.3949142 , 0.71835952]

qacc:
[ 2.06794751e+00,-5.72777234e+01, 2.21638375e+02,-4.63503770e+02,
  9.07082208e+00, 1.23366949e+01, 1.21191767e+02,-1.93731603e+02,
 -3.96461513e-02,-4.08734312e+01, 1.28663037e+02,-1.89831569e+02,
 -4.77347775e+00, 1.08794133e+01, 4.44276764e+00,-1.33835969e+01,
 -1.29067827e-01,-1.86937380e+00,-3.32150633e+00,-1.62662914e+01,
 -2.58812795e+01, 1.15067832e+01]

qfrc_actuator:
[-0.00452443, 0.21443974, 0.00916979, 0.16689062,-0.00295669, 0.24679492,
  0.02747446, 0.15837178,-0.00086419, 0.20723692, 0.00335073, 0.15863086,
  0.01247615,-0.00169486, 0.        ,-0.00247403, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.42629965, -1.63615122,  5.17375464, -1.63615122, 11.65519244,
        1.96982872,  5.17375464,  1.96982872,  6.04923945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004765234537925933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1649196e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1649196e-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([ 0.05466561, -0.03491938,  0.06198607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31384001e-04,-2.99804691e-03,-8.37009601e-04,-1.00253933e-03,
  4.36595554e-04, 1.34571913e-02, 5.63708132e-03, 9.27485406e-04,
 -5.93942765e-06,-2.09861401e-03,-3.06110674e-04,-3.27305429e-04,
  7.55037892e-05, 3.33335058e-04, 3.54640716e-05,-5.21065685e-05,
  1.58439209e-03,-3.94795028e-04,-1.22201761e+00, 5.51435556e-04,
  6.06851622e-04,-2.06335496e-03]


--- Step 1079 ---
qpos:
[ 0.00264806, 0.43872864,-0.01640675, 0.37259628, 0.00718035, 0.37874122,
 -0.04604423, 0.31952806, 0.0146541 , 0.50339511,-0.01576094, 0.35354961,
  1.21863276,-0.0017417 , 0.97382929, 0.06435417, 0.04551259,-0.07844278,
  0.1289373 , 0.51232149, 0.25496803, 0.39101658, 0.72084952]

qacc:
[ 2.37298868e+00,-1.12264976e+01, 1.20450817e+01,-1.43600257e+01,
  2.99398466e+00, 6.68998482e+01,-2.31726879e+02, 5.72616878e+02,
  1.60809916e-01, 1.83044715e+00,-7.92006605e+01, 2.68981368e+02,
 -3.46266128e+00, 8.06150458e+00, 1.47358782e+01,-4.95931138e+01,
 -1.85502565e-01,-1.83736956e+00,-3.51650164e+00,-1.59317326e+01,
 -2.53024457e+01, 1.11520830e+01]

qfrc_actuator:
[-0.00438852, 0.21405358, 0.00909706, 0.16687344,-0.00289334, 0.24597906,
  0.02703785, 0.15933718,-0.0008617 , 0.20653977, 0.00336998, 0.15920728,
  0.01245719,-0.00152473, 0.        ,-0.00271191, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.0596371 , -1.72457174,  4.75665637, -1.72457174, 22.54269902,
        6.33865308,  4.75665637,  6.33865308,  7.35777703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041914120515287867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.62201074e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.62201074e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05465555, -0.03488234,  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:
[ 1.54911647e-04,-2.40957680e-03,-8.70751048e-04,-2.00458149e-04,
  1.49368807e-04, 7.73934382e-03, 2.99041825e-03, 1.72051601e-03,
  1.12381752e-05,-2.06982861e-03,-5.02030326e-04, 4.62366269e-04,
  1.02442651e-04, 2.59698469e-04, 2.51682347e-06,-2.38061857e-04,
  1.67625239e-03,-3.33013818e-04,-1.22206523e+00, 5.52290237e-04,
  5.70726449e-04,-1.96968647e-03]


--- Step 1080 ---
qpos:
[ 0.00253534, 0.44271052,-0.01632395, 0.3759119 , 0.00712361, 0.38332862,
 -0.04562412, 0.32269815, 0.01466758, 0.50718639,-0.01580641, 0.35671398,
  1.21895735,-0.0017419 , 0.97407298, 0.06435027, 0.04477923,-0.078667  ,
  0.12874283, 0.51367072, 0.25127172, 0.38705056, 0.72332343]

qacc:
[ 2.55309287e+00, 3.17944081e+00,-6.96318468e+01, 2.00054069e+02,
  1.75956539e+00, 6.53960814e+01,-2.42759270e+02, 5.21307413e+02,
 -8.71460386e-02, 1.52528518e+01,-1.17311393e+02, 3.08794839e+02,
 -2.15435234e+00, 5.20163634e+00, 4.39176894e+00,-1.53158715e+01,
 -2.30268083e-01,-1.81044694e+00,-3.68042491e+00,-1.57877954e+01,
 -2.49597832e+01, 1.08330437e+01]

qfrc_actuator:
[-0.00424451, 0.21343996, 0.00898627, 0.16726259,-0.00283349, 0.24573005,
  0.02654523, 0.16013223,-0.0008835 , 0.20643891, 0.00339897, 0.15981199,
  0.01242349,-0.00142375, 0.        ,-0.00277997, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.77514973,  0.67252682, -4.72755356,  0.67252682, 11.04672278,
        0.89217415, -4.72755356,  0.89217415,  4.9020676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003617147712538099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30199963e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.30199963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05464742, -0.03484476,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69365365e-04,-2.28107744e-03,-7.64511306e-04, 2.45142538e-04,
  9.07221267e-05, 4.59913183e-03, 1.46218526e-03, 1.23767521e-03,
 -8.20767082e-06,-1.46396819e-03,-4.82992020e-04, 5.01185393e-04,
  8.55950153e-05, 1.81296701e-04,-3.18256425e-05,-8.25071228e-05,
  1.76840468e-03,-2.70427953e-04,-1.22211091e+00, 5.55106367e-04,
  5.35421484e-04,-1.87700547e-03]


--- Step 1081 ---
qpos:
[ 0.00242474, 0.44667927,-0.01624645, 0.37923853, 0.00706837, 0.38793112,
 -0.04520057, 0.3258678 , 0.01468043, 0.51096785,-0.01585327, 0.35988429,
  1.21928181,-0.00174024, 0.97431621, 0.06434754, 0.0440448 ,-0.07889836,
  0.12853308, 0.51501257, 0.24759381, 0.38301639, 0.72578082]

qacc:
[ 2.09610661e+00, 1.89865464e+01,-1.31394153e+02, 3.18855455e+02,
  1.83761861e+00, 9.53200487e+00,-3.60876848e+00,-1.94453983e+01,
 -5.32361917e-01, 2.69172931e+00,-4.99688871e+01, 1.53094193e+02,
 -1.54174196e+00, 3.78510721e+00,-4.06822720e+00, 1.35718954e+01,
 -2.65657752e-01,-1.78758949e+00,-3.81915185e+00,-1.57995852e+01,
 -2.48096298e+01, 1.05428000e+01]

qfrc_actuator:
[-0.00413231, 0.21322913, 0.00888922, 0.16785201,-0.00275798, 0.24500375,
  0.02611356, 0.15996866,-0.00093741, 0.20620015, 0.00341848, 0.16012719,
  0.01239159,-0.00134679, 0.        ,-0.00271184, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.55653455,  0.3075345 , -4.54614448,  0.3075345 , 12.56825973,
        0.54197175, -4.54614448,  0.54197175,  4.59319748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003048264787200994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36580535e-13,  9.10536897e-14,  1.00000000e+00, -1.24361616e-26,
        1.00000000e+00, -9.10536897e-14, -1.00000000e+00,  0.00000000e+00,
        1.36580535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05464073, -0.03480712,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41695981e-04,-1.76531005e-03,-6.95872410e-04, 4.63431984e-04,
  9.45740929e-05, 2.03200987e-03, 6.74287228e-04, 8.67770974e-05,
 -4.58565212e-05,-1.25730150e-03,-3.64243104e-04, 2.38130461e-04,
  5.93628893e-05, 1.36507903e-04,-2.74104498e-05, 5.86010987e-05,
  1.86109140e-03,-2.06654260e-04,-1.22215538e+00, 5.59692873e-04,
  5.00817990e-04,-1.78455747e-03]


--- Step 1082 ---
qpos:
[ 0.00231614, 0.45063869,-0.01617391, 0.38258048, 0.00701478, 0.39253464,
 -0.0447768 , 0.32903812, 0.01469297, 0.51473676,-0.01589911, 0.363062  ,
  1.2196064 ,-0.00173797, 0.97455874, 0.06434961, 0.0433092 ,-0.07913679,
  0.12830757, 0.51634695, 0.24393401, 0.37891396, 0.72822128]

qacc:
[ 1.93987199e+00, 3.15238843e+01,-1.84181184e+02, 4.35546912e+02,
  2.00134767e+00, 1.99051393e+00,-7.70508396e+00, 1.73962836e+01,
 -2.41673220e-01,-4.81118269e+00,-3.42226042e+01, 1.59803612e+02,
 -1.16147762e-01, 6.85871711e-01,-1.54972108e+01, 5.27633989e+01,
 -2.93442088e-01,-1.76786180e+00,-3.93772649e+00,-1.59384039e+01,
 -2.48158885e+01, 1.02753733e+01]

qfrc_actuator:
[-0.00402202, 0.21322725, 0.00882092, 0.16866143,-0.00267373, 0.2440316 ,
  0.02571859, 0.15991662,-0.00095676, 0.20556209, 0.00346754, 0.16050034,
  0.01237143,-0.00133791, 0.        ,-0.00245754, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.39116649, -1.87879024, -3.96894071, -1.87879024, 12.95848021,
       -4.05553687, -3.96894071, -4.05553687,  6.31094904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024892474126883557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57509380e-14,  3.34505628e-13,  1.00000000e+00,  1.86490025e-26,
        1.00000000e+00, -3.34505628e-13, -1.00000000e+00,  0.00000000e+00,
       -5.57509380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05463505, -0.03476977,  0.06199262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33572750e-04,-1.24443895e-03,-5.45254169e-04, 7.11387371e-04,
  1.03682089e-04, 1.41395159e-04, 4.79653960e-05, 4.19260931e-05,
 -2.23367104e-05,-1.52710945e-03,-2.86526996e-04, 3.03439433e-04,
  4.57818818e-05, 5.25231149e-05,-9.19205387e-06, 2.53315172e-04,
  1.95453312e-03,-1.41350301e-04,-1.22219923e+00, 5.65909216e-04,
  4.66813049e-04,-1.69169883e-03]


--- Step 1083 ---
qpos:
[ 0.00220973, 0.45458561,-0.01610206, 0.38593016, 0.00696237, 0.39712662,
 -0.04435497, 0.33221569, 0.01470558, 0.51849192,-0.01594339, 0.36624457,
  1.21993079,-0.00173477, 0.97480145, 0.06435232, 0.04257234,-0.07938223,
  0.12806591, 0.51767384, 0.24029214, 0.37474286, 0.73064442]

qacc:
[ 2.13324505e+00, 6.30955387e-01,-5.38248487e+01, 1.84968445e+02,
  1.42901249e+00, 4.23679474e+00,-6.43798083e+01, 1.91699046e+02,
  8.08277114e-02,-1.28720712e+01, 1.36277027e+00, 8.45966436e+01,
 -8.85959171e-01, 2.01412059e+00,-1.62447917e+00, 6.22775922e+00,
 -3.14980263e-01,-1.75041999e+00,-4.04042921e+00,-1.61806341e+01,
 -2.49487688e+01, 1.00256866e+01]

qfrc_actuator:
[-0.00389584, 0.2125711 , 0.00877166, 0.16904379,-0.00262049, 0.24261819,
  0.0252942 , 0.1602146 ,-0.00095545, 0.20490415, 0.00355019, 0.16074464,
  0.01234232,-0.00129835, 0.        ,-0.00243293, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.26933539, -3.27025379,  2.74457006, -3.27025379, 10.57166415,
        7.50945106,  2.74457006,  7.50945106, 13.21711601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019434794881083295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57034584e-13,  1.42813834e-13,  1.00000000e+00, -5.09894776e-26,
        1.00000000e+00, -1.42813834e-13, -1.00000000e+00,  0.00000000e+00,
        3.57034584e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05463006, -0.034733  ,  0.06199422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48013495e-04,-1.56606726e-03,-3.92410486e-04, 3.15804615e-04,
  7.42925466e-05,-1.48631497e-03,-4.47685953e-04, 2.91357134e-04,
  5.02832287e-06,-1.67827064e-03,-2.96250547e-04, 1.67622265e-04,
  1.00284885e-05, 6.16696132e-05, 2.12275261e-05, 3.68744242e-05,
  2.04893266e-03,-7.42086185e-05,-1.22224296e+00, 5.73653668e-04,
  4.33319025e-04,-1.59788019e-03]


--- Step 1084 ---
qpos:
[ 0.00210466, 0.4585153 ,-0.01602959, 0.38927936, 0.00691104, 0.40169458,
 -0.04393516, 0.33539967, 0.01471856, 0.52223399,-0.01598753, 0.36942722,
  1.22025476,-0.00173061, 0.97504471, 0.06435132, 0.04183416,-0.0796346 ,
  0.12780772, 0.51899332, 0.23666808, 0.37050244, 0.73304986]

qacc:
[  1.29254593,-25.43808779, 58.86837464,-53.14022413,  1.29729409,
 -13.70854866,-21.38022897,145.26661033,  0.30684652,-17.50851487,
  36.75395495,-25.18130173, -1.31912655,  2.65335722, 12.16007275,
 -41.09682989, -0.3313086 , -1.73451404, -4.13085479,-16.50683557,
 -25.18373505,  9.78952278]

qfrc_actuator:
[-0.00383216, 0.21145826, 0.00869602, 0.16899385,-0.00256829, 0.24059712,
  0.02487201, 0.16046721,-0.000942  , 0.20434702, 0.00358105, 0.16075145,
  0.01230253,-0.0012587 , 0.        ,-0.00263268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.18357103,  2.29026469, -3.50099332,  2.29026469, 13.44357126,
        6.05766695, -3.50099332,  6.05766695,  8.14634943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001413448119298999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94551762e-13,  5.89103524e-13,  1.00000000e+00, -1.73521481e-25,
        1.00000000e+00, -5.89103524e-13, -1.00000000e+00,  0.00000000e+00,
        2.94551762e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05462547, -0.03469704,  0.06199578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.95790951e-05,-2.18660833e-03,-4.79176104e-04,-1.32250262e-04,
  6.71190813e-05,-3.09384604e-03,-8.31468437e-04, 1.66746550e-04,
  2.51681742e-05,-1.66876296e-03,-3.84544473e-04,-7.89748767e-05,
 -1.94167843e-05, 5.54606113e-05, 8.00835948e-06,-1.96335877e-04,
  2.14447843e-03,-4.95134747e-06,-1.22228695e+00, 5.82854017e-04,
  4.00262311e-04,-1.50263176e-03]


--- Step 1085 ---
qpos:
[ 0.00199988, 0.46242903,-0.01596009, 0.39263457, 0.00686101, 0.40622878,
 -0.04351856, 0.3385878 , 0.01473158, 0.52595994,-0.01603104, 0.37261365,
  1.22057864,-0.00172694, 0.97528753, 0.06435163, 0.0410946 ,-0.07989386,
  0.12753269, 0.52030552, 0.23306175, 0.36619186, 0.73543722]

qacc:
[ 2.92443018e-01,-9.89740219e-01,-4.79810280e+01, 1.56864880e+02,
  1.56436256e+00,-2.74680317e+01, 1.75307819e+01, 7.95939733e+01,
  5.36660436e-02,-1.55316880e+01, 1.04443657e+01, 6.10792189e+01,
  4.23949576e-01,-1.07830147e+00,-4.66469874e+00, 1.52735409e+01,
 -3.43210529e-01,-1.71948474e+00,-4.21199383e+00,-1.69010086e+01,
 -2.55006239e+01, 9.56345011e+00]

qfrc_actuator:
[-0.00382372, 0.21082676, 0.00860352, 0.169311  ,-0.00249932, 0.23826407,
  0.02445197, 0.16061954,-0.00095709, 0.20346467, 0.00358163, 0.16093814,
  0.01226702,-0.00130815, 0.        ,-0.00255461, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.12810409,  2.00761857, -3.60703632,  2.00761857, 12.29903898,
        4.54781134, -3.60703632,  4.54781134,  6.65934295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.009152611265392e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.16163957e-13,  3.08081979e-13,  1.00000000e+00, -1.89829011e-25,
        1.00000000e+00, -3.08081979e-13, -1.00000000e+00,  0.00000000e+00,
        6.16163957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05462105, -0.03466205,  0.0619973 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95535031e-05,-2.08712164e-03,-6.48522633e-04, 1.97818007e-04,
  8.21949726e-05,-4.38666751e-03,-1.21001114e-03,-1.54706462e-05,
  2.64934661e-06,-2.01627503e-03,-4.31711333e-04, 9.35212405e-05,
 -3.42961160e-05,-4.15376529e-05,-2.47666827e-05, 6.66238599e-05,
  2.24134718e-03, 6.66746581e-05,-1.22233151e+00, 5.93460214e-04,
  3.67581732e-04,-1.40555028e-03]


--- Step 1086 ---
qpos:
[ 0.00189518, 0.46632938,-0.01589491, 0.39599984, 0.00681221, 0.41072412,
 -0.04310807, 0.34177702, 0.01474407, 0.5296643 ,-0.01607273, 0.37580314,
  1.22090234,-0.00172404, 0.97553025, 0.06435215, 0.04035363,-0.08015993,
  0.12724051, 0.52161063, 0.22947315, 0.36181013, 0.73780611]

qacc:
[ 7.41975380e-02, 1.40115210e+01,-1.10367394e+02, 2.80751771e+02,
  1.44263020e+00,-3.22348249e+01, 3.66506233e+01, 1.83975552e+01,
 -4.01649070e-01,-2.75057476e+01, 4.49339283e+01, 1.84027814e+01,
  4.97968674e-01,-1.42091472e+00,-8.34900313e-01, 2.58562282e+00,
 -3.51271670e-01,-1.70475725e+00,-4.28631242e+00,-1.73499906e+01,
 -2.58829034e+01, 9.34473085e+00]

qfrc_actuator:
[-0.00381244, 0.21047192, 0.00850425, 0.16984209,-0.00243872, 0.23597619,
  0.02399974, 0.16064036,-0.00100689, 0.20211139, 0.00356351, 0.16106926,
  0.01223938,-0.00135675, 0.        ,-0.00254419, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09845336,  1.89896798, -3.63197475,  1.89896798, 11.46084776,
        3.8494076 , -3.63197475,  3.8494076 ,  6.11110551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.070613262989464e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.81852434e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.81852434e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05461661, -0.03462816,  0.06199877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46052467e-06,-1.77513575e-03,-6.43890498e-04, 4.16967198e-04,
  7.68994803e-05,-5.14748996e-03,-1.55938392e-03,-2.16698540e-04,
 -3.89608764e-05,-2.68293692e-03,-5.21160662e-04, 2.57801522e-05,
 -5.73926677e-05,-6.51001862e-05,-7.09727426e-06, 1.02097613e-05,
  2.33970633e-03, 1.40902163e-04,-1.22237691e+00, 6.05438582e-04,
  3.35226829e-04,-1.30628782e-03]


--- Step 1087 ---
qpos:
[ 0.00179078, 0.47021366,-0.01583119, 0.39937075, 0.00676509, 0.41518242,
 -0.04270618, 0.34495965, 0.01475607, 0.53334345,-0.01611177, 0.37898547,
  1.22122546,-0.00172086, 0.9757733 , 0.06434943, 0.03961275,-0.08042599,
  0.12690889, 0.52289653, 0.22587504, 0.35741442, 0.740145  ]

qacc:
[ 2.96937092e-01,-6.12349208e+00,-2.88317470e+01, 1.30386984e+02,
  1.90865570e+00,-3.77580541e+01, 8.88962519e+01,-1.54758701e+02,
 -3.64591019e-01,-5.46684636e+01, 1.71176556e+02,-2.65392781e+02,
 -8.44848066e-01, 1.32608251e+00, 1.03518805e+01,-3.53554782e+01,
  1.90267968e-02, 2.67203908e-03,-9.85802314e+00,-2.10586230e-03,
 -1.03870702e-01,-8.61866779e-01]

qfrc_actuator:
[-0.00378158, 0.2096478 , 0.00842122, 0.17012231,-0.00234807, 0.23430212,
  0.02362113, 0.16031741,-0.00104144, 0.20064725, 0.00360372, 0.16068692,
  0.01221648,-0.00133336, 0.        ,-0.0027158 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.02493634e-05,-2.05944337e-03,-5.55385534e-04, 1.83535248e-04,
  1.05891993e-04,-5.03707336e-03,-1.69064041e-03,-6.07458177e-04,
 -3.66559476e-05,-3.18621150e-03,-6.12230816e-04,-5.19099759e-04,
 -7.14686482e-05,-3.59265601e-06,-6.56400970e-06,-1.72993143e-04,
  2.43971591e-03, 2.17947341e-04,-1.22242331e+00, 6.18767271e-04,
  3.03156202e-04,-1.20454213e-03]


--- Step 1088 ---
qpos:
[ 0.00168537, 0.47408936,-0.0157727 , 0.40274933, 0.00671943, 0.41961595,
 -0.04231833, 0.34813189, 0.01476795, 0.53700386,-0.01615274, 0.38216092,
  1.2215482 ,-0.00171798, 0.97601579, 0.06434868, 0.03887194,-0.08069204,
  0.12653785, 0.52416319, 0.22226755, 0.35300492, 0.74245378]

qacc:
[-9.33682168e-01, 1.81847765e+01,-1.07131951e+02, 2.37065642e+02,
  1.62798052e+00,-1.40493993e+01, 4.31743847e+01,-1.74027775e+02,
 -7.71497533e-02,-3.28955189e+01, 1.05983397e+02,-1.96598361e+02,
  9.03043819e-02,-5.23822475e-01,-6.80792945e+00, 2.25853256e+01,
  1.95907600e-02, 2.88517129e-03,-9.85778519e+00,-1.47262735e-03,
 -9.60181064e-02,-8.61179769e-01]

qfrc_actuator:
[-0.00384576, 0.20982834, 0.00838228, 0.17055417,-0.00227583, 0.23398643,
  0.02325612, 0.15986644,-0.00104893, 0.20019401, 0.00367738, 0.16037831,
  0.01219114,-0.00135627, 0.        ,-0.00260269, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-7.05617570e-05,-1.20409535e-03,-5.66242761e-04, 3.22111658e-04,
  9.41230603e-05,-3.65855796e-03,-1.68284468e-03,-7.42774181e-04,
 -9.15559146e-06,-2.49641173e-03,-7.11059883e-04,-4.79733519e-04,
 -6.81753365e-05,-3.97328378e-05,-2.81582156e-05, 1.01269139e-04,
  2.50978212e-03, 2.44138337e-04,-1.22239357e+00, 6.38233018e-04,
  3.11117935e-04,-1.19865559e-03]


--- Step 1089 ---
qpos:
[ 0.00157829, 0.47796424,-0.01572011, 0.40613087, 0.00667476, 0.42403366,
 -0.04194483, 0.35129717, 0.01478006, 0.54065178,-0.01619768, 0.385342  ,
  1.22187073,-0.00171643, 0.97625824, 0.06434789, 0.03813121,-0.08095807,
  0.12612738, 0.52541053, 0.21865083, 0.3485818 , 0.74473238]

qacc:
[-1.51671195e+00, 2.10165738e+01,-8.54447063e+01, 1.36750124e+02,
  1.05400713e+00, 5.24650774e+00,-2.09409691e+01,-6.24958547e+01,
  1.76170169e-01, 5.56051379e+00,-6.32270545e+01, 1.64698576e+02,
  9.14599071e-01,-2.51368860e+00,-3.54470701e-02,-1.76851548e-01,
  2.01516653e-02, 3.09777326e-03,-9.85753967e+00,-8.40510746e-04,
 -8.81693202e-02,-8.60524965e-01]

qfrc_actuator:
[-0.00393025, 0.21046859, 0.00833867, 0.1707532 ,-0.00223286, 0.23406228,
  0.02287263, 0.15959363,-0.00104036, 0.20019116, 0.00372137, 0.1607201 ,
  0.01215368,-0.00144198, 0.        ,-0.00260673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.15022484e-04,-2.62757364e-04,-3.92132045e-04, 1.26565423e-04,
  6.29894150e-05,-2.49968162e-03,-1.42125884e-03,-5.09710364e-04,
  1.54310498e-05,-1.67853596e-03,-6.09652759e-04, 1.96496569e-04,
 -8.64436504e-05,-1.09722522e-04,-4.79171759e-06,-2.72960999e-06,
  2.57947337e-03, 2.70259108e-04,-1.22236289e+00, 6.57597251e-04,
  3.19017817e-04,-1.19271810e-03]


--- Step 1090 ---
qpos:
[ 0.00147126, 0.48183325,-0.01566747, 0.40950885, 0.00663097, 0.42843408,
 -0.04158064, 0.35445379, 0.01479213, 0.54428607,-0.01624296, 0.38853113,
  1.22219282,-0.00171611, 0.97650071, 0.06434638, 0.03738796,-0.08123521,
  0.12571358, 0.52666194, 0.21507045, 0.34404051, 0.74699936]

qacc:
[ 5.99508311e-02,-1.48329528e+01, 5.39071937e+01,-1.03990074e+02,
  9.47182094e-01,-1.38152256e+01, 4.94785910e+01,-1.63382544e+02,
 -1.44607458e-02,-1.21941038e+00,-5.05450618e+01, 1.86940430e+02,
  6.28572492e-01,-2.07813224e+00, 2.14720068e+00,-7.63250111e+00,
 -6.31091460e-01,-2.77494947e+00,-8.31324865e-01,-3.28803169e+01,
 -4.65531927e+01, 1.46859032e+01]

qfrc_actuator:
[-0.00388386, 0.21004889, 0.008295  , 0.17056563,-0.00218981, 0.23337984,
  0.022484  , 0.15917991,-0.00105794, 0.19966091, 0.00376812, 0.16114059,
  0.01211429,-0.001511  , 0.        ,-0.00264432, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0951086 ,  0.39425945, -4.07608562,  0.39425945, 36.38722753,
        3.12345575, -4.07608562,  3.12345575,  4.39722491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.038157328022484e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82713221e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82713221e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05453526, -0.03462383,  0.06199906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85294124e-06,-7.69182742e-04,-1.84766316e-04,-2.19865371e-04,
  5.66966071e-05,-2.54607037e-03,-1.14810535e-03,-5.88974475e-04,
 -2.95267850e-06,-1.69977184e-03,-4.03663489e-04, 3.25743429e-04,
 -1.15192712e-04,-1.12369977e-04,-7.15749901e-06,-3.94422124e-05,
  2.64877862e-03, 2.96305501e-04,-1.22233128e+00, 6.76857042e-04,
  3.26855195e-04,-1.18673055e-03]


--- Step 1091 ---
qpos:
[ 0.00136537, 0.48568978,-0.01561315, 0.41288331, 0.00658831, 0.43281397,
 -0.04122332, 0.35759537, 0.01480363, 0.54791137,-0.01628981, 0.39171776,
  1.22251446,-0.0017172 , 0.97674314, 0.06434408, 0.03664236,-0.08152261,
  0.12529368, 0.52791603, 0.21152335, 0.33938593, 0.74925278]

qacc:
[   1.01920407, -27.99971971,  87.42461337,-132.78646282,   1.20628875,
  -37.14251193, 149.28494775,-363.44730688,  -0.43388812, -12.42732176,
   36.10612495, -66.30815601,   0.78490509,  -2.46636308,   2.24481983,
   -8.12689752,  -0.5868819 ,  -2.56723557,  -1.52568342, -31.50012483,
  -44.18553208,  13.33733212]

qfrc_actuator:
[-0.0037955 , 0.20908735, 0.00824772, 0.17036447,-0.00212923, 0.23228574,
  0.02211074, 0.15841983,-0.0011088 , 0.19958373, 0.00381449, 0.16103554,
  0.0120844 ,-0.0015873 , 0.        ,-0.00268358, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10513334,  1.81360885, -3.68279007,  1.81360885, 10.00668585,
        2.9062498 , -3.68279007,  2.9062498 ,  5.53633095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.585313231043498e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93877137e-13,  9.93877137e-13,  1.00000000e+00,  9.87791763e-25,
        1.00000000e+00, -9.93877137e-13, -1.00000000e+00,  0.00000000e+00,
       -9.93877137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05450279, -0.03464406,  0.06199827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.81409811e-05,-1.56490450e-03,-2.78292278e-04,-2.53858445e-04,
  7.29679671e-05,-2.92974562e-03,-1.11107236e-03,-9.29353138e-04,
 -4.20746773e-05,-1.21024111e-03,-3.78592174e-04,-1.90940301e-04,
 -1.23089507e-04,-1.26856215e-04,-1.26671530e-05,-4.35330314e-05,
  2.77889472e-03, 4.21321051e-04,-1.22243931e+00, 6.88998815e-04,
  2.71381444e-04,-1.00492473e-03]


--- Step 1092 ---
qpos:
[ 0.00126175, 0.48953274,-0.01555994, 0.41625858, 0.00654672, 0.43716998,
 -0.04087228, 0.36073355, 0.0148151 , 0.5515323 ,-0.01633826, 0.39489277,
  1.22283552,-0.00171928, 0.97698517, 0.06434365, 0.03589459,-0.08181956,
  0.12486527, 0.52917159, 0.20800701, 0.33462209, 0.7514909 ]

qacc:
[ 2.00741714e+00,-1.32403543e+01, 1.83942503e+01, 5.82437971e+00,
  1.13006707e+00,-2.06869368e+01, 4.11386156e+01,-6.91197468e+01,
 -2.62208248e-02,-2.41256518e+01, 1.18932480e+02,-2.94120374e+02,
  4.74918375e-01,-1.71307834e+00,-6.26997097e+00, 2.09681830e+01,
 -5.43432907e-01,-2.38521090e+00,-2.12497032e+00,-3.03787486e+01,
 -4.22298831e+01, 1.21849668e+01]

qfrc_actuator:
[-0.00364754, 0.20839552, 0.00817885, 0.17040507,-0.0020765 , 0.23107908,
  0.02180124, 0.15826066,-0.00110807, 0.19977919, 0.00387975, 0.16048047,
  0.01206024,-0.0016318 , 0.        ,-0.00258148, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11169677,  1.89622018, -3.648342  ,  1.89622018,  8.896972  ,
        2.48713949, -3.648342  ,  2.48713949,  5.40438372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.747198908439722e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.64545768e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.64545768e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0544744 , -0.03465513,  0.0619979 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58240935e-04,-1.75916413e-03,-4.74847522e-04,-4.79253919e-05,
  6.89884419e-05,-3.26199768e-03,-1.13250471e-03,-3.49568950e-04,
 -2.88243290e-06,-6.79848557e-04,-2.73666312e-04,-6.30457659e-04,
 -1.25375637e-04,-9.99584207e-05,-1.53800207e-05, 9.69661100e-05,
  2.90854727e-03, 5.46215804e-04,-1.22254131e+00, 7.04978883e-04,
  2.19992139e-04,-8.28594658e-04]


--- Step 1093 ---
qpos:
[ 1.16019145e-03, 4.93362730e-01,-1.55091261e-02, 4.19638953e-01,
  6.50555652e-03, 4.41498703e-01,-4.05283173e-02, 3.63894672e-01,
  1.48271149e-02, 5.55145474e-01,-1.63853955e-02, 3.98065805e-01,
  1.22315611e+00,-1.72255387e-03, 9.77226861e-01, 6.43460744e-02,
  3.51448103e-02,-8.21254032e-02, 1.24426298e-01, 5.30427545e-01,
  2.04519278e-01, 3.29752213e-01, 7.53712122e-01]

qacc:
[ 1.80168978e+00,-5.23503070e-01,-4.03222685e+01, 1.30963502e+02,
  4.69204155e-01, 2.77773629e+01,-2.34510191e+02, 6.24488004e+02,
  4.27414171e-01,-1.77416438e+01, 5.48827097e+01,-8.03857864e+01,
  7.88043369e-01,-2.32142959e+00,-9.22419343e+00, 3.13521427e+01,
 -5.00569210e-01,-2.22472693e+00,-2.64365242e+00,-2.94839739e+01,
 -4.06291370e+01, 1.11960329e+01]

qfrc_actuator:
[-0.00353644, 0.20790709, 0.00811692, 0.17067658,-0.00206437, 0.22974542,
  0.02147888, 0.15943279,-0.00107669, 0.1993916 , 0.00395699, 0.16039337,
  0.01203954,-0.00169258, 0.        ,-0.0024324 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11189547,  1.94337856, -3.62366722,  1.94337856,  8.37337745,
        2.28543965, -3.62366722,  2.28543965,  5.33758043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.779220950885179e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.18842632e-13,  8.18842632e-13,  1.00000000e+00,  6.70503255e-25,
        1.00000000e+00, -8.18842632e-13, -1.00000000e+00,  0.00000000e+00,
       -8.18842632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05444949, -0.03465866,  0.06199787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44111033e-04,-1.69519231e-03,-5.24192699e-04, 1.72892472e-04,
  2.75893915e-05,-3.55341492e-03,-1.19579252e-03, 9.79197819e-04,
  4.03098193e-05,-9.62876533e-04,-1.54983705e-04,-1.46130347e-04,
 -1.16746951e-04,-1.11085158e-04,-3.17481040e-07, 1.51584483e-04,
  3.03826467e-03, 6.71471039e-04,-1.22263791e+00, 7.24099644e-04,
  1.72112182e-04,-6.56606808e-04]


--- Step 1094 ---
qpos:
[ 1.05955730e-03, 4.97176412e-01,-1.54588017e-02, 4.23023978e-01,
  6.46485451e-03, 4.45799026e-01,-4.01916203e-02, 3.67078976e-01,
  1.48393868e-02, 5.58745689e-01,-1.64300820e-02, 4.01244567e-01,
  1.22347673e+00,-1.72881869e-03, 9.77468560e-01, 6.43495797e-02,
  3.43932021e-02,-8.24395771e-02, 1.23974946e-01, 5.31682941e-01,
  2.01058377e-01, 3.24778882e-01, 7.55914980e-01]

qacc:
[ 8.13660681e-01,-1.10769057e+01,-7.98355671e+00, 9.25760888e+01,
  4.87214958e-01, 2.72534181e+01,-2.35458187e+02, 6.29884920e+02,
  2.10331168e-01,-1.26356407e+01,-7.41546578e-01, 9.75429588e+01,
  2.51160622e+00,-6.19049780e+00,-3.46292546e+00, 1.16111391e+01,
 -4.58108763e-01,-2.08228566e+00,-3.09389103e+00,-2.87881071e+01,
 -3.93351370e+01, 1.03436911e+01]

qfrc_actuator:
[-0.0035014 , 0.20701297, 0.00806087, 0.17090448,-0.00204088, 0.22838402,
  0.02113438, 0.16059762,-0.00108076, 0.19853505, 0.00400365, 0.16067082,
  0.01201029,-0.00186904, 0.        ,-0.00238115, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.106775  ,  2.04268237, -3.56273065,  2.04268237,  7.07954496,
        1.70442994, -3.56273065,  1.70442994,  5.08400548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.897762021103703e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41223994e-13,  9.41223994e-13,  1.00000000e+00,  8.85902606e-25,
        1.00000000e+00, -9.41223994e-13, -1.00000000e+00,  0.00000000e+00,
       -9.41223994e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05442751, -0.03465605,  0.06199814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45478422e-05,-2.06545586e-03,-5.03370298e-04, 1.34873173e-04,
  2.91861145e-05,-3.70002973e-03,-1.23962016e-03, 9.84641899e-04,
  1.87040445e-05,-1.54499039e-03,-2.12391502e-04, 2.20824670e-04,
 -1.22609588e-04,-2.27289733e-04, 1.23161400e-05, 5.86393059e-05,
  3.16850846e-03, 7.97556628e-04,-1.22272972e+00, 7.45832854e-04,
  1.27242082e-04,-4.87922193e-04]


--- Step 1095 ---
qpos:
[ 9.59139254e-04, 5.00971628e-01,-1.54088428e-02, 4.26404100e-01,
  6.42498105e-03, 4.50071438e-01,-3.98614874e-02, 3.70261430e-01,
  1.48517747e-02, 5.62331611e-01,-1.64729223e-02, 4.04418180e-01,
  1.22379705e+00,-1.73772940e-03, 9.77710152e-01, 6.43546847e-02,
  3.36399305e-02,-8.27615705e-02, 1.23509650e-01, 5.32936925e-01,
  1.97622822e-01, 3.19704086e-01, 7.58098115e-01]

qacc:
[ 2.03992882e-01,-3.29017275e+01, 9.83743081e+01,-1.57821918e+02,
  8.53181997e-01,-2.22237431e+01, 3.31666234e+01,-3.32279698e+01,
  1.03005981e-01,-3.40276239e+01, 1.11200228e+02,-1.80687100e+02,
  2.02559929e+00,-5.28570142e+00,-5.17184090e+00, 1.74308141e+01,
 -4.15847689e-01,-1.95489462e+00,-3.48601985e+00,-2.82669837e+01,
 -3.83066860e+01, 9.60571407e+00]

qfrc_actuator:
[-0.00349393, 0.20599045, 0.00798965, 0.17064307,-0.00199303, 0.22703577,
  0.02079736, 0.16048821,-0.00108826, 0.19774274, 0.00404805, 0.16039672,
  0.01198119,-0.00200612, 0.        ,-0.00229919, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09927377,  2.05930989, -3.54447291,  2.05930989,  7.06075134,
        1.72059435, -3.54447291,  1.72059435,  5.09892507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.285847650579988e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29521989e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29521989e-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([ 0.05440797, -0.03464847,  0.06199864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45532160e-05,-2.39691873e-03,-5.92596981e-04,-3.69230157e-04,
  5.39908171e-05,-3.77614314e-03,-1.26673052e-03,-2.96731015e-04,
  8.14672953e-06,-1.80169215e-03,-3.28045819e-04,-3.48716092e-04,
 -1.52865609e-04,-2.14318707e-04, 7.25485311e-06, 8.56363768e-05,
  3.29968899e-03, 9.24928856e-04,-1.22281729e+00, 7.69777992e-04,
  8.49477642e-05,-3.21588757e-04]


--- Step 1096 ---
qpos:
[ 8.58256654e-04, 5.04749033e-01,-1.53606763e-02, 4.29780165e-01,
  6.38597131e-03, 4.54313410e-01,-3.95366003e-02, 3.73423667e-01,
  1.48644412e-02, 5.65902580e-01,-1.65143028e-02, 4.07584470e-01,
  1.22411662e+00,-1.74830070e-03, 9.77952317e-01, 6.43560435e-02,
  3.28851647e-02,-8.30909239e-02, 1.23029039e-01, 5.34188732e-01,
  1.94211380e-01, 3.14529314e-01, 7.60260251e-01]

qacc:
[-3.77397617e-01,-2.64460990e+01, 7.40516273e+01,-1.19895156e+02,
  8.83663951e-01,-6.45116226e+01, 2.45431585e+02,-5.32290912e+02,
  2.24083654e-01,-3.80723860e+01, 1.31961183e+02,-2.33900116e+02,
  5.57688114e-01,-2.39767567e+00, 1.20782943e+01,-4.11997531e+01,
 -3.73555603e-01,-1.83996674e+00,-3.82888170e+00,-2.78992819e+01,
 -3.75081529e+01, 8.96354863e+00]

qfrc_actuator:
[-0.00352043, 0.20523689, 0.00794491, 0.1704508 ,-0.00194887, 0.22538673,
  0.02046703, 0.15945248,-0.00108003, 0.19703098, 0.00412622, 0.16003106,
  0.01194156,-0.00208322, 0.        ,-0.00250155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09291063,  2.13861858, -3.48973179,  2.13861858,  6.21688669,
        1.30164005, -3.48973179,  1.30164005,  4.89059703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0979602358958682e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64595822e-12,  5.29191643e-12,  1.00000000e+00,  1.40021898e-23,
        1.00000000e+00, -5.29191643e-12, -1.00000000e+00,  0.00000000e+00,
       -2.64595822e-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([ 0.05439042, -0.03463694,  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:
[-3.36803237e-05,-2.35088198e-03,-6.61325493e-04,-3.26412917e-04,
  5.64884561e-05,-4.17702484e-03,-1.32181131e-03,-1.25247809e-03,
  2.03603846e-05,-1.91078199e-03,-3.79857971e-04,-4.65914165e-04,
 -1.77948607e-04,-1.58536699e-04, 7.94560974e-06,-1.97816030e-04,
  3.43217668e-03, 1.05402873e-03,-1.22290112e+00, 7.95631308e-04,
  4.48522966e-05,-1.56735143e-04]


--- Step 1097 ---
qpos:
[ 7.56934093e-04, 5.08513042e-01,-1.53169253e-02, 4.33163352e-01,
  6.34726599e-03, 4.58523977e-01,-3.92195692e-02, 3.76583823e-01,
  1.48773232e-02, 5.69462685e-01,-1.65578858e-02, 4.10762057e-01,
  1.22443541e+00,-1.76088896e-03, 9.78194218e-01, 6.43573319e-02,
  3.21305145e-02,-8.34202423e-02, 1.22508974e-01, 5.35416805e-01,
  1.90792981e-01, 3.09339356e-01, 7.62388383e-01]

qacc:
[-3.64401805e-01, 8.40282084e+00,-7.89929597e+01, 2.01397001e+02,
  3.20142881e-01,-2.37124401e+01, 3.27967588e+01,-3.24363478e+01,
  1.65138880e-01, 1.38361733e+01,-1.09159058e+02, 2.93446793e+02,
  1.06071697e+00,-3.47485753e+00,-2.91652334e-01, 1.87642222e-01,
  2.88900090e-02, 8.72526269e-03,-9.86313036e+00, 2.13264387e-02,
 -9.80318374e-01, 3.20202043e-01]

qfrc_actuator:
[-0.0035312 , 0.20502423, 0.00789988, 0.17085148,-0.0019428 , 0.22392596,
  0.02012427, 0.1593713 ,-0.00108032, 0.19692427, 0.0041888 , 0.16064436,
  0.01188502,-0.00219526, 0.        ,-0.00249699, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.18972108e-05,-1.79562552e-03,-6.58642261e-04, 2.67180660e-04,
  1.91213589e-05,-4.26220138e-03,-1.45486667e-03,-3.35097061e-04,
  1.58077471e-05,-1.38125271e-03,-4.27693305e-04, 5.04687364e-04,
 -1.97025528e-04,-1.86967864e-04,-2.53333549e-05,-7.05064673e-06,
  3.56631028e-03, 1.18528073e-03,-1.22298165e+00, 8.23162531e-04,
  6.62892112e-06, 7.43475636e-06]


--- Step 1098 ---
qpos:
[ 6.56058388e-04, 5.12268675e-01,-1.52775053e-02, 4.36548366e-01,
  6.30891532e-03, 4.62707179e-01,-3.89126711e-02, 3.79752699e-01,
  1.48898605e-02, 5.73016853e-01,-1.66039889e-02, 4.13956722e-01,
  1.22475331e+00,-1.77513082e-03, 9.78435906e-01, 6.43589536e-02,
  3.13759824e-02,-8.37495247e-02, 1.21949459e-01, 5.36621072e-01,
  1.87367784e-01, 3.04134440e-01, 7.64482427e-01]

qacc:
[ 3.71489734e-01, 4.46628065e+00,-3.71993956e+01, 7.49774393e+01,
  3.54158819e-01, 8.62184370e+00,-1.13151955e+02, 2.80814181e+02,
 -2.54675171e-01, 3.24858828e+01,-1.85942034e+02, 4.54888069e+02,
  6.94105652e-01,-2.67042377e+00,-1.40107734e+00, 4.25511329e+00,
  2.95409045e-02, 9.02114751e-03,-9.86272976e+00, 2.17039174e-02,
 -9.83747280e-01, 3.24381551e-01]

qfrc_actuator:
[-0.00347912, 0.20508557, 0.007858  , 0.17097702,-0.00192385, 0.22301735,
  0.01979652, 0.15985279,-0.00112129, 0.19714697, 0.00426286, 0.16154529,
  0.01184498,-0.002274  , 0.        ,-0.00247698, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.15960700e-05,-1.18614128e-03,-5.21206163e-04, 2.67134009e-05,
  2.27427634e-05,-3.74512351e-03,-1.44162473e-03, 2.38355835e-04,
 -2.62978337e-05,-7.25541187e-04,-2.80500323e-04, 8.31941514e-04,
 -1.98159210e-04,-1.64228339e-04,-1.67095142e-05, 1.53913603e-05,
  3.64599645e-03, 1.22248610e-03,-1.22293142e+00, 8.42540371e-04,
  1.04906214e-05, 1.62929647e-05]


--- Step 1099 ---
qpos:
[ 5.56406149e-04, 5.16019327e-01,-1.52415265e-02, 4.39934116e-01,
  6.27156636e-03, 4.66869048e-01,-3.86158330e-02, 3.82917570e-01,
  1.49022581e-02, 5.76560899e-01,-1.66471212e-02, 4.17162842e-01,
  1.22507048e+00,-1.79126205e-03, 9.78677920e-01, 6.43570861e-02,
  3.06197849e-02,-8.40880208e-02, 1.21381476e-01, 5.37831793e-01,
  1.83977418e-01, 2.98793910e-01, 7.66558198e-01]

qacc:
[ 1.00663469e+00, 4.35988827e+00,-2.67548488e+01, 4.45069825e+01,
  9.60866922e-01,-8.10486391e+00, 4.09741567e+00,-4.01383651e+01,
 -9.05044308e-02, 8.04073584e-01,-6.28375668e+01, 2.44044538e+02,
  7.92181002e-01,-2.92487270e+00, 1.09159500e+01,-3.77129303e+01,
 -4.16377019e-01,-2.30343811e+00,-2.11718936e+00,-4.03184104e+01,
 -5.23933070e+01, 1.06322376e+01]

qfrc_actuator:
[-0.00339003, 0.20524064, 0.00783746, 0.17104645,-0.00186185, 0.22248408,
  0.01948319, 0.15968553,-0.00113292, 0.19655484, 0.00438051, 0.16211143,
  0.01181489,-0.00236781, 0.        ,-0.0026611 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0945104 ,  0.96927779, -3.97812971,  0.96927779, 23.90025631,
        4.82570227, -3.97812971,  4.82570227,  5.27030062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8136472071269014e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97292507e-12,  3.94585015e-12,  1.00000000e+00,  7.78486669e-24,
        1.00000000e+00, -3.94585015e-12, -1.00000000e+00,  0.00000000e+00,
       -1.97292507e-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([ 0.05429378, -0.03466603,  0.06199907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75963645e-05,-7.33307551e-04,-3.66461311e-04,-5.06304138e-06,
  6.69002341e-05,-3.05305097e-03,-1.29944244e-03,-3.76927809e-04,
 -1.09596036e-05,-1.13031346e-03,-7.35769615e-05, 5.35353414e-04,
 -1.83451443e-04,-1.74705186e-04,-1.07300942e-05,-1.86487912e-04,
  3.72503344e-03, 1.25949961e-03,-1.22288001e+00, 8.61773792e-04,
  1.42659250e-05, 2.52255559e-05]


--- Step 1100 ---
qpos:
[ 4.58504374e-04, 5.19764137e-01,-1.52074687e-02, 4.43325579e-01,
  6.23523190e-03, 4.71009700e-01,-3.83275729e-02, 3.86088603e-01,
  1.49148152e-02, 5.80088406e-01,-1.66858985e-02, 4.20376534e-01,
  1.22538665e+00,-1.80828348e-03, 9.78919947e-01, 6.43523496e-02,
  2.98621763e-02,-8.44349158e-02, 1.20802511e-01, 5.39046616e-01,
  1.80619143e-01, 2.93323590e-01, 7.68613520e-01]

qacc:
[ 1.43179171e+00, 8.70698309e+00,-6.10796074e+01, 1.53483299e+02,
  9.64979774e-01, 7.49911693e+00,-8.81396463e+01, 2.08942472e+02,
  1.35590202e-01,-1.90646324e+01, 8.68983757e+00, 1.16987607e+02,
 -1.91183113e-01,-7.39783606e-01, 8.66981772e+00,-3.03261191e+01,
 -3.52743747e-01,-2.09972405e+00,-2.74522549e+00,-3.84396079e+01,
 -4.96971801e+01, 9.66176269e+00]

qfrc_actuator:
[-0.0032797 , 0.20507909, 0.00779506, 0.17134885,-0.00181031, 0.22168383,
  0.01916474, 0.16002587,-0.00112703, 0.1953561 , 0.00444881, 0.16245774,
  0.01178013,-0.00239875, 0.        ,-0.00280424, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0996243 ,  2.27007352, -3.4137495 ,  2.27007352,  5.92910823,
        1.21656935, -3.4137495 ,  1.21656935,  4.90861801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.374559752127333e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.26895401e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.26895401e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05425169, -0.03468877,  0.06199855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25869841e-04,-7.66316488e-04,-2.77844316e-04, 2.50745644e-04,
  6.80717673e-05,-2.92873475e-03,-1.16566332e-03, 1.51739957e-04,
  1.15590109e-05,-1.93204666e-03,-1.90373711e-04, 3.00238892e-04,
 -1.82341662e-04,-1.10504952e-04,-3.15700112e-05,-1.56250781e-04,
  3.88913658e-03, 1.43814413e-03,-1.22301094e+00, 8.94917231e-04,
 -3.56350062e-05, 2.57739506e-04]


--- Step 1101 ---
qpos:
[ 3.62428985e-04, 5.23498550e-01,-1.51730839e-02, 4.46725566e-01,
  6.19930020e-03, 4.75123833e-01,-3.80445889e-02, 3.89267896e-01,
  1.49272992e-02, 5.83597836e-01,-1.67236077e-02, 4.23588270e-01,
  1.22570168e+00,-1.82520957e-03, 9.79161252e-01, 6.43502438e-02,
  2.91034180e-02,-8.47894719e-02, 1.20210378e-01, 5.40263467e-01,
  1.77290658e-01, 2.87728264e-01, 7.70646388e-01]

qacc:
[ 1.48954460e+00, 1.94811580e+00,-5.58073382e+01, 1.92428350e+02,
  3.96467945e-01,-4.52422464e+00,-6.37273501e+01, 2.18494482e+02,
 -3.68902010e-02,-3.05985406e+01, 8.04731550e+01,-9.65032983e+01,
 -7.70047172e-01, 8.44179860e-01,-8.95787189e+00, 2.99019329e+01,
 -2.87448383e-01,-1.91527504e+00,-3.29210095e+00,-3.69021610e+01,
 -4.74661950e+01, 8.82748168e+00]

qfrc_actuator:
[-0.00317539, 0.20441088, 0.00775715, 0.17176801,-0.00180097, 0.22019925,
  0.01884576, 0.16043144,-0.00114636, 0.19428318, 0.00441393, 0.16233414,
  0.01175327,-0.00237447, 0.        ,-0.00265572, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10081688,  2.33635795, -3.37018258,  2.33635795,  5.23449318,
        0.78591399, -3.37018258,  0.78591399,  4.64564682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6636600764038416e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.19029154e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.19029154e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05421539, -0.03470186,  0.06199844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31671170e-04,-1.26232038e-03,-2.60449488e-04, 3.74500389e-04,
  2.64046874e-05,-3.49305711e-03,-1.10591882e-03, 2.37441342e-04,
 -6.25952324e-06,-2.28646963e-03,-4.79350226e-04,-2.10535204e-04,
 -1.59043732e-04,-4.10356650e-05,-3.68896342e-05, 1.34644361e-04,
  4.05316067e-03, 1.61613770e-03,-1.22313163e+00, 9.29977441e-04,
 -8.21835961e-05, 4.83436316e-04]


--- Step 1102 ---
qpos:
[ 2.66919625e-04, 5.27218531e-01,-1.51380453e-02, 4.50135828e-01,
  6.16350485e-03, 4.79207970e-01,-3.77653518e-02, 3.92442263e-01,
  1.49398970e-02, 5.87090175e-01,-1.67616682e-02, 4.26787855e-01,
  1.22601609e+00,-1.84326637e-03, 9.79401719e-01, 6.43545461e-02,
  2.83437765e-02,-8.51510164e-02, 1.19603167e-01, 5.41480499e-01,
  1.73990037e-01, 2.82011828e-01, 7.72654946e-01]

qacc:
[ 4.68719220e-01,-8.81825126e-01,-5.94000038e+01, 2.25174839e+02,
  1.53553423e-01,-3.86104171e+01, 9.78435702e+01,-1.46217370e+02,
  9.56244663e-02,-4.52281524e+01, 1.69792431e+02,-3.40699949e+02,
  8.31011991e-01,-2.39974038e+00,-2.06550741e+01, 7.02853641e+01,
 -2.20783096e-01,-1.74710345e+00,-3.76949483e+00,-3.56591836e+01,
 -4.56340798e+01, 8.10774738e+00]

qfrc_actuator:
[-0.00316423, 0.20351658, 0.00772045, 0.17226989,-0.00179898, 0.21853089,
  0.01857985, 0.16016147,-0.00114516, 0.19350694, 0.00440744, 0.16172208,
  0.01172055,-0.00244195, 0.        ,-0.00231881, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09790698,  2.38205513, -3.33446472,  2.38205513,  4.83132213,
        0.52393276, -3.33446472,  0.52393276,  4.47219096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.920673756528659e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.07928722e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.07928722e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05418393, -0.034707  ,  0.06199867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05307851e-05,-1.75594104e-03,-3.53940774e-04, 4.40642698e-04,
  8.12767304e-06,-3.97480231e-03,-1.15767980e-03,-4.57162843e-04,
  8.08888786e-06,-2.26678241e-03,-5.75411714e-04,-7.33154226e-04,
 -1.34734046e-04,-1.12602715e-04,-5.37250369e-06, 3.38940147e-04,
  4.21770794e-03, 1.79416638e-03,-1.22324312e+00, 9.66567373e-04,
 -1.25839609e-04, 7.03701936e-04]


--- Step 1103 ---
qpos:
[ 1.71323797e-04, 5.30918181e-01,-1.51013136e-02, 4.53556423e-01,
  6.12822717e-03, 4.83262523e-01,-3.74906362e-02, 3.95605054e-01,
  1.49525990e-02, 5.90565086e-01,-1.67991322e-02, 4.29974018e-01,
  1.22632955e+00,-1.86171659e-03, 9.79642460e-01, 6.43598013e-02,
  2.75835234e-02,-8.55189314e-02, 1.18979206e-01, 5.42696055e-01,
  1.70715674e-01, 2.76177409e-01, 7.74637456e-01]

qacc:
[-4.77851805e-02,-1.14265597e+01,-3.36335853e+01, 2.04077767e+02,
  4.97969945e-01,-4.86940329e+01, 1.58378677e+02,-3.09291207e+02,
  8.97968967e-02,-5.07484798e+01, 1.92772126e+02,-3.83124499e+02,
 -3.60545597e-01,-8.72000079e-02,-2.45811221e+00, 9.21940936e+00,
 -1.52895018e-01,-1.59259972e+00,-4.18737664e+00,-3.46709541e+01,
 -4.41449913e+01, 7.48459624e+00]

qfrc_actuator:
[-0.00317293, 0.20219301, 0.00768402, 0.17276298,-0.0017658 , 0.2171569 ,
  0.01838186, 0.15958482,-0.00114954, 0.19273743, 0.00447224, 0.16105869,
  0.01167366,-0.00245679, 0.        ,-0.002282  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09342018,  2.44149274, -3.28560528,  2.44149274,  4.35447388,
        0.19398578, -3.28560528,  0.19398578,  4.23756862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.349756557118443e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.54363207e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.54363207e-12, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05415651, -0.03470568,  0.0619992 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.07108954e-06,-2.47628882e-03,-4.63201690e-04, 4.10548085e-04,
  3.44310800e-05,-3.98737506e-03,-1.21760213e-03,-7.98934991e-04,
  7.37320351e-06,-2.28918616e-03,-5.29020984e-04,-7.97303749e-04,
 -1.50680604e-04,-7.01663790e-05, 3.18850906e-05, 5.42344873e-05,
  4.38331097e-03, 1.97289031e-03,-1.22334628e+00, 1.00440971e-03,
 -1.67011231e-04, 9.19811831e-04]


--- Step 1104 ---
qpos:
[ 7.62578797e-05, 5.34589794e-01,-1.50614077e-02, 4.56984599e-01,
  6.09383293e-03, 4.87287091e-01,-3.72215193e-02, 3.98760395e-01,
  1.49653579e-02, 5.94020854e-01,-1.68362625e-02, 4.33152711e-01,
  1.22664175e+00,-1.87944472e-03, 9.79883666e-01, 6.43628215e-02,
  2.68229351e-02,-8.58926441e-02, 1.18337029e-01, 5.43908634e-01,
  1.67466234e-01, 2.70227471e-01, 7.76592282e-01]

qacc:
[ 4.49935030e-01,-3.10220219e+01, 3.00783907e+01, 1.04164280e+02,
  8.21138465e-01,-3.83415666e+01, 1.06193071e+02,-1.91830259e+02,
  5.60416835e-02,-4.06881955e+01, 1.33246190e+02,-2.31280830e+02,
 -1.67779081e+00, 2.70766438e+00, 7.54920085e+00,-2.51396022e+01,
 -8.38052481e-02,-1.44945480e+00,-4.55432586e+00,-3.39033950e+01,
 -4.29512917e+01, 6.94297183e+00]

qfrc_actuator:
[-0.00312211, 0.20033952, 0.00766421, 0.17310461,-0.00171434, 0.21575809,
  0.01813815, 0.15922335,-0.00115732, 0.19178384, 0.00449024, 0.16069018,
  0.01162896,-0.00240482, 0.        ,-0.00240461, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09091613,  2.4879124 , -3.2474431 ,  2.4879124 ,  4.08197093,
       -0.00685305, -3.2474431 , -0.00685305,  4.08566591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2446445890879065e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46000021e-11,  2.23000010e-11,  1.00000000e+00, -9.94580092e-22,
        1.00000000e+00, -2.23000010e-11, -1.00000000e+00,  0.00000000e+00,
        4.46000021e-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([ 0.05413239, -0.03469913,  0.06199996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.76912292e-05,-3.43073067e-03,-6.07460844e-04, 2.26308405e-04,
  5.98387629e-05,-4.04418263e-03,-1.28408028e-03,-5.92849032e-04,
  3.68019328e-06,-2.47796618e-03,-5.76516408e-04,-5.02853652e-04,
 -1.48038982e-04, 2.20071767e-06, 1.35072765e-05,-1.17137891e-04,
  4.55044769e-03, 2.15294071e-03,-1.22344192e+00, 1.04330787e-03,
 -2.06059893e-04, 1.13293608e-03]


--- Step 1105 ---
qpos:
[-1.78516429e-05, 5.38227154e-01,-1.50183588e-02, 4.60413572e-01,
  6.06031427e-03, 4.91280599e-01,-3.69587545e-02, 4.01910641e-01,
  1.49783597e-02, 5.97454761e-01,-1.68721595e-02, 4.36328265e-01,
  1.22695299e+00,-1.89680576e-03, 9.80124746e-01, 6.43657112e-02,
  2.60604137e-02,-8.62757607e-02, 1.17689710e-01, 5.45122160e-01,
  1.64257226e-01, 2.64125988e-01, 7.78523511e-01]

qacc:
[   0.78726947, -52.28282307, 116.29326353, -78.40176734,   0.80498638,
  -33.17018313,  77.45650045,-125.11215104,   0.18997003, -38.32756052,
  104.52598938,-135.16651897,  -1.03814301,   1.53733092,   0.28040436,
   -1.08289336,  -0.48328499,  -2.35096642,  -1.28523585, -44.74095642,
  -59.01704037,  11.3676863 ]

qfrc_actuator:
[-0.00305391, 0.19821942, 0.00765221, 0.17310544,-0.00167024, 0.2142501 ,
  0.01783437, 0.15897373,-0.00114937, 0.19063974, 0.00453345, 0.16053353,
  0.01159097,-0.00238473, 0.        ,-0.00240703, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.1263394460388496e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61064391e-12,  2.61064391e-12,  1.00000000e+00,  6.81546162e-24,
        1.00000000e+00, -2.61064391e-12, -1.00000000e+00,  0.00000000e+00,
       -2.61064391e-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([ 0.05014078, -0.03952094,  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:
[ 6.88956862e-05,-4.26559163e-03,-8.17605768e-04,-1.60821398e-04,
  5.94957364e-05,-4.18866944e-03,-1.35616946e-03,-4.81062230e-04,
  1.80181815e-05,-2.77058978e-03,-5.85275957e-04,-2.93974834e-04,
 -1.23518333e-04,-1.31298764e-05,-1.43104389e-05,-8.91128521e-06,
  4.71955200e-03, 2.33491794e-03,-1.22353070e+00, 1.08312447e-03,
 -2.43304572e-04, 1.34414453e-03]


--- Step 1106 ---
qpos:
[-1.10020881e-04, 5.41835573e-01,-1.49787819e-02, 4.63850386e-01,
  6.02759607e-03, 4.95250794e-01,-3.67063455e-02, 4.05058723e-01,
  1.49913291e-02, 6.00866088e-01,-1.69080860e-02, 4.39513852e-01,
  1.22726332e+00,-1.91382793e-03, 9.80366001e-01, 6.43661770e-02,
  2.52965642e-02,-8.66671416e-02, 1.17033896e-01, 5.46334184e-01,
  1.61084900e-01, 2.57880118e-01, 7.80428382e-01]

qacc:
[ 1.52987446e+00,-1.33981225e+01,-3.32281753e+01, 1.76183404e+02,
  7.13145884e-01,-6.36233567e+00,-1.24838358e+01, 6.83725529e+00,
 -6.67993316e-03,-1.01989482e+01,-4.13735032e+01, 2.11542187e+02,
 -1.09302987e+00, 1.63596895e+00, 7.64812107e+00,-2.62101719e+01,
 -3.32030112e-01,-2.06608166e+00,-2.12381094e+00,-4.26032928e+01,
 -5.56002974e+01, 1.01030809e+01]

qfrc_actuator:
[-0.00292266, 0.19714621, 0.00760815, 0.17352689,-0.0016309 , 0.21371933,
  0.01755081, 0.15891611,-0.0011677 , 0.18960473, 0.00457299, 0.16105299,
  0.0115517 ,-0.00236595, 0.        ,-0.00253383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10416282,  2.12077906, -3.51375136,  2.12077906,  3.85207956,
       -0.15214875, -3.51375136, -0.15214875,  4.01233108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.391977683701782e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02951374e-12,  5.14756871e-13,  1.00000000e+00,  5.29949273e-25,
        1.00000000e+00, -5.14756871e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02951374e-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([ 0.05009315, -0.03956191,  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:
[ 1.41779072e-04,-3.74165603e-03,-1.05788053e-03, 2.11972551e-04,
  5.47848889e-05,-3.30074256e-03,-1.36979214e-03,-2.94773458e-04,
 -3.35969815e-06,-2.81704869e-03,-6.42288643e-04, 3.74561220e-04,
 -1.14212342e-04,-1.20225096e-05,-1.27013740e-05,-1.30299936e-04,
  4.91967637e-03, 2.57333995e-03,-1.22366929e+00, 1.13515750e-03,
 -3.04421110e-04, 1.63733094e-03]


--- Step 1107 ---
qpos:
[-1.99929603e-04, 5.45424149e-01,-1.49461817e-02, 4.67303830e-01,
  5.99561411e-03, 4.99203008e-01,-3.64634071e-02, 4.08206572e-01,
  1.50037415e-02, 6.04253247e-01,-1.69442815e-02, 4.42713733e-01,
  1.22757275e+00,-1.93048451e-03, 9.80607250e-01, 6.43644345e-02,
  2.45319414e-02,-8.70657683e-02, 1.16366687e-01, 5.47542416e-01,
  1.57946106e-01, 2.51495939e-01, 7.82304367e-01]

qacc:
[ 1.75044735e+00, 2.52583524e+01,-1.81033736e+02, 4.49303417e+02,
  6.45581773e-01, 1.92030214e+00,-3.86470769e+01, 5.75232981e+01,
 -3.71775741e-01,-3.37356974e+00,-8.29805614e+01, 3.18685379e+02,
 -1.10288226e+00, 1.66631820e+00, 6.73087951e+00,-2.33872016e+01,
 -1.93317554e-01,-1.81142846e+00,-2.84874827e+00,-4.07818176e+01,
 -5.27045497e+01, 9.05242969e+00]

qfrc_actuator:
[-0.00279045, 0.19692256, 0.00755021, 0.17442412,-0.00159468, 0.21340676,
  0.01730368, 0.15895506,-0.00121937, 0.18839611, 0.00455785, 0.1617709 ,
  0.01150636,-0.00234808, 0.        ,-0.00264415, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11275129,  2.22401815, -3.45954714,  2.22401815,  3.6218793 ,
       -0.3155639 , -3.45954714, -0.3155639 ,  3.90988663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.915419686148727e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.02715580e-13,  8.02715580e-13,  1.00000000e+00, -6.44352302e-25,
        1.00000000e+00, -8.02715580e-13, -1.00000000e+00,  0.00000000e+00,
        8.02715580e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0500519 , -0.0395903 ,  0.06199753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66290999e-04,-2.63248499e-03,-9.80790940e-04, 7.08532130e-04,
  5.07347924e-05,-2.58062938e-03,-1.14627297e-03,-1.58467941e-04,
 -4.43142889e-05,-3.00001926e-03,-6.90366266e-04, 5.83089128e-04,
 -1.14839204e-04,-1.04208001e-05,-2.60760456e-05,-1.20515223e-04,
  5.11971307e-03, 2.80961802e-03,-1.22379389e+00, 1.18794735e-03,
 -3.60609992e-04, 1.92007167e-03]


--- Step 1108 ---
qpos:
[-2.88435801e-04, 5.48994058e-01,-1.49165724e-02, 4.70767152e-01,
  5.96381973e-03, 5.03133439e-01,-3.62253290e-02, 4.11350702e-01,
  1.50158430e-02, 6.07616176e-01,-1.69803263e-02, 4.45921323e-01,
  1.22788125e+00,-1.94630362e-03, 9.80847841e-01, 6.43653636e-02,
  2.37670607e-02,-8.74707231e-02, 1.15685571e-01, 5.48744715e-01,
  1.54838202e-01, 2.44978576e-01, 7.84149135e-01]

qacc:
[ 1.08591279e+00, 2.73641326e+00,-7.73854781e+01, 2.41295149e+02,
  1.76670352e-01,-2.24236838e+01, 5.18545509e+01,-8.70028926e+01,
 -1.98064332e-01,-1.74087219e+01,-1.09047732e+01, 1.46737731e+02,
 -1.21388838e+00, 2.17309114e+00,-8.94115602e+00, 3.00867595e+01,
 -6.44590400e-02,-1.58203463e+00,-3.47664029e+00,-3.92455534e+01,
 -5.02641583e+01, 8.17731498e+00]

qfrc_actuator:
[-0.00272978, 0.19627022, 0.0075066 , 0.17493806,-0.00159611, 0.21227047,
  0.01704616, 0.15876683,-0.00123725, 0.18725371, 0.00458116, 0.16215581,
  0.01147872,-0.00229541, 0.        ,-0.00249529, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11339602,  2.31270953, -3.40167628,  2.31270953,  3.46836782,
       -0.43853758, -3.40167628, -0.43853758,  3.81524595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.016246522929814e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91180171e-13,  3.95590085e-13,  1.00000000e+00,  3.12983031e-25,
        1.00000000e+00, -3.95590085e-13, -1.00000000e+00,  0.00000000e+00,
       -7.91180171e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05001619, -0.0396082 ,  0.06199747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03313381e-04,-2.40553788e-03,-7.13666163e-04, 3.82286866e-04,
  1.22855648e-05,-2.94982225e-03,-9.76923968e-04,-3.45849768e-04,
 -2.52056923e-05,-3.03620517e-03,-6.87621934e-04, 2.45621316e-04,
 -9.72492843e-05, 2.46346017e-05,-3.03889170e-05, 1.37672326e-04,
  5.32022896e-03, 3.04447741e-03,-1.22390539e+00, 1.24115880e-03,
 -4.12643913e-04, 2.19399768e-03]


--- Step 1109 ---
qpos:
[-3.75910839e-04, 5.52546506e-01,-1.48882914e-02, 4.74225831e-01,
  5.93224710e-03, 5.07037905e-01,-3.59912746e-02, 4.14492189e-01,
  1.50282016e-02, 6.10959707e-01,-1.70178132e-02, 4.49130730e-01,
  1.22818916e+00,-1.96152674e-03, 9.81087962e-01, 6.43700131e-02,
  2.30024070e-02,-8.78811728e-02, 1.14988370e-01, 5.49939071e-01,
  1.51758977e-01, 2.38332313e-01, 7.85960521e-01]

qacc:
[ 7.98680090e-01,-2.83293271e+01, 8.25867503e+01,-1.36129192e+02,
  2.10314293e-01,-2.81592332e+01, 6.01777875e+01,-7.59141322e+01,
  1.88998494e-01,-1.80706410e+01, 2.10826698e+01, 2.31740515e+01,
 -7.07069285e-01, 1.32611423e+00,-1.18643921e+01, 4.06349528e+01,
  5.67351310e-02,-1.37372935e+00,-4.02140711e+00,-3.79667889e+01,
 -4.82232940e+01, 7.44682952e+00]

qfrc_actuator:
[-0.00267657, 0.19556272, 0.00748813, 0.1747073 ,-0.00158436, 0.2108107 ,
  0.01678157, 0.15862341,-0.00121713, 0.1866756 , 0.00464497, 0.16227076,
  0.01147239,-0.00225798, 0.        ,-0.00230143, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10715461,  2.38888788, -3.34094802,  2.38888788,  3.3626343 ,
       -0.53235654, -3.34094802, -0.53235654,  3.72650214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.967650339430697e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.65100568e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.65100568e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04998525, -0.03961742,  0.06199782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.60947907e-05,-2.29175262e-03,-6.20406135e-04,-3.50946578e-04,
  1.45926460e-05,-3.45125398e-03,-1.04474076e-03,-3.13893921e-04,
  1.94500397e-05,-2.50419670e-03,-6.65080631e-04,-3.23168471e-05,
 -5.71369421e-05, 2.08460588e-05,-2.12514303e-06, 1.96852091e-04,
  5.52173487e-03, 3.27864471e-03,-1.22400463e+00, 1.29459180e-03,
 -4.61191362e-04, 2.46064665e-03]


--- Step 1110 ---
qpos:
[-4.63247739e-04, 5.56082944e-01,-1.48619169e-02, 4.77680082e-01,
  5.90151496e-03, 5.10916844e-01,-3.57624008e-02, 4.17631507e-01,
  1.50408508e-02, 6.14288657e-01,-1.70576078e-02, 4.52337963e-01,
  1.22849675e+00,-1.97654164e-03, 9.81328502e-01, 6.43729072e-02,
  2.22384417e-02,-8.82963542e-02, 1.14273189e-01, 5.51123596e-01,
  1.48706589e-01, 2.31560689e-01, 7.87736491e-01]

qacc:
[ 1.15706294e-01,-2.44038424e+01, 7.08417994e+01,-1.21913001e+02,
  7.31986084e-01,-2.34976312e+01, 4.30311996e+01,-5.09522633e+01,
  2.06625911e-01,-1.70687892e+01, 4.04535813e+01,-5.95088969e+01,
 -5.29232448e-01, 8.66694737e-01, 5.95230807e+00,-1.98413722e+01,
  1.72089063e-01,-1.18294542e+00,-4.49489864e+00,-3.69201106e+01,
 -4.65334054e+01, 6.83582968e+00]

qfrc_actuator:
[-0.00268128, 0.1949704 , 0.00746654, 0.17450185,-0.00152931, 0.20966683,
  0.01656712, 0.15852503,-0.00121015, 0.18636991, 0.00468137, 0.16219105,
  0.01146286,-0.00224754, 0.        ,-0.00240223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09820393,  2.46441326, -3.27443777,  2.46441326,  3.19674622,
       -0.67845672, -3.27443777, -0.67845672,  3.58758261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0028642671469106e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38678575e-12,  6.93392875e-13,  1.00000000e+00,  9.61587358e-25,
        1.00000000e+00, -6.93392875e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38678575e-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([ 0.04995836, -0.03961951,  0.06199852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.69926846e-06,-2.12268062e-03,-6.13250736e-04,-3.32806647e-04,
  5.84725394e-05,-3.42655171e-03,-1.10376719e-03,-2.90542645e-04,
  2.23393623e-05,-1.94064883e-03,-5.90074165e-04,-2.10402012e-04,
 -3.75368848e-05, 2.14359207e-06, 1.66918116e-05,-9.10916335e-05,
  5.72470002e-03, 3.51284086e-03,-1.22409239e+00, 1.34814103e-03,
 -5.06832177e-04, 2.72146502e-03]


--- Step 1111 ---
qpos:
[-5.50953450e-04, 5.59603771e-01,-1.48369511e-02, 4.81132714e-01,
  5.87190390e-03, 5.14773344e-01,-3.55399623e-02, 4.20764057e-01,
  1.50539274e-02, 6.17602095e-01,-1.70967078e-02, 4.55540799e-01,
  1.22880400e+00,-1.99131212e-03, 9.81569261e-01, 6.43732577e-02,
  2.14756089e-02,-8.87155621e-02, 1.13538379e-01, 5.52296507e-01,
  1.45679511e-01, 2.24666584e-01, 7.89475126e-01]

qacc:
[  -0.26551836, -19.82281932,  46.00650866, -56.15975607,   0.95617881,
  -24.78039435,  69.87977895,-149.64246772,   0.30333126, -30.87324792,
   94.3462609 ,-147.92327321,  -0.59870491,   1.00019369,   8.04343035,
  -27.57097581,   0.28315183,  -1.00658922,  -4.90729751, -36.08186962,
  -45.15159888,   6.32369755]

qfrc_actuator:
[-0.00270252, 0.19436396, 0.00746193, 0.1744375 ,-0.00146673, 0.2088467 ,
  0.01635001, 0.15820572,-0.00119345, 0.18569804, 0.00475601, 0.16198005,
  0.01144608,-0.0022354 , 0.        ,-0.00253383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09170201,  2.53144994, -3.21462074,  2.53144994,  3.1201023 ,
       -0.76511546, -3.21462074, -0.76511546,  3.48918879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3206469810539412e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10166502e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.10166502e-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([ 0.04993487, -0.03961583,  0.0619995 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82529136e-05,-2.03940462e-03,-5.59881189e-04,-1.84170283e-04,
  7.87629540e-05,-3.09883818e-03,-1.10713555e-03,-5.11683047e-04,
  3.31971233e-05,-1.98347524e-03,-4.33301252e-04,-3.20109203e-04,
 -3.81268883e-05, 4.52734459e-06,-8.84572647e-06,-1.36024480e-04,
  5.92956098e-03, 3.74777348e-03,-1.22416940e+00, 1.40176657e-03,
 -5.50069754e-04, 2.97780734e-03]


--- Step 1112 ---
qpos:
[-6.39082398e-04, 5.63111192e-01,-1.48134696e-02, 4.84577311e-01,
  5.84330189e-03, 5.18607604e-01,-3.53234867e-02, 4.23886790e-01,
  1.50671035e-02, 6.20896207e-01,-1.71325090e-02, 4.58737046e-01,
  1.22911092e+00,-2.00559097e-03, 9.81809859e-01, 6.43726857e-02,
  2.07129869e-02,-8.91346610e-02, 1.12764072e-01, 5.53431108e-01,
  1.42649919e-01, 2.17755606e-01, 7.91168443e-01]

qacc:
[-3.05481316e-01,-2.90776993e+01, 1.03929076e+02,-2.10224104e+02,
  8.54623107e-01,-3.16305675e+01, 1.05050084e+02,-2.31631743e+02,
  8.57162191e-02,-4.73118582e+01, 1.51985310e+02,-2.36816580e+02,
 -6.89689635e-01, 1.32612447e+00, 2.60019336e+00,-9.31893549e+00,
  5.26801856e-02, 2.72349188e-02,-9.87416013e+00, 5.26465965e-01,
 -2.66426436e+00, 3.55436019e+00]

qfrc_actuator:
[-0.00271546, 0.19393258, 0.00746777, 0.17404846,-0.00141802, 0.20787289,
  0.01609912, 0.15772382,-0.00120666, 0.18460019, 0.00486928, 0.16164011,
  0.01144095,-0.0022046 , 0.        ,-0.0025759 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-3.23604864e-05,-1.80014981e-03,-5.20579267e-04,-5.00510530e-04,
  7.10941882e-05,-3.07816110e-03,-1.08114943e-03,-6.65310128e-04,
  7.20056499e-06,-2.40493553e-03,-3.87750617e-04,-4.47566866e-04,
 -2.66265152e-05, 2.37448276e-05,-2.44859462e-05,-5.20172471e-05,
  6.13672698e-03, 3.98412952e-03,-1.22423629e+00, 1.45547263e-03,
 -5.91341027e-04, 3.23093492e-03]


--- Step 1113 ---
qpos:
[-7.27346888e-04, 5.66605760e-01,-1.47915712e-02, 4.88009901e-01,
  5.81530936e-03, 5.22416780e-01,-3.51112865e-02, 4.27004003e-01,
  1.50800346e-02, 6.24170755e-01,-1.71681205e-02, 4.61921366e-01,
  1.22941758e+00,-2.01941455e-03, 9.82050453e-01, 6.43702315e-02,
  1.99505792e-02,-8.95536490e-02, 1.11950273e-01, 5.54527278e-01,
  1.39618038e-01, 2.10828164e-01, 7.92816364e-01]

qacc:
[-9.05935806e-02,-3.57219819e+01, 1.41353258e+02,-3.06140115e+02,
  5.21945925e-01,-3.17962184e+01, 8.47631486e+01,-1.44631425e+02,
 -1.50315239e-01,-4.93639531e+01, 1.77296224e+02,-3.39264581e+02,
 -6.69833893e-01, 1.29384896e+00, 5.72478310e+00,-1.99198680e+01,
  5.35652373e-02, 2.77266214e-02,-9.87323257e+00, 5.37182352e-01,
 -2.70464362e+00, 3.56598425e+00]

qfrc_actuator:
[-0.00270547, 0.193415  , 0.00742727, 0.17345392,-0.00139571, 0.20660262,
  0.01588333, 0.15745191,-0.00123768, 0.18357632, 0.00484307, 0.16103148,
  0.01143217,-0.0021807 , 0.        ,-0.00267137, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.07292093e-05,-1.75677905e-03,-5.23639948e-04,-7.01548247e-04,
  4.26542284e-05,-3.36286663e-03,-1.04326153e-03,-4.56443555e-04,
 -2.01823807e-05,-2.56105295e-03,-6.11623208e-04,-7.33927921e-04,
 -1.91488367e-05, 2.36899093e-05,-2.10673835e-05,-1.02450066e-04,
  6.24262578e-03, 4.04744968e-03,-1.22412073e+00, 1.48177421e-03,
 -6.01045421e-04, 3.24555554e-03]


--- Step 1114 ---
qpos:
[-8.14531586e-04, 5.70082856e-01,-1.47686757e-02, 4.91430634e-01,
  5.78783585e-03, 5.26197684e-01,-3.49020240e-02, 4.30116600e-01,
  1.50929093e-02, 6.27426349e-01,-1.72054448e-02, 4.65095631e-01,
  1.22972400e+00,-2.03305847e-03, 9.82290695e-01, 6.43682934e-02,
  1.91910391e-02,-8.99749969e-02, 1.11128190e-01, 5.55619740e-01,
  1.36583491e-01, 2.03725194e-01, 7.94435460e-01]

qacc:
[ 8.11332710e-01,-4.86176567e+01, 1.76865799e+02,-3.36747006e+02,
  4.48599577e-01,-3.79359662e+01, 9.69361141e+01,-1.41248804e+02,
 -2.62577905e-02,-3.96826381e+01, 1.38241859e+02,-2.71225514e+02,
 -2.87809783e-01, 4.91217202e-01,-2.05567203e+00, 6.48630536e+00,
  7.16930620e-01,-5.89991644e-01,-2.07084584e+00,-6.70243856e+01,
 -4.92325741e+01, 5.45014973e+00]

qfrc_actuator:
[-0.00261083, 0.19237118, 0.00741292, 0.17284978,-0.00137149, 0.20511295,
  0.01570704, 0.15721687,-0.00124356, 0.18272908, 0.00478822, 0.1605359 ,
  0.01141055,-0.00217886, 0.        ,-0.00263778, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09386889,  1.70580651, -3.72155702,  1.70580651, 13.67587566,
        4.39199223, -3.72155702,  4.39199223,  6.10697494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5509467538264996e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08804998e-12,  4.35219992e-12,  1.00000000e+00, -4.73541103e-24,
        1.00000000e+00, -4.35219992e-12, -1.00000000e+00,  0.00000000e+00,
        1.08804998e-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([ 0.05548455, -0.05267998,  0.061999  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.11548003e-05,-2.26670218e-03,-4.95375958e-04,-7.13461748e-04,
  3.62063117e-05,-3.72356765e-03,-1.04972464e-03,-4.25303219e-04,
 -5.19942060e-06,-2.52790612e-03,-7.08429511e-04,-6.40192248e-04,
 -2.77270749e-05, 3.38754106e-06,-2.54601818e-05, 2.41600734e-05,
  6.34686865e-03, 4.11003096e-03,-1.22400323e+00, 1.50788591e-03,
 -6.10902414e-04, 3.26037788e-03]


--- Step 1115 ---
qpos:
[-9.00045755e-04, 5.73536508e-01,-1.47442905e-02, 4.94857056e-01,
  5.76086535e-03, 5.29953412e-01,-3.46989674e-02, 4.33233923e-01,
  1.51059822e-02, 6.30664903e-01,-1.72451550e-02, 4.68276917e-01,
  1.23002989e+00,-2.04546271e-03, 9.82531132e-01, 6.43637107e-02,
  1.84345903e-02,-9.03981311e-02, 1.10294747e-01, 5.56703575e-01,
  1.33546085e-01, 1.96457225e-01, 7.96022067e-01]

qacc:
[ 1.24073231e+00,-2.40556946e+01, 2.15696708e+01, 8.02571514e+01,
  4.22271837e-01,-7.06769719e+00,-3.82808608e+01, 1.35452518e+02,
  1.40051567e-01,-2.33614764e+00,-4.70793298e+01, 1.67022304e+02,
 -1.55738966e+00, 3.17029187e+00, 8.39419022e+00,-2.86607711e+01,
  7.72797367e-01,-4.46562536e-01,-2.84006622e+00,-6.24384190e+01,
 -4.60435025e+01, 5.37860675e+00]

qfrc_actuator:
[-0.00250207, 0.19096812, 0.0074123 , 0.17313216,-0.00134628, 0.20417947,
  0.01551933, 0.15748457,-0.00123445, 0.18220805, 0.00480676, 0.16092767,
  0.01140253,-0.0021014 , 0.        ,-0.00277693, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10341069,  2.75651019, -3.0396761 ,  2.75651019,  4.33866059,
        0.21333482, -3.0396761 ,  0.21333482,  4.29687196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2371816400664795e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29971605e-13,  1.05994321e-12,  1.00000000e+00, -5.61739805e-25,
        1.00000000e+00, -1.05994321e-12, -1.00000000e+00,  0.00000000e+00,
        5.29971605e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05540353, -0.05273408,  0.06199791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26125937e-04,-2.90409722e-03,-5.82044500e-04, 1.53920100e-04,
  3.52909310e-05,-3.36739161e-03,-1.13400716e-03, 6.35884627e-05,
  1.52242409e-05,-2.19822609e-03,-6.36378364e-04, 2.47393081e-04,
 -2.36036571e-05, 7.24952745e-05,-1.24807604e-05,-1.41882699e-04,
  6.66545248e-03, 4.41914255e-03,-1.22417439e+00, 1.56459115e-03,
 -6.60686962e-04, 3.56855126e-03]


--- Step 1116 ---
qpos:
[-9.83595735e-04, 5.76965826e-01,-1.47207376e-02, 4.98294493e-01,
  5.73415276e-03, 5.33688362e-01,-3.45030691e-02, 4.36357844e-01,
  1.51192338e-02, 6.33888275e-01,-1.72862691e-02, 4.71469824e-01,
  1.23033489e+00,-2.05494718e-03, 9.82771194e-01, 6.43598256e-02,
  1.76753938e-02,-9.08147241e-02, 1.09472559e-01, 5.57749374e-01,
  1.30289655e-01, 1.89081430e-01, 7.97614227e-01]

qacc:
[ 1.44213948e+00,-8.59716294e+00,-5.12950217e+01, 2.32713015e+02,
  2.14939977e-01, 4.89171171e+00,-7.84162034e+01, 2.00662900e+02,
  1.26007786e-01, 6.27136030e+00,-8.94017495e+01, 2.75209689e+02,
 -2.98428236e+00, 6.51588451e+00,-2.40860072e+00, 8.20483736e+00,
 -6.86914677e-01, 1.63531226e+00, 2.81384370e+00,-1.01890560e+02,
  6.12681179e+01, 2.36970599e+00]

qfrc_actuator:
[-0.00238586, 0.18975304, 0.00736577, 0.17368512,-0.00133842, 0.20358791,
  0.0153292 , 0.15785114,-0.00123433, 0.18174641, 0.00485296, 0.161537  ,
  0.01139739,-0.00192643, 0.        ,-0.00273274, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.14635203,  1.38771523, -3.90723452,  1.38771523, 20.5375913 ,
        5.82160408, -3.90723452,  5.82160408,  6.21398545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010977459551154284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.05683041e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.05683041e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06891034, -0.09355469,  0.06199556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48913247e-04,-3.05346759e-03,-7.38655448e-04, 4.14691556e-04,
  1.78362406e-05,-2.82262523e-03,-1.05673797e-03, 1.84222702e-04,
  1.37901914e-05,-1.90353009e-03,-5.02521928e-04, 4.98831880e-04,
 -2.46692487e-06, 1.86060609e-04,-2.68695962e-05, 3.34669618e-05,
  6.98034151e-03, 4.72221622e-03,-1.22431710e+00, 1.62081539e-03,
 -7.09129821e-04, 3.86410214e-03]


--- Step 1117 ---
qpos:
[-1.06550375e-03, 5.80378656e-01,-1.47018491e-02, 5.01732044e-01,
  5.70748334e-03, 5.37403754e-01,-3.43130966e-02, 4.39486630e-01,
  1.51321484e-02, 6.37095940e-01,-1.73262524e-02, 4.74666354e-01,
  1.23063911e+00,-2.06113893e-03, 9.83010859e-01, 6.43581223e-02,
  1.69143103e-02,-9.12252792e-02, 1.08655593e-01, 5.58754075e-01,
  1.26836408e-01, 1.81604691e-01, 7.99203444e-01]

qacc:
[ 1.18992479e+00,-8.67371537e+00, 8.23052405e-02, 1.77570314e+01,
  4.23996433e-02,-1.93168425e-01,-5.22752230e+01, 1.46273843e+02,
 -2.10866671e-01,-1.68341527e+01, 1.73270158e+01, 4.86147233e+01,
 -3.13405852e+00, 7.05946692e+00,-6.90249815e+00, 2.39214869e+01,
 -4.71740767e-01, 1.50947628e+00, 1.30551819e+00,-9.21914043e+01,
  5.40350687e+01, 3.53816491e+00]

qfrc_actuator:
[-0.00230164, 0.18945988, 0.00731119, 0.17371822,-0.00134093, 0.20285213,
  0.01512331, 0.1581135 ,-0.00127518, 0.18104131, 0.00493347, 0.16171912,
  0.01138338,-0.0017484 , 0.        ,-0.00261632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.3501636 ,  2.84312996, -3.29249682,  2.84312996,  5.15540884,
        0.69534369, -3.29249682,  0.69534369,  4.95060532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023228951615760635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79230488e-13,  1.19486992e-13,  1.00000000e+00,  2.14157120e-26,
        1.00000000e+00, -1.19486992e-13, -1.00000000e+00,  0.00000000e+00,
       -1.79230488e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06870344, -0.09358605,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25027295e-04,-2.23525547e-03,-7.86795999e-04,-1.10568030e-04,
  2.34444190e-06,-2.64095251e-03,-9.47165839e-04, 1.07261181e-04,
 -2.76922271e-05,-1.94435441e-03,-3.83108952e-04, 9.31221729e-05,
  2.74880097e-05, 2.18624332e-04,-1.27634298e-05, 1.13911194e-04,
  7.49468648e-03, 4.78696060e-03,-1.22451114e+00, 1.60826879e-03,
 -7.35528313e-04, 3.65603417e-03]


--- Step 1118 ---
qpos:
[-1.14728977e-03, 5.83783237e-01,-1.46886183e-02, 5.05163584e-01,
  5.67925043e-03, 5.41098351e-01,-3.41273438e-02, 4.42621343e-01,
  1.51444555e-02, 6.40285344e-01,-1.73641507e-02, 4.77863788e-01,
  1.23094265e+00,-2.06391085e-03, 9.83250648e-01, 6.43557833e-02,
  1.61522267e-02,-9.16302129e-02, 1.07838615e-01, 5.59714913e-01,
  1.23205220e-01, 1.74032952e-01, 8.00782256e-01]

qacc:
[ 8.62721018e-02,-6.84284077e+00, 2.91852919e+01,-1.06711524e+02,
 -1.22860259e+00,-4.48828129e+00,-4.33727942e+01, 1.53056400e+02,
 -3.84314083e-01,-2.80671837e+01, 6.09656736e+01,-3.37492726e+01,
 -3.33232922e+00, 7.50806633e+00, 2.38558026e+00,-7.41995190e+00,
 -2.50040636e-01, 1.40531803e+00,-3.14111974e-03,-8.39513761e+01,
  4.78876180e+01, 4.48839419e+00]

qfrc_actuator:
[-0.00232585, 0.18972176, 0.00727368, 0.17346366,-0.00145606, 0.20189487,
  0.01494509, 0.15841894,-0.0013224 , 0.18003697, 0.0049971 , 0.16175479,
  0.01136406,-0.00157007, 0.        ,-0.00265361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.59274549,  2.5804345 , -3.79929848,  2.5804345 ,  4.58153785,
       -0.00761209, -3.79929848, -0.00761209,  4.58757546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003153202848164213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80234382e-14,  1.76046876e-13,  1.00000000e+00,  1.54962514e-26,
        1.00000000e+00, -1.76046876e-13, -1.00000000e+00,  0.00000000e+00,
       -8.80234382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06853901, -0.09361868,  0.06198687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.02225977e-06,-1.25382599e-03,-6.26103810e-04,-3.78329929e-04,
 -1.14972089e-04,-2.74070149e-03,-8.71150241e-04, 1.59998551e-04,
 -4.96965297e-05,-2.25757497e-03,-4.07157813e-04,-5.91055542e-05,
  4.74124350e-05, 2.32786268e-04, 2.45714651e-06,-3.35637057e-05,
  7.98904383e-03, 4.85601188e-03,-1.22466599e+00, 1.60157141e-03,
 -7.65783986e-04, 3.46202333e-03]


--- Step 1119 ---
qpos:
[-1.23122317e-03, 5.87182222e-01,-1.46783964e-02, 5.08587169e-01,
  5.64830430e-03, 5.44769011e-01,-3.39437726e-02, 4.45753689e-01,
  1.51560102e-02, 6.43456264e-01,-1.74014828e-02, 4.81068194e-01,
  1.23124387e+00,-2.05764065e-03, 9.83490615e-01, 6.43516833e-02,
  1.53856877e-02,-9.20267088e-02, 1.07023802e-01, 5.60620783e-01,
  1.19338835e-01, 1.66411164e-01, 8.02352731e-01]

qacc:
[  -1.52800827, -14.36002578,  66.24866291,-175.39135874,  -2.11687745,
  -30.00320012,  69.02256732, -83.0264559 ,  -0.47936294, -12.50197415,
  -14.093469  , 131.89473723,  -9.18805341,  20.24776529,   6.35072102,
  -20.03813115,  -1.11383744,   2.10948523,   0.54129401, -81.7520214 ,
   84.43517184,   2.29272977]

qfrc_actuator:
[-0.00248526, 0.18981795, 0.00726702, 0.17309583,-0.00161942, 0.20058302,
  0.01478415, 0.15828565,-0.00137304, 0.17918145, 0.00504918, 0.16211217,
  0.01133625,-0.00103795, 0.        ,-0.00274568, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.05941105, -1.40864443,  4.85935809, -1.40864443, 42.47843035,
       10.84713083,  4.85935809, 10.84713083,  8.20380792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041910089055231803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.62264773e-14,  6.62264773e-14,  1.00000000e+00, -4.38594630e-27,
        1.00000000e+00, -6.62264773e-14, -1.00000000e+00,  0.00000000e+00,
        6.62264773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07149722, -0.10707698,  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:
[-1.65695614e-04,-8.49506301e-04,-3.84703444e-04,-4.53165026e-04,
 -1.99751420e-04,-3.13221132e-03,-8.62756819e-04,-2.78882136e-04,
 -6.16027797e-05,-2.29365633e-03,-4.90197487e-04, 2.46479787e-04,
  5.36284260e-05, 5.94314997e-04,-8.38252653e-06,-9.49399292e-05,
  8.46590458e-03, 4.92927208e-03,-1.22478465e+00, 1.59931896e-03,
 -7.99525084e-04, 3.28196080e-03]


--- Step 1120 ---
qpos:
[-0.00131749, 0.59057763,-0.0146704 , 0.51200274, 0.00561682, 0.54841347,
 -0.03376317, 0.44887818, 0.01516674, 0.64661099,-0.01743935, 0.48428684,
  1.23154174,-0.00203686, 0.98373038, 0.06434785, 0.01461615,-0.09241551,
  0.106206  , 0.56147009, 0.11526033, 0.15874015, 0.80390793]

qacc:
[-1.65417193e+00,-1.39386519e+01, 6.84882141e+01,-1.80294214e+02,
 -4.03902215e-01,-4.12724884e+01, 1.23518629e+02,-2.17571139e+02,
 -5.30509299e-01, 7.51119814e+00,-1.03970932e+02, 3.27292870e+02,
 -1.42899960e+01, 3.18974794e+01, 1.19129625e-01, 1.97096050e+00,
 -7.50164478e-01, 1.92270475e+00,-7.47290891e-01,-7.45637975e+01,
  7.50960647e+01, 3.69608017e+00]

qfrc_actuator:
[-0.0025993 , 0.18992188, 0.00726075, 0.17271765,-0.00159692, 0.19915863,
  0.01457995, 0.15787729,-0.00142535, 0.17865355, 0.00513053, 0.16285141,
  0.01130352,-0.00021179, 0.        ,-0.00272722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.55466255,  2.44173027, -4.98921129,  2.44173027,  3.60265013,
       -0.95531889, -4.98921129, -0.95531889,  5.08712752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004935433999222263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12474711e-13,  1.12474711e-13,  1.00000000e+00,  1.26505606e-26,
        1.00000000e+00, -1.12474711e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12474711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07133241, -0.10708514,  0.06197883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80928103e-04,-5.69537375e-04,-2.75121213e-04,-4.41090078e-04,
 -4.08741375e-05,-3.47827773e-03,-9.99192519e-04,-5.78062813e-04,
 -6.79626237e-05,-1.98999413e-03,-4.67692736e-04, 6.30645178e-04,
  1.36114651e-04, 9.68542722e-04,-2.19598835e-05, 1.04696683e-05,
  8.95827236e-03, 4.88580199e-03,-1.22485897e+00, 1.57094306e-03,
 -8.14208203e-04, 2.88983764e-03]


--- Step 1121 ---
qpos:
[-0.00140283, 0.59396915,-0.01466365, 0.51541016, 0.00558696, 0.5520331 ,
 -0.03358699, 0.45199013, 0.01517768, 0.64974945,-0.01747746, 0.48751713,
  1.23183776,-0.00200355, 0.9839696 , 0.06434723, 0.013845  ,-0.09279728,
  0.10538072, 0.56226132, 0.11098959, 0.15102074, 0.80544165]

qacc:
[ 6.61413035e-01,-1.73461434e+01, 8.00077974e+01,-1.93826272e+02,
  1.27751293e+00,-4.43348700e+01, 1.53125724e+02,-3.17145028e+02,
  1.53526397e-01, 1.61643382e+00,-7.46899680e+01, 2.59346208e+02,
 -1.13648581e+01, 2.64058534e+01,-9.53938553e+00, 3.45115225e+01,
 -4.02834888e-01, 1.76076510e+00,-1.86976834e+00,-6.83708687e+01,
  6.70513518e+01, 4.85042824e+00]

qfrc_actuator:
[-0.00245429, 0.1898354 , 0.00723737, 0.17231875,-0.00146398, 0.19806911,
  0.01440473, 0.15725708,-0.00138952, 0.17791901, 0.00514154, 0.16343692,
  0.01126802, 0.00042667, 0.        ,-0.00255499, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.88031432,  2.27752045, -5.42134643,  2.27752045,  3.11769923,
       -1.16058113, -5.42134643, -1.16058113,  5.39275145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005335984434194502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07120799, -0.10710315,  0.06197674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.25408462e-05,-5.80545100e-04,-2.21388729e-04,-4.46865238e-04,
  1.19266475e-04,-3.37532495e-03,-1.06690951e-03,-8.14164340e-04,
  1.76179564e-05,-2.00647991e-03,-4.60189277e-04, 4.97736491e-04,
  2.68166845e-04, 8.81352634e-04,-1.65332309e-05, 1.68409912e-04,
  9.43065025e-03, 4.85552046e-03,-1.22490381e+00, 1.54941485e-03,
 -8.35443320e-04, 2.52827057e-03]


--- Step 1122 ---
qpos:
[-0.00148207, 0.59735089,-0.01465568, 0.51881845, 0.00555932, 0.55563079,
 -0.03341596, 0.45509034, 0.01518989, 0.6528719 ,-0.01751632, 0.49074644,
  1.23213395,-0.0019632 , 0.98420856, 0.06434931, 0.01307356,-0.09317255,
  0.10454406, 0.56299301, 0.10654378, 0.14325372, 0.80694837]

qacc:
[ 4.27310934e+00,-1.45699217e+01, 2.97656051e+01,-9.66472267e+00,
  1.71821683e+00,-3.70893314e+01, 1.30396734e+02,-2.84483061e+02,
  8.20425731e-01,-2.08989392e+01, 4.67359408e+01,-4.72810747e+01,
 -5.40712535e+00, 1.37474613e+01,-8.01093174e+00, 2.86089262e+01,
 -7.17613901e-02, 1.62125033e+00,-2.84466041e+00,-6.30495147e+01,
  6.01219551e+01, 5.80713565e+00]

qfrc_actuator:
[-0.00199641, 0.18912159, 0.00722139, 0.17235457,-0.00133774, 0.19729613,
  0.01426729, 0.15669509,-0.00130152, 0.17713805, 0.00509254, 0.16337676,
  0.01123083, 0.00071788, 0.        ,-0.00241783, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.97834527,  2.07898708, -5.60521408,  2.07898708,  2.73037775,
       -1.20467879, -5.60521408, -1.20467879,  5.53152707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005454717253156674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01767239e-13,  5.08836193e-14,  1.00000000e+00, -5.17828543e-27,
        1.00000000e+00, -5.08836193e-14, -1.00000000e+00,  0.00000000e+00,
        1.01767239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07111786, -0.1071291 ,  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:
[ 4.74297992e-04,-1.20278657e-03,-2.09715738e-04,-1.07825535e-05,
  1.63580262e-04,-3.02350845e-03,-1.02363896e-03,-7.58588459e-04,
  1.02407943e-04,-2.06511354e-03,-5.26771130e-04,-1.50877146e-04,
  3.23036261e-04, 5.45530462e-04, 5.91591799e-06, 1.43291354e-04,
  9.88545915e-03, 4.83708684e-03,-1.22492074e+00, 1.53295509e-03,
 -8.62468738e-04, 2.19515782e-03]


--- Step 1123 ---
qpos:
[-0.0015522 , 0.60071504,-0.01464488, 0.52223344, 0.00553354, 0.55920823,
 -0.03325077, 0.45818698, 0.01520326, 0.65598298,-0.01755784, 0.49396835,
  1.23243163,-0.00192145, 0.98444761, 0.06435166, 0.01230309,-0.09354182,
  0.10369265, 0.56366374, 0.10193763, 0.13543986, 0.80842313]

qacc:
[ 6.34253405e+00,-1.81657005e+01, 8.83270728e+00, 1.00901514e+02,
  1.42725219e+00,-1.73967267e+01, 3.62618782e+01,-6.88474643e+01,
  7.44358323e-01,-2.18915346e+01, 8.03727761e+01,-1.77696500e+02,
 -7.17484676e-03, 1.61660851e+00,-6.42502013e-01, 2.53994892e+00,
  2.43060860e-01, 1.50207600e+00,-3.68702860e+00,-5.85052213e+01,
  5.41696307e+01, 6.60654922e+00]

qfrc_actuator:
[-0.00144511, 0.1878258 , 0.00720789, 0.17266323,-0.00125228, 0.19656036,
  0.01408399, 0.15654508,-0.00125436, 0.17692131, 0.00507913, 0.16302592,
  0.01118719, 0.00069473, 0.        ,-0.00240899, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.88820696,  1.86507894, -5.58502119,  1.86507894,  2.36925168,
       -1.17513062, -5.58502119, -1.17513062,  5.49578027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005345566099629953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03845225e-13,  1.03845225e-13,  1.00000000e+00, -1.07838307e-26,
        1.00000000e+00, -1.03845225e-13, -1.00000000e+00,  0.00000000e+00,
        1.03845225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07105672, -0.10716141,  0.06197584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10086211e-04,-2.11134194e-03,-3.17519328e-04, 2.47383147e-04,
  1.37436542e-04,-2.77770759e-03,-9.89970505e-04,-3.29667732e-04,
  9.42155672e-05,-1.57234284e-03,-5.32518564e-04,-4.59222184e-04,
  2.70452962e-04, 1.70559396e-04, 1.46385916e-05, 1.66136425e-05,
  1.03248543e-02, 4.82923016e-03,-1.22491143e+00, 1.52024370e-03,
 -8.94628854e-04, 1.88815781e-03]


--- Step 1124 ---
qpos:
[-0.0016138 , 0.60406234,-0.0146346 , 0.52566112, 0.0055094 , 0.56277022,
 -0.03309301, 0.46129125, 0.01521764, 0.65909191,-0.01760443, 0.49719652,
  1.23273344,-0.00188967, 0.98468694, 0.06435141, 0.0115348 ,-0.09390549,
  0.1028236 , 0.56427216, 0.09718375, 0.12757983, 0.80986149]

qacc:
[   5.90835907,   3.50686513, -84.02710574, 280.41765854,   1.24777024,
   14.581079  ,-105.20756058, 236.70139946,   0.64835239,  23.12223109,
 -104.74290369, 200.60533585,  11.06135395, -23.14506496,   7.32497344,
  -27.1585897 ,   0.54252141,   1.40115836,  -4.41157158, -54.65115256,
   49.06995981,   7.28268719]

qfrc_actuator:
[-1.02072642e-03, 1.87080180e-01, 7.21151613e-03, 1.73306923e-01,
 -1.17405146e-03, 1.96297810e-01, 1.39114386e-02, 1.56976068e-01,
 -1.21435444e-03, 1.77630722e-01, 5.14253857e-03, 1.63412865e-01,
  1.11555418e-02, 6.44544885e-06, 0.00000000e+00,-2.54681420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.65075047,  1.65148571, -5.40403329,  1.65148571,  2.15488412,
       -1.06834525, -5.40403329, -1.06834525,  5.32426156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005055203634521249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09809921e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09809921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710199 , -0.10719879,  0.0619767 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68066322e-04,-2.07857540e-03,-4.89103695e-04, 5.49088389e-04,
  1.22181380e-04,-2.14191431e-03,-9.10007708e-04, 2.71305771e-04,
  8.41223228e-05,-3.84187752e-04,-3.66008009e-04, 2.91611674e-04,
  1.64648085e-04,-5.88519848e-04, 5.08665785e-06,-1.35938834e-04,
  1.07508285e-02, 4.83074818e-03,-1.22487758e+00, 1.51027779e-03,
 -9.31368592e-04, 1.60475945e-03]


--- Step 1125 ---
qpos:
[-0.00166559, 0.60739806,-0.01462713, 0.52910136, 0.00548654, 0.56632024,
 -0.03294159, 0.46439692, 0.01523274, 0.66220219,-0.01765373, 0.5004401 ,
  1.23304031,-0.00187614, 0.98492681, 0.06434448, 0.01076981,-0.09426388,
  0.10193441, 0.56481691, 0.0922929 , 0.11967428, 0.81125948]

qacc:
[   6.74368805,  16.4308408 ,-118.42619317, 308.97145218,   0.9595492 ,
    4.26424598, -41.24758668,  76.07275888,   0.44220709,  38.77966861,
 -183.4562882 , 408.29564637,  18.24931517, -40.18159052,  19.41652104,
  -70.36961316,   0.82777216,   1.31657201,  -5.03146356, -51.41270822,
   44.71700329,   7.86339133]

qfrc_actuator:
[-0.00048029, 0.18693723, 0.00722764, 0.17396545,-0.00111845, 0.19607395,
  0.01373151, 0.15707128,-0.00119672, 0.17818103, 0.00520226, 0.16423179,
  0.01114144,-0.00108786, 0.        ,-0.00289414, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.32701237,  1.44384113, -5.12760993,  1.44384113,  1.86170681,
       -0.97576664, -5.12760993, -0.97576664,  5.05225434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004623862832127956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20053629e-13, -8.62885457e-14,  1.00000000e+00,  1.03592530e-26,
        1.00000000e+00,  8.62885457e-14, -1.00000000e+00,  0.00000000e+00,
        1.20053629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100336, -0.10724015,  0.06197824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.70639936e-04,-1.47981833e-03,-4.80168377e-04, 5.66005894e-04,
  9.50403291e-05,-1.70680812e-03,-7.57271717e-04,-2.39027396e-05,
  5.81460732e-05, 1.83692674e-04,-8.23018957e-05, 7.91413185e-04,
 -5.59599059e-05,-1.18441968e-03,-1.32277928e-05,-3.54613636e-04,
  1.11652203e-02, 4.84053054e-03,-1.22482084e+00, 1.50228445e-03,
 -9.72235450e-04, 1.34242032e-03]


--- Step 1126 ---
qpos:
[-0.00170831, 0.61072247,-0.01462065, 0.53254625, 0.00546371, 0.56985612,
 -0.03279403, 0.467494  , 0.01524782, 0.66531137,-0.01770197, 0.50368682,
  1.23334842,-0.00187465, 0.98516643, 0.06433512, 0.01000923,-0.09461729,
  0.101023  , 0.56529667, 0.08727419, 0.11172375, 0.8126135 ]

qacc:
[ 6.19976124e+00,-3.26479199e+00,-2.41601245e+01, 1.00560189e+02,
  2.81604749e-02,-2.42680751e+01, 8.86163602e+01,-2.02059738e+02,
 -4.38286023e-03, 1.62115347e+00,-1.81328281e+01, 6.40106079e+01,
  1.05695664e+01,-2.49848238e+01, 6.05357121e+00,-2.38882903e+01,
  1.09999881e+00, 1.24659473e+00,-5.55809812e+00,-4.87279796e+01,
  4.10229038e+01, 8.37127835e+00]

qfrc_actuator:
[-3.46822661e-05, 1.86500523e-01, 7.21826425e-03, 1.74201864e-01,
 -1.14771872e-03, 1.95325680e-01, 1.35135315e-02, 1.56630910e-01,
 -1.22810115e-03, 1.78065173e-01, 5.22394069e-03, 1.64375109e-01,
  1.11163320e-02,-1.68563300e-03, 0.00000000e+00,-3.00699328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.0019116 ,  1.26952122, -4.83812314,  1.26952122,  1.76740832,
       -0.84873213, -4.83812314, -0.84873213,  4.77920469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004086056952840589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71710120e-13,  2.08028061e-13,  1.00000000e+00, -5.65233293e-26,
        1.00000000e+00, -2.08028061e-13, -1.00000000e+00,  0.00000000e+00,
        2.71710120e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07100355, -0.10728462,  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:
[ 7.14395752e-04,-1.43662661e-03,-3.82038888e-04, 1.67967644e-04,
  1.63860022e-06,-1.96842891e-03,-6.97545000e-04,-5.42864892e-04,
 -8.14275521e-07,-8.77564684e-05, 4.63667800e-05, 1.57891720e-04,
 -3.33842360e-04,-8.68757232e-04,-4.48983556e-05,-1.34464884e-04,
  1.15697428e-02, 4.85756246e-03,-1.22474278e+00, 1.49565399e-03,
 -1.01687284e-03, 1.09863091e-03]


--- Step 1127 ---
qpos:
[-0.00175331, 0.61403315,-0.01461412, 0.53599489, 0.00544055, 0.5733756 ,
 -0.03264952, 0.47058248, 0.01526269, 0.66841759,-0.01774833, 0.50692282,
  1.23365424,-0.00187557, 0.98540523, 0.06432943, 0.00925409,-0.09496595,
  0.10008758, 0.5657101 , 0.08213527, 0.1037287 , 0.81392029]

qacc:
[-1.54117525e+00,-1.11102396e+01, 1.50261332e+00, 6.32947949e+01,
 -2.40360504e-01,-2.95447603e+01, 1.02624034e+02,-2.14384609e+02,
 -1.26406047e-01,-2.95480939e+01, 1.32529236e+02,-2.86384981e+02,
  4.43700545e-01,-3.35307387e+00,-1.24166683e+01, 4.14753360e+01,
  1.36094839e+00, 1.18952702e+00,-6.00278412e+00,-4.65351491e+01,
  3.79028993e+01, 8.82562665e+00]

qfrc_actuator:
[-0.00046577, 0.18574988, 0.00719289, 0.17438317,-0.00117392, 0.19446499,
  0.01334379, 0.15619817,-0.00125296, 0.17780004, 0.0052556 , 0.16381738,
  0.01108478,-0.00170038, 0.        ,-0.00280321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.71362993,  1.11979482, -4.57868613,  1.11979482,  1.61030155,
       -0.75897123, -4.57868613, -0.75897123,  4.52801073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003471187529726638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59919770e-13,  1.64917263e-13,  1.00000000e+00,  2.63735308e-26,
        1.00000000e+00, -1.64917263e-13, -1.00000000e+00,  0.00000000e+00,
       -1.59919770e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07101736, -0.10733147,  0.06198291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81022395e-04,-1.72157573e-03,-3.90373955e-04, 1.09691520e-04,
 -2.60439030e-05,-2.23481228e-03,-7.12436264e-04,-5.54076244e-04,
 -1.73907415e-05,-3.87160253e-04,-4.42508217e-06,-5.62521199e-04,
 -4.27571047e-04,-2.81473456e-04,-3.68367393e-05, 1.90171568e-04,
  1.19660184e-02, 4.88092004e-03,-1.22464485e+00, 1.48989037e-03,
 -1.06501119e-03, 8.70940116e-04]


--- Step 1128 ---
qpos:
[-0.00180786, 0.61732504,-0.01460666, 0.53945415, 0.00541766, 0.57687906,
 -0.03250873, 0.4736692 , 0.01527776, 0.67151697,-0.01779228, 0.51014626,
  1.23395734,-0.00187509, 0.98564388, 0.0643255 , 0.0085054 ,-0.09531003,
  0.09912665, 0.56605588, 0.07688254, 0.0956895 , 0.81517687]

qacc:
[-6.43650300e+00,-7.03437622e+00,-4.38908999e+01, 2.10287257e+02,
  2.09431754e-01,-1.41689866e+01, 2.62676222e+01,-3.65354064e+01,
  1.27255457e-01,-3.96752015e+01, 1.66522523e+02,-3.43768768e+02,
 -3.09927988e+00, 4.85283549e+00,-5.26242478e+00, 1.86088998e+01,
  1.61257603e+00, 1.14377466e+00,-6.37607594e+00,-4.47756206e+01,
  3.52787147e+01, 9.24232643e+00]

qfrc_actuator:
[-0.00114887, 0.18458706, 0.00715727, 0.17490328,-0.00114467, 0.19382882,
  0.01322148, 0.15612851,-0.00123819, 0.17725238, 0.00529202, 0.16317117,
  0.01107094,-0.00154764, 0.        ,-0.00271638, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.47883465,  4.46211717, -0.3866138 ,  4.46211717,  4.72085839,
        2.79332579, -0.3866138 ,  2.79332579, 36.71810533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002804154313879592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97960401e-13,  6.18626253e-15,  1.00000000e+00, -1.22463501e-27,
        1.00000000e+00, -6.18626253e-15, -1.00000000e+00,  0.00000000e+00,
        1.97960401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104212, -0.10738012,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.58142000e-04,-2.29596083e-03,-4.61046586e-04, 4.36205538e-04,
  2.01242764e-05,-2.16147091e-03,-7.21085883e-04,-2.02118535e-04,
  1.56293792e-05,-8.75324781e-04,-9.06275547e-05,-6.79193184e-04,
 -3.26761297e-04,-7.95953480e-06,-1.68657725e-07, 9.18086980e-05,
  1.23555529e-02, 4.90978185e-03,-1.22452833e+00, 1.48458388e-03,
 -1.11646262e-03, 6.57036283e-04]


--- Step 1129 ---
qpos:
[-0.00186702, 0.62059296,-0.01459716, 0.5429173 , 0.00539497, 0.58036575,
 -0.03237146, 0.4767631 , 0.01529302, 0.67460512,-0.01783358, 0.51336352,
  1.2342591 ,-0.00187509, 0.98588267, 0.06432094, 0.00776413,-0.09564967,
  0.09813897, 0.56633266, 0.07152131, 0.08760646, 0.81638051]

qacc:
[-3.07775161e+00,-2.97800667e+01, 4.69669259e+01, 2.77214416e+01,
  1.59686510e-01, 1.15589432e+00,-5.91429059e+01, 1.81338886e+02,
  1.36337437e-01,-3.38821829e+01, 1.17256653e+02,-1.98495493e+02,
 -6.60784529e-01, 1.72074621e-01, 2.09395433e+00,-6.95654498e+00,
  1.85690126e+00, 1.10786974e+00,-6.68761619e+00,-4.33944386e+01,
  3.30787397e+01, 9.63420949e+00]

qfrc_actuator:
[-0.00122939, 0.18308096, 0.00713236, 0.17506795,-0.00113587, 0.19310274,
  0.01309401, 0.15650407,-0.00123547, 0.17648701, 0.00534776, 0.1628508 ,
  0.01105188,-0.00156354, 0.        ,-0.00275252, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.30185264,  4.29563989, -0.23111498,  4.29563989,  4.3748917 ,
        1.35754719, -0.23111498,  1.35754719, 29.53402884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002105930476541118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71831741e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71831741e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07107551, -0.10743013,  0.0619891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67665434e-04,-2.96008338e-03,-5.64166198e-04, 6.33087630e-05,
  1.51200625e-05,-2.19706841e-03,-7.00081847e-04, 2.53160939e-04,
  1.65149437e-05,-1.38693381e-03,-1.84705689e-04,-3.77585516e-04,
 -2.09843076e-04,-9.35113362e-05, 2.74224768e-06,-3.26058270e-05,
  1.27397227e-02, 4.94343017e-03,-1.22439433e+00, 1.47938991e-03,
 -1.17111180e-03, 4.54789878e-04]


--- Step 1130 ---
qpos:
[-0.00193559, 0.62383699,-0.01458667, 0.54636821, 0.00537068, 0.58383559,
 -0.0322375 , 0.47986351, 0.01530714, 0.67767775,-0.01787275, 0.51657789,
  1.2345604 ,-0.00187771, 0.98612118, 0.064318  , 0.00703125,-0.095985  ,
  0.09712351, 0.56653905, 0.06605598, 0.0794798 , 0.81752864]

qacc:
[  -6.27200404, -57.51711661, 194.68654204,-348.17282669,  -1.15956359,
   -0.80238531, -50.10634215, 162.14979859,  -0.70498397, -31.83773291,
   91.48288633,-121.10096885,   1.86926786,  -5.03963754,  -5.46207526,
   18.07611936,   2.09589334,   1.0804843 ,  -6.94602343, -42.34083862,
   31.23832817,  10.01139306]

qfrc_actuator:
[-0.00183711, 0.18186091, 0.00714788, 0.17443599,-0.00126367, 0.1923654 ,
  0.01296473, 0.15683674,-0.00134658, 0.17547387, 0.00536063, 0.16268908,
  0.01101899,-0.00171481, 0.        ,-0.00266549, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.18100109,  4.17484257,  0.22684712,  4.17484257,  4.23870923,
       -1.06204738,  0.22684712, -1.06204738, 23.72667819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013940958838283557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59274988e-12, -1.86650376e-13,  1.00000000e+00,  2.97287364e-25,
        1.00000000e+00,  1.86650376e-13, -1.00000000e+00,  0.00000000e+00,
        1.59274988e-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([ 0.07111551, -0.10748111,  0.06199259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52453721e-04,-3.07871108e-03,-6.82881336e-04,-7.69809557e-04,
 -1.23130794e-04,-2.20460083e-03,-6.90924177e-04, 2.19096091e-04,
 -9.70737893e-05,-1.92652487e-03,-3.32639726e-04,-2.35641283e-04,
 -1.76131811e-04,-2.20215869e-04,-8.85567048e-06, 8.41251597e-05,
  1.31197666e-02, 4.98124825e-03,-1.22424378e+00, 1.47401393e-03,
 -1.22890573e-03, 2.62278563e-04]


--- Step 1131 ---
qpos:
[-0.00202074, 0.62706411,-0.014579  , 0.54980024, 0.00534289, 0.58729174,
 -0.03210785, 0.48296126, 0.01531876, 0.68073085,-0.01790975, 0.51978536,
  1.23486106,-0.00188252, 0.98635966, 0.06431543, 0.0063077 ,-0.09631608,
  0.09607941, 0.56667367, 0.06049016, 0.07130965, 0.81861886]

qacc:
[ -11.0227678 , -50.44400214, 204.13258662,-455.2609335 ,  -2.52125656,
  -11.18644159,  23.23217383, -48.26319018,  -1.52561527, -44.84540924,
  142.3393574 ,-226.10030543,   1.29995268,  -3.89363384,  -1.26875735,
    4.09601952,   2.33138861,   1.06043648,  -7.15883615, -41.5687349 ,
   29.70000393,  10.38164394]

qfrc_actuator:
[-0.00287878, 0.18149659, 0.00717016, 0.17351818,-0.00148944, 0.19194763,
  0.01283555, 0.15671541,-0.00152472, 0.17424982, 0.00536498, 0.16231993,
  0.01098844,-0.00182071, 0.        ,-0.00264857, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11223271,  3.8431108 , -1.46320102,  3.8431108 ,  5.28251686,
        3.07376197, -1.46320102,  3.07376197, 12.18549648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.833221485046115e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62474322e-12, -1.77706289e-13,  1.00000000e+00,  2.88727088e-25,
        1.00000000e+00,  1.77706289e-13, -1.00000000e+00,  0.00000000e+00,
        1.62474322e-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([ 0.07116042, -0.10753279,  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:
[-1.32974885e-03,-2.34485767e-03,-7.41615953e-04,-1.08119379e-03,
 -2.68152592e-04,-1.88786268e-03,-6.91950702e-04,-2.35374093e-04,
 -2.09607590e-04,-2.46204885e-03,-4.63662209e-04,-4.65887145e-04,
 -1.83662614e-04,-1.94696161e-04, 1.08669001e-06, 1.95133641e-05,
  1.34967796e-02, 5.02271422e-03,-1.22407740e+00, 1.46820051e-03,
 -1.28984329e-03, 7.77971107e-05]


--- Step 1132 ---
qpos:
[-0.00211123, 0.6302808 ,-0.01457603, 0.55321762, 0.00531277, 0.59073606,
 -0.03198225, 0.48604514, 0.01532838, 0.68376265,-0.0179449 , 0.52298222,
  1.23516034,-0.00188684, 0.98659841, 0.06431073, 0.0055846 ,-0.09664701,
  0.09499582, 0.56675298, 0.05492662, 0.06312673, 0.81962744]

qacc:
[-3.52309075e+00,-2.86565083e+01, 1.27077115e+02,-3.22783302e+02,
 -1.66468501e+00,-3.06225220e+01, 1.32365079e+02,-3.23808833e+02,
 -1.21810735e+00,-5.33261056e+01, 1.80603613e+02,-3.15759454e+02,
 -1.56628967e+00, 2.29155580e+00, 6.91196432e+00,-2.33609791e+01,
  1.12144909e-01, 3.88863154e-02,-9.87240280e+00, 3.21199767e-03,
 -5.04520624e+00,-3.05244404e-02]

qfrc_actuator:
[-0.00280291, 0.18154178, 0.00714665, 0.17283094,-0.00157618, 0.19154765,
  0.01269103, 0.15602645,-0.00161701, 0.17310475, 0.0054166 , 0.16177824,
  0.01096465,-0.00175675, 0.        ,-0.00276188, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-4.28693407e-04,-1.54957118e-03,-6.55363593e-04,-8.30549258e-04,
 -1.79046947e-04,-1.71112804e-03,-6.57651876e-04,-7.99593853e-04,
 -1.69241031e-04,-2.71660506e-03,-5.48354103e-04,-6.68183351e-04,
 -1.75338473e-04,-2.09807081e-05,-2.61354149e-06,-1.13279824e-04,
  1.38717133e-02, 5.06739288e-03,-1.22389577e+00, 1.46172528e-03,
 -1.35396533e-03,-1.00144869e-04]


--- Step 1133 ---
qpos:
[-0.00219747, 0.6334879 ,-0.01457674, 0.55664064, 0.00528251, 0.59416989,
 -0.03186089, 0.48911616, 0.01533723, 0.68677541,-0.0179808 , 0.52618033,
  1.2354584 ,-0.00189032, 0.98683646, 0.06431006, 0.00486194,-0.09697778,
  0.09387276, 0.56677686, 0.04936592, 0.05493187, 0.82055438]

qacc:
[ 2.79446471e+00, 8.16298399e+00,-6.29207897e+01, 1.51322600e+02,
 -1.03826349e-01,-2.65199226e+01, 1.16988112e+02,-2.94455710e+02,
 -4.64363794e-01,-2.07120972e+01, 3.31980407e+01, 9.35212791e-01,
 -1.35328732e+00, 2.26659585e+00,-1.31145189e+01, 4.46086982e+01,
  1.13275382e-01, 3.95246107e-02,-9.87004396e+00, 8.90848735e-03,
 -5.04715955e+00, 2.28010607e-03]

qfrc_actuator:
[-0.00229194, 0.18137138, 0.00709867, 0.17315524,-0.00152602, 0.19123297,
  0.01255651, 0.15539974,-0.00162177, 0.17240718, 0.00547828, 0.16186734,
  0.01093434,-0.00169918, 0.        ,-0.00254267, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.41707109e-04,-1.29373120e-03,-4.99427181e-04, 2.19782625e-04,
 -1.19504963e-05,-1.54217753e-03,-6.25947665e-04,-7.40583436e-04,
 -6.59179568e-05,-2.43531142e-03,-6.06544846e-04,-5.40459580e-05,
 -1.36911060e-04, 1.26900496e-05,-2.04998168e-05, 2.11082959e-04,
  1.40024797e-02, 5.14871183e-03,-1.22360253e+00, 1.48068022e-03,
 -1.35310411e-03,-5.78687535e-05]


--- Step 1134 ---
qpos:
[-0.00228155, 0.63668464,-0.01457891, 0.56007145, 0.00525273, 0.59759417,
 -0.03174357, 0.49217655, 0.01534578, 0.68977408,-0.01801952, 0.52938859,
  1.23575545,-0.00189316, 0.98707442, 0.06431131, 0.00413975,-0.09730839,
  0.09271022, 0.56674516, 0.04380865, 0.04672587, 0.82139967]

qacc:
[ 1.42204648e+00, 5.15888858e+00,-6.08818413e+01, 1.79447290e+02,
  3.52744479e-01,-2.15566535e+01, 9.37252454e+01,-2.38923428e+02,
 -1.77077043e-01, 8.52223345e+00,-8.78098706e+01, 2.46100686e+02,
 -1.18411163e+00, 1.94135832e+00,-5.80627096e+00, 2.03194303e+01,
  1.14361200e-01, 4.01471812e-02,-9.86765872e+00, 1.46107321e-02,
 -5.04958250e+00, 3.50814786e-02]

qfrc_actuator:
[-0.00223744, 0.18096846, 0.00707238, 0.17355722,-0.00148373, 0.19095512,
  0.0124298 , 0.15488594,-0.0016277 , 0.17216192, 0.00551233, 0.16241608,
  0.01089485,-0.00166375, 0.        ,-0.0024488 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.74680129e-04,-1.31019297e-03,-3.71959744e-04, 3.34511526e-04,
  3.78555755e-05,-1.40147562e-03,-5.77527798e-04,-6.18537635e-04,
 -2.55885873e-05,-1.81284273e-03,-5.63132488e-04, 4.27570575e-04,
 -1.15597115e-04, 6.63644212e-06, 1.01547523e-05, 1.02145296e-04,
  1.41276965e-02, 5.22808500e-03,-1.22330619e+00, 1.49905802e-03,
 -1.35263683e-03,-1.55476083e-05]


--- Step 1135 ---
qpos:
[-0.0023628 , 0.63986774,-0.01458   , 0.56350984, 0.00522453, 0.60100743,
 -0.03162931, 0.49523939, 0.01535401, 0.69275891,-0.01805896, 0.53260477,
  1.23605147,-0.00189477, 0.98731234, 0.064314  , 0.00341802,-0.09763883,
  0.09150822, 0.56665774, 0.03825537, 0.03850954, 0.82216333]

qacc:
[ 1.85495445e+00,-6.56445055e+00,-2.57895027e+01, 1.42966961e+02,
  1.10589286e+00,-1.47528291e+00,-2.29995550e+01, 6.96472584e+01,
 -1.90362514e-01,-1.14805541e+00,-4.67001566e+01, 1.71735540e+02,
 -1.69269364e+00, 3.15515315e+00,-4.30895093e+00, 1.53078747e+01,
  1.15401885e-01, 4.07537700e-02,-9.86524801e+00, 2.03209612e-02,
 -5.05247525e+00, 6.78826275e-02]

qfrc_actuator:
[-0.0020659 , 0.18019984, 0.00709386, 0.17393038,-0.00137573, 0.19050734,
  0.01232701, 0.15502862,-0.00165225, 0.17162262, 0.00553219, 0.16282287,
  0.01086584,-0.00158848, 0.        ,-0.00237637, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.29196607e-04,-1.65408494e-03,-3.08098937e-04, 3.11826891e-04,
  1.20972324e-04,-1.47741379e-03,-5.14636451e-04, 4.78003651e-05,
 -2.78958408e-05,-1.73128589e-03,-4.29218187e-04, 3.21422672e-04,
 -9.40806851e-05, 5.00384674e-05, 1.02080193e-05, 7.81137992e-05,
  1.42473067e-02, 5.30548205e-03,-1.22300687e+00, 1.51685448e-03,
 -1.35256427e-03, 2.68170722e-05]


--- Step 1136 ---
qpos:
[-0.00244011, 0.64303258,-0.0145789 , 0.5669591 , 0.00519875, 0.60440744,
 -0.03151721, 0.49831608, 0.01536282, 0.69572775,-0.01809702, 0.53582948,
  1.23634723,-0.00189695, 0.98755053, 0.06431521, 0.00271725,-0.0979612 ,
  0.09028857, 0.56647584, 0.03249941, 0.03022195, 0.82288246]

qacc:
[ 2.56112790e+00,-9.47686502e+00,-3.43866728e+01, 2.00969150e+02,
  1.70474186e+00, 1.45956389e+01,-1.21307677e+02, 3.35472693e+02,
  3.60896814e-01,-8.67984508e+00,-2.66086342e+01, 1.60980806e+02,
  1.77207495e-01,-7.90691402e-01, 4.89815963e+00,-1.66002972e+01,
  5.24103810e+00, 2.02017283e+00,-4.41272359e+00,-8.40613240e+01,
  6.40959991e+01, 2.36860126e+01]

qfrc_actuator:
[-0.00182566, 0.17907719, 0.00712428, 0.17446087,-0.00122958, 0.18987412,
  0.01223923, 0.1557339 ,-0.00159907, 0.17080576, 0.00559583, 0.16324919,
  0.01084848,-0.00163218, 0.        ,-0.00245913, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09156961,  1.47459747, -3.81660899,  1.47459747,  2.57164838,
       -0.58724171, -3.81660899, -0.58724171,  3.86468099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.205376082973747e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60529722e-12,  4.60529722e-12,  1.00000000e+00, -2.12087625e-23,
        1.00000000e+00, -4.60529722e-12, -1.00000000e+00,  0.00000000e+00,
        4.60529722e-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([ 0.07014682, -0.10846187,  0.06199922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18951325e-04,-2.18692851e-03,-3.61614863e-04, 4.57837358e-04,
  1.88418133e-04,-1.66488579e-03,-4.84904364e-04, 6.23359227e-04,
  4.88122940e-05,-1.93963448e-03,-3.55951274e-04, 3.46504625e-04,
 -5.99298590e-05,-5.43978538e-05, 7.39542608e-06,-7.84527644e-05,
  1.43612557e-02, 5.38087340e-03,-1.22270467e+00, 1.53406561e-03,
 -1.35288712e-03, 6.92238126e-05]


--- Step 1137 ---
qpos:
[-0.00251979, 0.64618245,-0.01457877, 0.57040867, 0.00517461, 0.60779255,
 -0.03140594, 0.50139969, 0.01537228, 0.69868336,-0.01813577, 0.5390543 ,
  1.23664294,-0.00190069, 0.98778873, 0.06431542, 0.0020361 ,-0.09827615,
  0.08904976, 0.56620072, 0.02655781, 0.02186774, 0.82354917]

qacc:
[ -1.51587233,-16.44772125, 28.9522155 ,-11.70884598,  1.14915254,
  -4.28065973,-35.54300959,149.41883104,  0.39853332,-15.32953092,
  28.79929776,-15.82357819,  1.16215888, -2.98134641,  2.88182396,
 -10.34206849,  4.90471837,  1.85193675, -4.7895234 ,-77.69051336,
  58.07054645, 21.78146817]

qfrc_actuator:
[-0.00213226, 0.17851558, 0.00712302, 0.17447585,-0.00116854, 0.18910077,
  0.01217852, 0.15607201,-0.00157103, 0.17032713, 0.0056129 , 0.16325739,
  0.01082211,-0.00172819, 0.        ,-0.00250837, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09877218,  1.45198601, -3.83297143,  1.45198601,  1.73149733,
       -0.89675856, -3.83297143, -0.89675856,  3.75906683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.155588234081714e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00745801e-12, -6.67909669e-13,  1.00000000e+00,  2.67661995e-24,
        1.00000000e+00,  6.67909669e-13, -1.00000000e+00,  0.00000000e+00,
        4.00745801e-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([ 0.06993579, -0.10850345,  0.06199721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93194049e-04,-1.92714375e-03,-5.02507018e-04,-7.64792240e-05,
  1.27393675e-04,-1.87966625e-03,-4.72861568e-04, 2.61799026e-04,
  5.49608538e-05,-1.70090332e-03,-4.34857711e-04,-7.65568955e-05,
 -7.38472628e-05,-1.21442398e-04,-1.10072464e-05,-5.39894803e-05,
  1.49842890e-02, 5.38877938e-03,-1.22256101e+00, 1.49527035e-03,
 -1.50263246e-03,-3.34642341e-04]


--- Step 1138 ---
qpos:
[-0.00260796, 0.6493239 ,-0.014582  , 0.57385158, 0.00515163, 0.61116448,
 -0.03129726, 0.50448074, 0.0153814 , 0.7016292 ,-0.01817643, 0.54226613,
  1.23693828,-0.00190574, 0.9880265 , 0.06431769, 0.0013735 ,-0.09858429,
  0.08779058, 0.56583329, 0.02044457, 0.01345086, 0.82415641]

qacc:
[-5.45077022e+00,-1.44880500e+01, 5.58302364e+01,-1.40165537e+02,
  8.07657715e-01,-1.50834651e+01, 3.70996217e+01,-6.17838916e+01,
 -1.95681461e-01,-3.22479986e+01, 1.35711405e+02,-3.10809522e+02,
  9.03543968e-01,-2.52228931e+00,-6.94761953e+00, 2.31956009e+01,
  4.63727012e+00, 1.70614795e+00,-5.09347658e+00,-7.25200095e+01,
  5.31527510e+01, 2.01329508e+01]

qfrc_actuator:
[-0.00274451, 0.17857864, 0.0071228 , 0.17416999,-0.00112324, 0.18856986,
  0.01208033, 0.15594266,-0.0016294 , 0.17007282, 0.0055858 , 0.16261142,
  0.01078499,-0.00180112, 0.        ,-0.00239538, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10310493,  1.421677  , -3.84893552,  1.421677  ,  1.25489924,
       -1.05203855, -3.84893552, -1.05203855,  3.71451463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.17291578410739e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14622289e-12,  1.07311144e-12,  1.00000000e+00, -2.30313634e-24,
        1.00000000e+00, -1.07311144e-12, -1.00000000e+00,  0.00000000e+00,
        2.14622289e-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([ 0.06977101, -0.1085488 ,  0.06199639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94895430e-04,-1.20637405e-03,-4.82996073e-04,-4.02994272e-04,
  9.02912835e-05,-1.76827763e-03,-5.64321363e-04,-2.20973632e-04,
 -2.88339210e-05,-1.37552817e-03,-4.53767077e-04,-7.32707526e-04,
 -1.08383144e-04,-1.16196873e-04,-1.54014463e-05, 1.07541265e-04,
  1.55773710e-02, 5.40399170e-03,-1.22238122e+00, 1.45484306e-03,
 -1.64448539e-03,-7.11220800e-04]


--- Step 1139 ---
qpos:
[-2.69741510e-03, 6.52457597e-01,-1.45861875e-02, 5.77289247e-01,
  5.12974594e-03, 6.14523464e-01,-3.11924014e-02, 5.07563117e-01,
  1.53906461e-02, 7.04565389e-01,-1.82171163e-02, 5.45453967e-01,
  1.23723338e+00,-1.91277135e-03, 9.88264125e-01, 6.43212613e-02,
  7.28602346e-04,-9.88860956e-02, 8.65100489e-02, 5.65374114e-01,
  1.41712751e-02, 4.97469118e-03, 8.24697847e-01]

qacc:
[-8.22491548e-01,-1.75013857e+01, 6.27292835e+01,-1.28552949e+02,
  7.55733883e-01,-4.05801934e+00,-1.36354953e+01, 4.57113794e+01,
  7.82624133e-02,-5.81621883e+01, 2.60360534e+02,-5.91485620e+02,
  1.49937609e+00,-3.89733331e+00,-4.25730610e+00, 1.42704287e+01,
  4.42679738e+00, 1.58095067e+00,-5.33631716e+00,-6.83403671e+01,
  4.91294375e+01, 1.87198421e+01]

qfrc_actuator:
[-0.00257442, 0.17841235, 0.00716148, 0.17392699,-0.00106982, 0.18802886,
  0.01192624, 0.15601887,-0.00161461, 0.1696709 , 0.0056047 , 0.16140846,
  0.01075743,-0.00191308, 0.        ,-0.00232974, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10035805,  1.38441724, -3.85957576,  1.38441724,  0.976679  ,
       -1.12045349, -3.85957576, -1.12045349,  3.69845504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.55462285817651e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43757400e-12,  6.09393499e-13,  1.00000000e+00, -1.48544175e-24,
        1.00000000e+00, -6.09393499e-13, -1.00000000e+00,  0.00000000e+00,
        2.43757400e-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([ 0.06964774, -0.10859819,  0.06199667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06417068e-04,-1.04227945e-03,-3.06181934e-04,-3.18713213e-04,
  8.54394250e-05,-1.75345538e-03,-6.24309878e-04,-2.38044246e-05,
  9.81749639e-06,-1.37081806e-03,-3.65438344e-04,-1.29122949e-03,
 -1.17281944e-04,-1.62258641e-04, 1.21865829e-06, 6.88032235e-05,
  1.61449984e-02, 5.42533098e-03,-1.22216847e+00, 1.41327818e-03,
 -1.77936842e-03,-1.06492275e-03]


--- Step 1140 ---
qpos:
[-2.78211903e-03, 6.55579245e-01,-1.45890829e-02, 5.80729950e-01,
  5.10876398e-03, 6.17864529e-01,-3.10887671e-02, 5.10653783e-01,
  1.54009066e-02, 7.07489109e-01,-1.82555784e-02, 5.48616491e-01,
  1.23752807e+00,-1.92144682e-03, 9.88501632e-01, 6.43262517e-02,
  1.00762395e-04,-9.91820070e-02, 8.52074094e-02, 5.64823457e-01,
  7.74749291e-03,-3.55788721e-03, 8.25167729e-01]

qacc:
[ 3.03524241e+00,-1.36812551e+01, 1.60071558e+01, 3.59580374e+01,
  6.28232121e-01,-4.62840661e+00,-4.40754310e+01, 1.79826962e+02,
  6.18275143e-01,-7.04880590e+01, 3.01613527e+02,-6.49193428e+02,
  1.09750620e+00,-3.08299361e+00,-4.57136041e+00, 1.54824536e+01,
  4.26345044e+00, 1.47437830e+00,-5.52796061e+00,-6.49780343e+01,
  4.58271713e+01, 1.75204549e+01]

qfrc_actuator:
[-0.00213402, 0.1776851 , 0.00718694, 0.17407802,-0.00102966, 0.18697202,
  0.01181189, 0.15642858,-0.00153849, 0.16897117, 0.00568559, 0.16013604,
  0.01073561,-0.00199401, 0.        ,-0.00225705, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.0938633 ,  1.3434992 , -3.86713416,  1.3434992 ,  0.80128411,
       -1.14389037, -3.86713416, -1.14389037,  3.69645899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5485359584638545e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17815845e-12,  2.17815845e-12,  1.00000000e+00, -4.74437422e-24,
        1.00000000e+00, -2.17815845e-12, -1.00000000e+00,  0.00000000e+00,
        2.17815845e-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([ 0.06956273, -0.10865201,  0.06199805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90996423e-04,-1.47204068e-03,-2.61905672e-04, 8.92550451e-05,
  7.06124315e-05,-2.26458566e-03,-5.81820897e-04, 3.12564135e-04,
  8.70840747e-05,-1.66931932e-03,-3.10102855e-04,-1.36906993e-03,
 -1.27302301e-04,-1.43423934e-04, 3.65154021e-06, 7.56016803e-05,
  1.66910084e-02, 5.45179067e-03,-1.22192531e+00, 1.37083878e-03,
 -1.90825648e-03,-1.39964044e-03]


--- Step 1141 ---
qpos:
[-2.86880398e-03, 6.58685766e-01,-1.45910423e-02, 5.84173590e-01,
  5.08784036e-03, 6.21184417e-01,-3.09855933e-02, 5.13742438e-01,
  1.54117348e-02, 7.10398334e-01,-1.82925702e-02, 5.51769049e-01,
  1.23782193e+00,-1.93056841e-03, 9.88739035e-01, 6.43327390e-02,
 -5.26525261e-04,-9.94777443e-02, 8.38653473e-02, 5.64211046e-01,
  1.33385859e-03,-1.20984595e-02, 8.25540879e-01]

qacc:
[-1.24555988e+00,-1.69477954e+01, 2.21292390e+01, 3.10701155e+01,
  5.40114846e-02,-3.03778500e+01, 7.34548310e+01,-8.40859235e+01,
  3.47660773e-01,-4.19987112e+01, 1.50468028e+02,-2.79014517e+02,
 -1.84085772e-01,-3.57691336e-01,-4.67059860e+00, 1.61193420e+01,
  1.38073841e-01, 4.35173128e-02,-9.85566242e+00,-3.65113282e-01,
 -6.92911909e+00,-1.82647518e+00]

qfrc_actuator:
[-0.00244234, 0.17677068, 0.00716709, 0.17421075,-0.00105098, 0.18572235,
  0.01170256, 0.15630305,-0.00153304, 0.16824146, 0.00576592, 0.1596495 ,
  0.01070661,-0.00200261, 0.        ,-0.00218078, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.64106943e-04,-1.87313034e-03,-3.75154303e-04, 6.48469118e-05,
  3.83985923e-06,-2.71946615e-03,-6.64078964e-04,-2.34184410e-04,
  4.84908039e-05,-1.85674703e-03,-3.66824600e-04,-5.94324217e-04,
 -1.35848442e-04,-6.93021526e-05, 5.21445711e-06, 7.98100076e-05,
  1.72186338e-02, 5.48252358e-03,-1.22165379e+00, 1.32763167e-03,
 -2.03212738e-03,-1.71874414e-03]


--- Step 1142 ---
qpos:
[-2.95751580e-03, 6.61779028e-01,-1.45942077e-02, 5.87618442e-01,
  5.06643192e-03, 6.24488648e-01,-3.08877562e-02, 5.16832719e-01,
  1.54222466e-02, 7.13298110e-01,-1.83326544e-02, 5.54932640e-01,
  1.23811484e+00,-1.93955972e-03, 9.88976381e-01, 6.43404219e-02,
 -1.13605187e-03,-9.97584273e-02, 8.25391924e-02, 5.63474317e-01,
 -5.45838923e-03,-2.07076207e-02, 8.25855977e-01]

qacc:
[-1.27236265e+00,-1.18711299e+01, 1.35306744e+01, 1.47492445e+01,
 -3.23846831e-01,-2.92567526e+00,-2.32529102e+01, 6.23857167e+01,
 -1.86633561e-01, 1.69195067e+01,-1.10152905e+02, 2.74321105e+02,
 -7.55186148e-01, 9.15454155e-01,-3.64304097e+00, 1.27385137e+01,
  4.44026158e+00, 3.76358486e+00, 3.97678201e+00,-1.35397042e+02,
  1.36143381e+02, 3.72753216e+01]

qfrc_actuator:
[-0.00253821, 0.17626668, 0.00715541, 0.17427812,-0.00109094, 0.1853438 ,
  0.01157822, 0.15641369,-0.0015877 , 0.16822861, 0.00579254, 0.16025061,
  0.01067335,-0.0019861 , 0.        ,-0.00212076, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.15053617,   1.85411319,   3.7133832 ,   1.85411319,
        32.53728287, -14.17366279,   3.7133832 , -14.17366279,
        11.22752598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00011378974138546993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2195992e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2195992e-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([ 0.05630875, -0.11366726,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68328522e-04,-1.70933567e-03,-4.62170864e-04,-1.96783638e-05,
 -3.90799761e-05,-2.13958326e-03,-7.99308216e-04,-2.96094948e-05,
 -2.77001897e-05,-1.22477720e-03,-4.39364739e-04, 5.00595686e-04,
 -1.27759014e-04,-2.99451613e-05, 5.81354588e-06, 6.38807599e-05,
  1.73142567e-02, 5.56533497e-03,-1.22127024e+00, 1.34577695e-03,
 -2.02415054e-03,-1.65798326e-03]


--- Step 1143 ---
qpos:
[-0.00304181, 0.66485953,-0.01459805, 0.59106335, 0.00504532, 0.62778255,
 -0.03079612, 0.51993065, 0.01543269, 0.7161916 ,-0.01837479, 0.55810833,
  1.23840671,-0.0019478 , 0.98921372, 0.06434876,-0.00168547,-0.09995059,
  0.08155268, 0.56272421,-0.01239348,-0.02786781, 0.82608186]

qacc:
[ 2.78176400e+00,-1.48363428e+01, 2.81174153e+01,-1.62758094e+01,
  1.99575653e-01, 1.77491578e+01,-1.04936666e+02, 2.26248461e+02,
 -4.04655086e-02, 2.02151472e+01,-1.19134959e+02, 2.94784249e+02,
 -1.36281002e+00, 2.27936220e+00,-1.90146610e+00, 6.86998805e+00,
  1.50271724e+01, 2.21301290e+01, 8.49105981e+01, 5.57144336e+02,
  4.67322945e+02,-1.41792528e+01]

qfrc_actuator:
[-0.00209746, 0.17576459, 0.00716814, 0.17428907,-0.0010528 , 0.18534885,
  0.01146768, 0.15684072,-0.001589  , 0.16827385, 0.00582639, 0.16088369,
  0.01063757,-0.00193717, 0.        ,-0.00208854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016702290702740943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.98534772e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.98534772e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02876746, -0.13004832,  0.06186003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66430362e-04,-1.63637240e-03,-4.17449688e-04,-7.43040164e-05,
  2.34004190e-05,-1.45117027e-03,-6.76566103e-04, 3.09487007e-04,
 -6.17999674e-06,-7.85883517e-04,-2.76064267e-04, 5.77497373e-04,
 -1.16458346e-04, 1.30004026e-05, 4.05246182e-06, 3.52124546e-05,
  1.83189729e-02, 5.41804178e-03,-1.22105259e+00, 1.18803858e-03,
 -2.28237594e-03,-2.64312353e-03]


--- Step 1144 ---
qpos:
[-0.00312006, 0.66793203,-0.01460477, 0.59450767, 0.00502471, 0.6310633 ,
 -0.03070585, 0.52302707, 0.01544313, 0.71907417,-0.01841564, 0.56129751,
  1.23869751,-0.00195489, 0.98945088, 0.06435877,-0.00233569,-0.10017376,
  0.08078843, 0.56207722,-0.01904071,-0.03335061, 0.82619271]

qacc:
[ 3.78289083e+00,-3.78264435e+00, 7.62218940e-01,-1.35075684e+00,
  3.41936490e-01,-1.63732596e+01, 3.78793946e+01,-4.75267388e+01,
  2.86700176e-03, 7.58535825e+00,-8.85005557e+01, 2.86340623e+02,
 -1.64751192e+00, 3.01780459e+00,-5.14706673e+00, 1.79203116e+01,
 -2.52008429e+01,-7.75211627e+00, 5.55658344e+01, 7.72888983e+02,
  3.55209002e+02,-6.85764499e+01]

qfrc_actuator:
[-0.00173093, 0.17574776, 0.00715997, 0.1742846 ,-0.00102165, 0.18466186,
  0.01138618, 0.15675856,-0.00159392, 0.16755567, 0.00582928, 0.16154824,
  0.01060033,-0.00186945, 0.        ,-0.00200193, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.35548598, -8.30893872,  2.35548598,  0.88995835,
       -2.19601439, -8.30893872, -2.19601439,  8.0138195 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009545113418112159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82457635, -0.41228817,  0.38741749, -0.37315381,  0.91105349,
        0.17532192, -0.42524121,  0.        , -0.90508006])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04983389, -0.13691985,  0.06170335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03266835e-04,-1.10275681e-03,-4.19699868e-04,-8.64699315e-05,
  3.94987935e-05,-1.72015425e-03,-4.81068024e-04,-1.61531104e-04,
 -7.54300701e-07,-1.26808703e-03,-1.95626213e-04, 6.32900848e-04,
 -1.01468478e-04, 4.38668675e-05,-1.37922235e-07, 8.77365878e-05,
  1.48359008e-02, 2.80653173e-03,-1.21984451e+00, 7.45538915e-04,
 -1.76634833e-03,-5.28537895e-03]


--- Step 1145 ---
qpos:
[-0.00319283, 0.67100585,-0.01461694, 0.59794762, 0.00500529, 0.63432932,
 -0.03061645, 0.52611745, 0.01545356, 0.72194141,-0.01845494, 0.56450202,
  1.2389877 ,-0.00196195, 0.98968873, 0.06436369,-0.00288916,-0.10031404,
  0.08026721, 0.56144339,-0.02553156,-0.03753505, 0.82626907]

qacc:
[ 3.40227034e+00, 8.44852528e+00,-1.28573674e+01,-4.70570584e+01,
  7.95589887e-01,-2.83510507e+01, 9.13028883e+01,-1.64873353e+02,
  5.80633485e-03, 4.51392702e+00,-9.14785188e+01, 3.18288022e+02,
 -7.86770157e-01, 1.02127274e+00, 1.64015054e+01,-5.57856421e+01,
  2.41878529e+01, 2.07226760e+01, 6.07571339e+01, 5.79866820e+02,
  3.00835189e+02,-5.37734896e+00]

qfrc_actuator:
[-0.00146559, 0.17651951, 0.00714173, 0.17411172,-0.00094177, 0.18388614,
  0.01131973, 0.15644799,-0.00160105, 0.16654638, 0.00581108, 0.16229644,
  0.01056224,-0.00187994, 0.        ,-0.00227451, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.9122084 , -7.69944169,  3.9122084 ,  8.0739324 ,
       -0.28578023, -7.69944169, -0.28578023,  8.49115417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005500896603911107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04564576e-15,  1.00912915e-14,  1.00000000e+00,  5.09170822e-29,
        1.00000000e+00, -1.00912915e-14, -1.00000000e+00,  0.00000000e+00,
       -5.04564576e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04646911, -0.13433972,  0.06157669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57191895e-04,-1.73032036e-05,-3.22206299e-04,-2.34922156e-04,
  9.42130037e-05,-1.93702137e-03,-5.12468278e-04,-4.03571510e-04,
 -7.99221467e-07,-1.80886409e-03,-3.02762013e-04, 7.02026811e-04,
 -8.64009237e-05,-2.41140913e-05, 4.23858347e-06,-2.68960574e-04,
  1.05223019e-02, 8.20909057e-04,-1.21879159e+00, 6.19334165e-04,
 -9.79386053e-04,-6.30073602e-03]


--- Step 1146 ---
qpos:
[-0.00325983, 0.67408331,-0.01463164, 0.60137957, 0.00498787, 0.63757818,
 -0.03052798, 0.52920474, 0.01546439, 0.72479162,-0.01849285, 0.56771003,
  1.23927798,-0.00197151, 0.98992662, 0.06436499,-0.00336424,-0.10038903,
  0.07994773, 0.56081999,-0.03189931,-0.04065866, 0.82632333]

qacc:
[ 3.57779866e+00,-3.28963917e+00, 4.21702082e+01,-1.53674144e+02,
  1.33864676e+00,-2.58231928e+01, 6.84187099e+01,-9.73493850e+01,
  2.35461378e-01,-1.96791842e+01, 2.61220006e+01, 3.68698323e+01,
  1.88678172e+00,-4.74122737e+00, 1.08141076e+01,-3.81550940e+01,
  1.95987962e+01, 1.63229749e+01, 5.04341397e+01, 4.72547327e+02,
  2.47421825e+02, 7.16604832e-01]

qfrc_actuator:
[-0.00115629, 0.17703043, 0.00713892, 0.1737353 ,-0.00081576, 0.18295752,
  0.01124464, 0.15628957,-0.00157399, 0.16556647, 0.00581496, 0.16244851,
  0.01052365,-0.0020432 , 0.        ,-0.00245473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.19006605,  2.74036403, -8.19006605,  8.46274201,
       -0.51889917,  2.74036403, -0.51889917,  7.08554105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006874166080919078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07532879e-15, -4.03766439e-15,  1.00000000e+00, -3.26054675e-29,
        1.00000000e+00,  4.03766439e-15, -1.00000000e+00,  0.00000000e+00,
       -8.07532879e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04472987, -0.13277778,  0.06148811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83920439e-04, 3.40748238e-04,-8.02832072e-05,-3.97464817e-04,
  1.60770508e-04,-2.22601815e-03,-5.76659737e-04,-2.65730990e-04,
  3.32268006e-05,-2.09920861e-03,-4.00594240e-04, 8.33209659e-05,
 -9.46880999e-05,-1.87963964e-04,-3.49245038e-05,-1.96280482e-04,
  7.74798646e-03,-3.01696425e-04,-1.21815882e+00, 4.27865123e-04,
 -6.68185015e-04,-6.76611711e-03]


--- Step 1147 ---
qpos:
[-0.00332593, 0.67715835,-0.01464515, 0.6048121 , 0.00497221, 0.64080541,
 -0.03043997, 0.53228962, 0.01547538, 0.7276256 ,-0.01853031, 0.57091448,
  1.23956777,-0.00198306, 0.99016382, 0.06436809,-0.00377599,-0.10041235,
  0.0797942 , 0.56020348,-0.03817361,-0.04291236, 0.82636153]

qacc:
[ 5.58672924e-01,-5.39728424e+00, 1.24100094e+01,-2.88469793e+00,
  1.17263275e+00,-3.16794696e+01, 7.82355373e+01,-9.36492870e+01,
  1.08608742e-01,-2.92872038e+01, 8.28810863e+01,-1.18625086e+02,
  1.35121901e+00,-3.75324106e+00,-6.58538121e+00, 2.12547487e+01,
  1.58297562e+01, 1.29158175e+01, 4.14899631e+01, 3.85409948e+02,
  2.05713750e+02, 4.62798229e+00]

qfrc_actuator:
[-0.00126693, 0.17668965, 0.00712688, 0.17375695,-0.0007344 , 0.18164367,
  0.01112923, 0.15615088,-0.00158007, 0.16482505, 0.00584936, 0.16226634,
  0.01046874,-0.00215358, 0.        ,-0.00234818, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.01777687,  3.2096777 , -8.01777687,  8.48274895,
       -0.38372958,  3.2096777 , -0.38372958,  7.6778069 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007898468070701554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51404543e-15,  7.02809086e-15,  1.00000000e+00, -2.46970305e-29,
        1.00000000e+00, -7.02809086e-15, -1.00000000e+00,  0.00000000e+00,
        3.51404543e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04316602, -0.13155345,  0.06142714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55654676e-05,-2.68556466e-04, 6.60593878e-06, 1.85590479e-05,
  1.41209149e-04,-2.77907425e-03,-6.78439092e-04,-2.56296044e-04,
  1.44702484e-05,-2.06567831e-03,-4.60766966e-04,-2.77958130e-04,
 -1.54217632e-04,-1.72838744e-04,-4.15264541e-05, 9.02492242e-05,
  5.76799021e-03,-9.02967033e-04,-1.21777663e+00, 2.64512262e-04,
 -4.56701203e-04,-6.82236097e-03]


--- Step 1148 ---
qpos:
[-0.00339709, 0.68022239,-0.01465445, 0.60824683, 0.0049581 , 0.64400873,
 -0.03035286, 0.53536628, 0.01548643, 0.73044657,-0.01856895, 0.57411496,
  1.23985632,-0.0019952 , 0.99040065, 0.06437338,-0.00419035,-0.10043142,
  0.0797874 , 0.55960921,-0.04409548,-0.0444336 , 0.826389  ]

qacc:
[-3.09668538e+00,-2.18699992e+01, 4.84083779e+01,-9.47946712e+00,
  1.02964093e+00,-4.43847940e+01, 1.36994013e+02,-2.32949116e+02,
  3.77055327e-02,-2.13826767e+01, 6.27915198e+01,-1.06511261e+02,
 -3.18759665e-01,-4.13989963e-01,-7.13098711e+00, 2.41609661e+01,
 -6.51226747e-01, 1.06439256e+00, 3.66809030e+01, 4.01548290e+02,
  6.02267163e+01,-5.77734005e+00]

qfrc_actuator:
[-0.00171572, 0.17566493, 0.00715985, 0.17383455,-0.00066262, 0.18032307,
  0.01102507, 0.15572278,-0.00158821, 0.16444576, 0.00588471, 0.16208458,
  0.01039876,-0.0021785 , 0.        ,-0.00223331, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.51162218,  7.89020193, -3.51162218, 12.19894786,
        1.58556776,  7.89020193,  1.58556776,  9.34203821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011089138268752921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51428621e-01, -2.75714311e-01,  7.87342425e-01, -1.58167389e-01,
        9.61239626e-01,  2.25835024e-01, -8.19090687e-01,  1.38777878e-17,
       -5.73664054e-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([-0.04672434, -0.1219029 ,  0.06138222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26026886e-04,-1.25795711e-03,-4.72826280e-05, 6.34001660e-05,
  1.24469015e-04,-3.11348464e-03,-7.91054676e-04,-5.70120894e-04,
  4.40003176e-06,-1.71037088e-03,-4.71801146e-04,-2.85608627e-04,
 -1.99628630e-04,-9.81705260e-05,-1.15695225e-05, 1.13975607e-04,
  4.34031136e-03,-1.18455882e-03,-1.21754804e+00, 1.15818495e-04,
 -3.08939592e-04,-6.65764212e-03]


--- Step 1149 ---
qpos:
[-0.00347002, 0.68327077,-0.01465984, 0.61167005, 0.00494517, 0.64718821,
 -0.03026753, 0.5384259 , 0.01549807, 0.73325624,-0.01860728, 0.57731042,
  1.24014378,-0.00200867, 0.99063766, 0.06437762,-0.00453441,-0.10043309,
  0.0799233 , 0.55906292,-0.04929402,-0.04566388, 0.82639794]

qacc:
[-1.07787981e+00,-5.29682173e+01, 1.87925735e+02,-3.30708777e+02,
  7.79201898e-01,-5.83667376e+01, 2.14032741e+02,-4.34784012e+02,
  3.51502730e-01,-2.52098974e+01, 8.20720138e+01,-1.41849580e+02,
  1.71057639e-01,-1.65600900e+00, 3.36320027e+00,-1.14691328e+01,
  1.75748667e+01, 4.35040702e+00, 3.56748399e+01, 3.23271320e+02,
 -2.15992885e+02,-3.46697492e+01]

qfrc_actuator:
[-0.00168721, 0.17452344, 0.00719858, 0.173216  ,-0.00061484, 0.17915135,
  0.01092827, 0.15486154,-0.0015443 , 0.16412727, 0.00599311, 0.16185164,
  0.01032515,-0.00225925, 0.        ,-0.00229208, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.64239088, -7.83069381,  3.64239088,  8.81401977,
        0.08263547, -7.83069381,  0.08263547,  8.67480093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009529345726441513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.91264232e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.91264232e-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([-0.05320591, -0.1024213 ,  0.06134429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51244482e-04,-1.93432955e-03,-2.46136480e-04,-6.70430333e-04,
  9.43569981e-05,-3.18526016e-03,-8.75086775e-04,-1.02621348e-03,
  5.21749631e-05,-1.45347715e-03,-3.28009896e-04,-3.23577681e-04,
 -2.11707541e-04,-1.48371838e-04, 2.48247302e-06,-5.50006864e-05,
  3.07200159e-03,-1.15714117e-03,-1.21732362e+00, 1.13959176e-04,
 -1.55536631e-04,-5.81735718e-03]


--- Step 1150 ---
qpos:
[-0.00354028, 0.68630093,-0.01466313, 0.61508442, 0.00493265, 0.65034416,
 -0.03018508, 0.54147134, 0.01551049, 0.73605401,-0.01864351, 0.58048949,
  1.24042994,-0.00202303, 0.99087462, 0.06438147,-0.00482188,-0.10042088,
  0.08017424, 0.55855587,-0.05389201,-0.04664927, 0.82639872]

qacc:
[ 1.65070243e+00,-4.63657848e+01, 1.52788709e+02,-2.56773917e+02,
  2.82349705e-01,-4.95571490e+01, 1.74790732e+02,-3.54340636e+02,
  4.55070861e-01,-5.22063739e+01, 2.08877595e+02,-4.25496710e+02,
 -2.85944937e-01,-7.02649287e-01, 1.12238775e+00,-4.04156322e+00,
  1.41475201e+01, 3.46837199e+00, 2.87594796e+01, 2.69841850e+02,
 -1.78597755e+02,-2.61653464e+01]

qfrc_actuator:
[-0.00139132, 0.17346296, 0.00723938, 0.17276068,-0.0006172 , 0.17807847,
  0.01081937, 0.15416082,-0.00150521, 0.16354695, 0.00609103, 0.16102253,
  0.01026004,-0.00230151, 0.        ,-0.00231067, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.94388189,  7.08129993, -4.94388189,  7.98709359,
       -0.45329452,  7.08129993, -0.45329452,  8.31989144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01011443685138172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74415432e-15,  5.48830865e-15,  1.00000000e+00, -1.50607659e-29,
        1.00000000e+00, -5.48830865e-15, -1.00000000e+00,  0.00000000e+00,
        2.74415432e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05249866, -0.10247013,  0.06132104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26736436e-04,-2.29742176e-03,-4.28214153e-04,-5.54268132e-04,
  3.29893431e-05,-3.16043060e-03,-9.26438501e-04,-8.80420111e-04,
  6.78704947e-05,-1.54385679e-03,-2.70158953e-04,-9.05894471e-04,
 -2.22039405e-04,-1.23645735e-04,-1.12881006e-05,-2.27648053e-05,
  2.25964007e-03,-9.00608996e-04,-1.21707985e+00, 4.11013208e-04,
 -3.84814523e-06,-4.42235032e-03]


--- Step 1151 ---
qpos:
[-0.0036088 , 0.68931639,-0.01466854, 0.61850799, 0.00491968, 0.65347607,
 -0.03010536, 0.54451949, 0.01552312, 0.73884019,-0.01868092, 0.58367405,
  1.24071454,-0.00203734, 0.99111092, 0.06438974,-0.00506367,-0.1003976 ,
  0.08051668, 0.55808113,-0.05798668,-0.04742685, 0.82639802]

qacc:
[ 1.05562183e+00, 3.70947235e+00,-6.59120118e+01, 2.02737367e+02,
 -2.80640177e-01,-1.91046232e+01, 1.40469476e+01, 4.60712055e+01,
  1.23982166e-01,-1.75266005e+00,-3.15213837e+01, 1.17355855e+02,
 -9.54248983e-01, 9.28454432e-01,-1.42439830e+01, 4.85532752e+01,
  1.14206923e+01, 2.76811985e+00, 2.28775367e+01, 2.27271652e+02,
 -1.49142950e+02,-1.99103905e+01]

qfrc_actuator:
[-0.00132932, 0.1730635 , 0.00726391, 0.17325737,-0.00066713, 0.1770386 ,
  0.01075829, 0.15432374,-0.00152269, 0.16309868, 0.00609202, 0.16132258,
  0.01020009,-0.00228508, 0.        ,-0.00207458, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.64196199,  7.28278557, -4.64196199,  8.06230545,
       -0.36589795,  7.28278557, -0.36589795,  8.40314458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010489566091341475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29203503e-15,  5.29203503e-15,  1.00000000e+00, -2.80056348e-29,
        1.00000000e+00, -5.29203503e-15, -1.00000000e+00,  0.00000000e+00,
        5.29203503e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0522302 , -0.10252538,  0.06131049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46448057e-04,-1.87006820e-03,-5.35339412e-04, 3.80988840e-04,
 -3.78545136e-05,-3.11713359e-03,-8.74354507e-04,-1.41962798e-05,
  1.80894496e-05,-1.47230485e-03,-3.97362724e-04, 2.09646080e-04,
 -2.17154572e-04,-6.18782193e-05,-1.33925919e-05, 2.32093373e-04,
  1.67438166e-03,-7.09550933e-04,-1.21690843e+00, 6.22737736e-04,
  1.02717400e-04,-3.39802790e-03]


--- Step 1152 ---
qpos:
[-0.00367408, 0.69232087,-0.01467669, 0.62193837, 0.00490645, 0.65658414,
 -0.03002796, 0.54757818, 0.01553573, 0.74161532,-0.01871908, 0.58688318,
  1.24099783,-0.00205179, 0.99134747, 0.06439771,-0.00526848,-0.10036545,
  0.08093071, 0.55763327,-0.06165614,-0.04802689, 0.82640007]

qacc:
[ 1.96200620e+00, 5.78603937e+00,-5.91688156e+01, 1.60414606e+02,
 -1.53452729e-01,-5.33959983e+00,-5.82817844e+01, 2.28331221e+02,
 -5.69009124e-03, 3.36865485e+01,-2.11082438e+02, 5.58779389e+02,
 -9.13252857e-01, 8.26279912e-01, 1.28972586e+00,-3.86786714e+00,
  9.24508715e+00, 2.21689430e+00, 1.78952768e+01, 1.92855015e+02,
 -1.25596982e+02,-1.52706856e+01]

qfrc_actuator:
[-0.00110598, 0.17285139, 0.00724657, 0.17361839,-0.00067386, 0.17601071,
  0.01070913, 0.15486935,-0.00153836, 0.16278736, 0.00616153, 0.16258659,
  0.01014863,-0.00228728, 0.        ,-0.00209866, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.33627608,  7.46883435, -4.33627608,  8.12616467,
       -0.2962127 ,  7.46883435, -0.2962127 ,  8.46438767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0106937861183218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59548632e-15,  7.78645897e-15,  1.00000000e+00, -2.02096478e-29,
        1.00000000e+00, -7.78645897e-15, -1.00000000e+00,  0.00000000e+00,
        2.59548632e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05229148, -0.10258657,  0.06130959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75488233e-04,-1.43009433e-03,-4.72671939e-04, 2.77855295e-04,
 -2.18551104e-05,-3.03518806e-03,-8.18143214e-04, 3.90175585e-04,
 -1.58278823e-06,-1.27757230e-03,-2.92523531e-04, 1.19580471e-03,
 -1.90965791e-04,-6.60305124e-05, 1.50894909e-05,-1.38781074e-05,
  1.24746566e-03,-5.64363151e-04,-1.21678594e+00, 7.77539633e-04,
  1.79709006e-04,-2.63288716e-03]


--- Step 1153 ---
qpos:
[-0.00373295, 0.69531151,-0.01468349, 0.62536466, 0.00489358, 0.65966856,
 -0.02995271, 0.55063948, 0.01554825, 0.74438024,-0.0187555 , 0.59009355,
  1.24128014,-0.00206664, 0.99158415, 0.06440469,-0.00544327,-0.10032616,
  0.0813995 , 0.55720793,-0.06496394,-0.0484744 , 0.82640743]

qacc:
[ 3.87800881e+00,-2.95459599e+01, 8.85620457e+01,-1.31350496e+02,
  2.35723822e-01,-2.03472772e+01, 1.93562725e+01, 3.87342331e+01,
 -4.87481558e-02,-1.59155238e+01, 3.24962853e+01,-6.99468193e+00,
 -4.90754674e-01, 1.05670175e-01, 3.22571861e+00,-1.09612588e+01,
  7.50575640e+00, 1.78537226e+00, 1.36892686e+01, 1.64691279e+02,
 -1.06537844e+02,-1.18049363e+01]

qfrc_actuator:
[-0.00066375, 0.17207926, 0.00727657, 0.17339966,-0.00063696, 0.17489291,
  0.01061457, 0.15499657,-0.0015528 , 0.16234927, 0.00625446, 0.16263244,
  0.01011828,-0.00230049, 0.        ,-0.00215163, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.02186208,  7.64273526, -4.02186208,  8.27737188,
       -0.18891343,  7.64273526, -0.18891343,  8.53695109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010759461165927506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70629730e-15,  3.22455456e-15,  1.00000000e+00, -2.80739306e-29,
        1.00000000e+00, -3.22455456e-15, -1.00000000e+00,  0.00000000e+00,
        8.70629730e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05260129, -0.10265308,  0.06131604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.47701197e-04,-1.73576866e-03,-3.32083117e-04,-2.85500096e-04,
  2.79095420e-05,-3.05100267e-03,-8.26260204e-04,-1.45077242e-05,
 -8.89914048e-06,-1.23602298e-03,-1.84395360e-04, 9.35071587e-06,
 -1.55889112e-04,-7.17611904e-05,-1.64494651e-06,-5.34020037e-05,
  9.32853550e-04,-4.52060283e-04,-1.21669723e+00, 8.93418613e-04,
  2.36827232e-04,-2.05267019e-03]


--- Step 1154 ---
qpos:
[-0.00378905, 0.69828515,-0.01468798, 0.62878434, 0.00488009, 0.66272719,
 -0.02987869, 0.55369688, 0.01556044, 0.74713501,-0.01879105, 0.59329294,
  1.24156169,-0.00208176, 0.99182099, 0.06440929,-0.0055936 ,-0.10028108,
  0.08190888, 0.55680161,-0.06796223,-0.04879021, 0.82642157]

qacc:
[ 1.67694131e+00,-4.11190084e+01, 1.29887100e+02,-2.03726777e+02,
 -3.75265650e-01,-3.78379655e+01, 9.66629917e+01,-1.28789134e+02,
 -1.76636727e-01,-3.63229466e+01, 1.40145083e+02,-2.81859159e+02,
 -4.85141455e-01, 2.69915549e-01, 7.41284343e+00,-2.55281689e+01,
  6.11334633e+00, 1.44866358e+00, 1.01493607e+01, 1.41425609e+02,
 -9.09551177e+01,-9.20133283e+00]

qfrc_actuator:
[-0.00064501, 0.17108488, 0.00733199, 0.17305427,-0.00069864, 0.17351749,
  0.01051127, 0.1547877 ,-0.00158416, 0.16182095, 0.00627048, 0.16206741,
  0.01010594,-0.00230225, 0.        ,-0.00227436, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.69813508,  7.80452265, -3.69813508,  8.39930047,
       -0.11233123,  7.80452265, -0.11233123,  8.58313603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01071350220683899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.2383873e-16,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.2383873e-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([-0.05309792, -0.10272426,  0.06132807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36821738e-04,-2.12040266e-03,-3.69666319e-04,-4.30720280e-04,
 -5.13910057e-05,-3.33395703e-03,-8.52070059e-04,-3.59639313e-04,
 -2.90323945e-05,-1.32640145e-03,-2.78757831e-04,-6.21259718e-04,
 -1.19230232e-04,-5.32467600e-05,-1.26621254e-05,-1.27290202e-04,
  6.99028470e-04,-3.63820317e-04,-1.21663226e+00, 9.82062865e-04,
  2.80260898e-04,-1.60671678e-03]


--- Step 1155 ---
qpos:
[-0.00384599, 0.70124313,-0.01469311, 0.63219949, 0.00486512, 0.66575851,
 -0.02980561, 0.556746  , 0.01557211, 0.74987742,-0.01882486, 0.59648187,
  1.24184232,-0.00209611, 0.99205782, 0.06441171,-0.00572394,-0.10023125,
  0.08244698, 0.55641152,-0.07069418,-0.04899182, 0.82644319]

qacc:
[  -0.49547359, -27.32608379,  79.14288533,-125.9937926 ,  -0.91877391,
  -48.76254945, 145.42968424,-237.44777081,  -0.29253788, -40.63458529,
  149.26209598,-281.92658875,  -1.43532357,   2.44944576,   6.71842358,
  -23.26197938,   4.99790632,   1.18630148,   7.17894963, 122.07464602,
  -78.11790125,  -7.2360025 ]

qfrc_actuator:
[-0.00080827, 0.17040965, 0.00733014, 0.17283234,-0.00080089, 0.17210559,
  0.01043817, 0.1543649 ,-0.00162542, 0.161136  , 0.0063293 , 0.16153813,
  0.01008844,-0.00224383, 0.        ,-0.00238393, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.36499197,  7.95384221, -3.36499197,  8.57864908,
       -0.02441701,  7.95384221, -0.02441701,  8.62603366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010578333767807313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60774365e-15,  3.27976695e-15,  1.00000000e+00, -1.18325584e-29,
        1.00000000e+00, -3.27976695e-15, -1.00000000e+00,  0.00000000e+00,
        3.60774365e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05373377, -0.10279942,  0.06134431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.28739023e-05,-2.02768563e-03,-5.13365412e-04,-3.25585050e-04,
 -1.22883858e-04,-3.54581321e-03,-8.93263498e-04,-5.92236537e-04,
 -4.77745014e-05,-1.57619822e-03,-2.86000252e-04,-6.05124806e-04,
 -9.91866676e-05, 1.96954064e-05,-2.54712396e-05,-1.19554308e-04,
  5.23992479e-04,-2.93506461e-04,-1.21658422e+00, 1.05123919e-03,
  3.14044583e-04,-1.25970819e-03]


--- Step 1156 ---
qpos:
[-0.00390319, 0.70418907,-0.01470082, 0.63560645, 0.00484913, 0.6687648 ,
 -0.02973537, 0.55979164, 0.01558329, 0.75260528,-0.01885628, 0.59965359,
  1.24212204,-0.00210875, 0.99229447, 0.06441309,-0.00583786,-0.10017749,
  0.08300385, 0.55603538,-0.07319567,-0.04909393, 0.82647253]

qacc:
[-1.55731151e-01,-2.41012359e+01, 8.53089513e+01,-1.83630186e+02,
 -6.31928387e-01,-3.16600663e+01, 7.54279696e+01,-1.01611458e+02,
 -2.64133152e-01,-5.79296968e+01, 2.24957831e+02,-4.47230453e+02,
 -2.13007193e+00, 4.23171633e+00, 2.99974530e+00,-1.05196941e+01,
  4.10438310e+00, 9.81802269e-01, 4.69410847e+00, 1.05909455e+02,
 -6.74866908e+01,-5.74573317e+00]

qfrc_actuator:
[-0.00079419, 0.17009116, 0.00729597, 0.17243651,-0.00083762, 0.17109196,
  0.0103834 , 0.15421024,-0.00165452, 0.16029233, 0.00639483, 0.16066138,
  0.01008386,-0.00213248, 0.        ,-0.00243157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.0280411 ,  8.08812364, -3.0280411 ,  8.83136172,
        0.07300361,  8.08812364,  0.07300361,  8.66369481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010372660623021016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03095851e-15,  8.69647856e-15,  1.00000000e+00, -7.85375371e-29,
        1.00000000e+00, -8.69647856e-15, -1.00000000e+00,  0.00000000e+00,
        9.03095851e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05447161, -0.10287786,  0.06136367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36451011e-05,-1.64362958e-03,-5.40260710e-04,-4.98213740e-04,
 -8.54921148e-05,-3.28192849e-03,-9.29982252e-04,-3.38167644e-04,
 -4.39548543e-05,-1.87426357e-03,-3.29846593e-04,-9.61739206e-04,
 -5.78225209e-05, 9.34171753e-05,-2.99979196e-05,-5.87081634e-05,
  3.92138668e-04,-2.36755648e-04,-1.21654841e+00, 1.10622187e-03,
  3.40865225e-04,-9.86546362e-04]


--- Step 1157 ---
qpos:
[-0.00396003, 0.70712365,-0.0147099 , 0.63900817, 0.00483213, 0.67175097,
 -0.02966954, 0.5628367 , 0.01559408, 0.75531598,-0.01888598, 0.6028056 ,
  1.24240206,-0.00212168, 0.99253143, 0.06440949,-0.00593822,-0.10012045,
  0.08357121, 0.55567132,-0.07549659,-0.04910897, 0.8265095 ]

qacc:
[ 2.28561268e-01,-2.10021943e+01, 6.70711358e+01,-1.26576836e+02,
 -6.28053128e-01,-1.54659214e+01, 1.93234607e+01,-8.64054633e+00,
 -2.04863329e-01,-6.41863024e+01, 2.49232227e+02,-5.02773247e+02,
  1.83765888e-01,-3.81655048e-01, 1.55103223e+01,-5.36172067e+01,
  3.38926344e+00, 8.22082013e-01, 2.62231779e+00, 9.23769300e+01,
 -5.86544832e+01,-4.60991620e+00]

qfrc_actuator:
[-0.00074494, 0.1697053 , 0.00729784, 0.17219033,-0.00088815, 0.17052122,
  0.01032414, 0.15421497,-0.00167616, 0.15927179, 0.00640978, 0.15965808,
  0.01012436,-0.00215041, 0.        ,-0.00269087, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.70181116,  8.20286495, -2.70181116,  9.12461591,
        0.16081765,  8.20286495,  0.16081765,  8.6893328 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010112083995339777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.14648655e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.14648655e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05528207, -0.10295888,  0.06138528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20513246e-05,-1.50845197e-03,-4.35239140e-04,-3.38700140e-04,
 -8.47567365e-05,-2.68836179e-03,-8.76399638e-04,-1.64228940e-04,
 -3.49700395e-05,-2.23898507e-03,-4.57330366e-04,-1.10828277e-03,
  2.83532519e-05,-1.00236182e-05,-2.47579436e-05,-2.67428833e-04,
  2.92245908e-04,-1.90403153e-04,-1.21652151e+00, 1.15066685e-03,
  3.62551513e-04,-7.69098192e-04]


--- Step 1158 ---
qpos:
[-0.00401864, 0.71004703,-0.01471956, 0.6424083 , 0.00481275, 0.67471925,
 -0.02960748, 0.56588362, 0.015604  , 0.75800948,-0.01891594, 0.60594979,
  1.24268287,-0.0021362 , 0.99276823, 0.06440277,-0.00602732,-0.10006062,
  0.08414218, 0.55531785,-0.07762189,-0.04904737, 0.82655386]

qacc:
[  -1.05026009, -16.10217836,  39.96403189, -51.27982237,  -1.48190565,
   -9.76549542,  -3.99653746,  46.34364427,  -0.48720517, -36.56036699,
  118.42325803,-209.5511565 ,   1.72760457,  -3.55010415,   9.00166839,
  -32.17421609,   2.81802722,   0.69686718,   0.9011299 ,  81.04700307,
  -51.30728552,  -3.73843487]

qfrc_actuator:
[-0.00090591, 0.16928317, 0.00732117, 0.17212305,-0.00105309, 0.16991952,
  0.01024715, 0.15433157,-0.00174649, 0.15849087, 0.00642959, 0.15928059,
  0.01015453,-0.00224459, 0.        ,-0.00284202, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.40083219,  8.29594971, -2.40083219,  9.58058541,
        0.273256  ,  8.29594971,  0.273256  ,  8.71544341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009809603153915977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47575037e-15,  6.36621524e-15,  1.00000000e+00, -1.57611598e-29,
        1.00000000e+00, -6.36621524e-15, -1.00000000e+00,  0.00000000e+00,
        2.47575037e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05614185, -0.10304181,  0.06140846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54836985e-04,-1.44156103e-03,-3.68461171e-04,-1.47840960e-04,
 -1.98911501e-04,-2.36988015e-03,-7.61076897e-04,-2.39086926e-05,
 -7.98648664e-05,-2.23311815e-03,-5.45862808e-04,-5.03212389e-04,
  4.32683153e-05,-8.87608865e-05,-4.54078294e-05,-1.70253115e-04,
  2.16161058e-04,-1.52111165e-04,-1.21650117e+00, 1.18715804e-03,
  3.80376377e-04,-5.94075055e-04]


--- Step 1159 ---
qpos:
[-0.0040826 , 0.71296007,-0.01472964, 0.64579722, 0.0047903 , 0.67767018,
 -0.02954883, 0.56894291, 0.01561269, 0.76068957,-0.01894795, 0.60909155,
  1.2429636 ,-0.00215006, 0.99300445, 0.06439691,-0.00610696,-0.09999839,
  0.08471106, 0.55497371,-0.07959233,-0.04891791, 0.82660527]

qacc:
[  -3.14201214, -33.34568005, 128.08700133,-267.11875002,  -1.9125822 ,
    9.48138288,-102.48141133, 290.62417875,  -0.68053003, -16.57348311,
   40.55454562, -61.68832971,  -0.52656665,   1.28009958,  -3.39389347,
   10.72334423,   2.3631914 ,   0.59815894,  -0.52309488,  71.57714207,
  -45.1975249 ,  -3.06340186]

qfrc_actuator:
[-0.00129752, 0.16886141, 0.00732163, 0.17155795,-0.00123163, 0.16925179,
  0.01016065, 0.15497467,-0.00182763, 0.15816243, 0.00645362, 0.15918581,
  0.01016781,-0.00218781, 0.        ,-0.00278613, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.15415544,  8.36339591, -2.15415544, 10.19333058,
        0.40102715,  8.36339591,  0.40102715,  8.73965599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009476028395841982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78709132e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.78709132e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05703237, -0.10312602,  0.06143267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63832432e-04,-1.38266705e-03,-3.63327881e-04,-6.36759125e-04,
 -2.57934863e-04,-2.22866274e-03,-6.87101091e-04, 5.21746567e-04,
 -1.10636937e-04,-1.77135644e-03,-5.30801619e-04,-2.10144258e-04,
  1.65913079e-05, 4.83526966e-05,-4.18813799e-05, 4.00334125e-05,
  1.57912336e-04,-1.20123884e-04,-1.21648568e+00, 1.21755569e-03,
  3.95246999e-04,-4.51619809e-04]


--- Step 1160 ---
qpos:
[-0.00415186, 0.71586274,-0.0147404 , 0.64918092, 0.00476546, 0.68061267,
 -0.02949665, 0.57202074, 0.01562034, 0.7633638 ,-0.0189845 , 0.61223423,
  1.24324355,-0.00216023, 0.99324033, 0.06439236,-0.00617859,-0.09993409,
  0.08527315, 0.55463788,-0.0814252 ,-0.04872792, 0.82666338]

qacc:
[  -3.11179537, -21.51593236,  70.24333121,-129.87311076,  -1.47846563,
   41.02292678,-213.9686926 , 480.07106617,  -0.58552751,   6.42769176,
  -34.80556332,  53.00772598,  -3.47302667,   7.79916628,  -4.15686534,
   14.51111972,   2.00279578,   0.5197722 ,  -1.6963322 ,  63.68842447,
  -40.1260433 ,  -2.5334104 ]

qfrc_actuator:
[-0.00155696, 0.16844347, 0.0073262 , 0.17130801,-0.00132793, 0.16954522,
  0.01010507, 0.1559579 ,-0.00187906, 0.15846359, 0.00644656, 0.15927617,
  0.0101923 ,-0.00195332, 0.        ,-0.00271526, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.00403613,  8.40063188, -2.00403613, 10.94369723,
        0.55043239,  8.40063188,  0.55043239,  8.76767357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009120324359115584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04326628e-15,  6.08653257e-15,  1.00000000e+00, -1.85229393e-29,
        1.00000000e+00, -6.08653257e-15, -1.00000000e+00,  0.00000000e+00,
        3.04326628e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05793881, -0.10321094,  0.06145744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.62027849e-04,-1.36276990e-03,-3.62339551e-04,-3.29522994e-04,
 -1.99544517e-04,-1.15168206e-03,-6.00259763e-04, 8.81353256e-04,
 -9.46660116e-05,-8.69687156e-04,-4.56810172e-04,-8.18911722e-07,
  4.48318474e-05, 2.49833294e-04,-1.70460426e-05, 6.71995157e-05,
  1.13099817e-04,-9.31028384e-05,-1.21647381e+00, 1.24322256e-03,
  4.07825845e-04,-3.34345099e-04]


--- Step 1161 ---
qpos:
[-0.00422385, 0.71875209,-0.01475105, 0.65257557, 0.00473933, 0.68355303,
 -0.02945002, 0.57511209, 0.01562722, 0.76603678,-0.01902553, 0.61538645,
  1.24352229,-0.00216424, 0.99347616, 0.06438799,-0.00624334,-0.09986796,
  0.08582461, 0.55430951,-0.08313479,-0.04848347, 0.82672784]

qacc:
[-1.59234559e+00, 2.50543769e+00,-6.32834791e+01, 2.18685862e+02,
 -8.04937216e-01, 3.74809470e+01,-1.74621717e+02, 3.65006849e+02,
 -4.31383713e-01, 2.84280471e+01,-1.27676425e+02, 2.57710268e+02,
 -5.86625527e+00, 1.31684112e+01,-1.03793830e-01, 1.43802995e+00,
  1.71922534e+00, 4.56951765e-01,-2.65790925e+00, 5.71493426e+01,
 -3.59298073e+01,-2.10944874e+00]

qfrc_actuator:
[-0.00159298, 0.16774799, 0.00733365, 0.171867  ,-0.00135659, 0.17000507,
  0.01003699, 0.15667255,-0.00191235, 0.15887406, 0.00640641, 0.15979475,
  0.01019696,-0.00159774, 0.        ,-0.00270721, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.97683817,  8.40707367, -1.97683817, 12.36376111,
        0.87645974,  8.40707367,  0.87645974,  8.84245426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008749897640129178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.34420579e-15,  6.34420579e-15,  1.00000000e+00,  4.02489470e-29,
        1.00000000e+00, -6.34420579e-15, -1.00000000e+00,  0.00000000e+00,
       -6.34420579e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05884935, -0.10329603,  0.06148244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38496543e-04,-1.61687672e-03,-3.44986176e-04, 4.86923382e-04,
 -1.08778081e-04,-3.52967189e-04,-3.71907431e-04, 6.64503652e-04,
 -6.94802175e-05,-2.34873876e-04,-2.91784701e-04, 4.68138332e-04,
  8.85515706e-05, 4.21762346e-04,-4.65811841e-06, 8.64814933e-06,
  7.84685361e-05,-7.00140927e-05,-1.21646466e+00, 1.26517326e-03,
  4.18608709e-04,-2.36666210e-04]


--- Step 1162 ---
qpos:
[-0.00429596, 0.72162961,-0.01476278, 0.65597935, 0.00471261, 0.68648786,
 -0.02940394, 0.57820415, 0.01563378, 0.76870549,-0.01906686, 0.6185542 ,
  1.24379916,-0.00215884, 0.99371136, 0.06438842,-0.0063021 ,-0.0998002 ,
  0.0863623 , 0.5539879 ,-0.08473289,-0.04818959, 0.82679835]

qacc:
[-6.53952014e-02, 4.37518414e+00,-6.16654244e+01, 1.91781373e+02,
 -3.59572720e-01,-4.45028141e+00, 3.23345208e+00, 1.15491038e+01,
 -1.79958520e-01, 2.41271106e+01,-1.36446330e+02, 3.49224354e+02,
 -8.69641366e+00, 1.96989402e+01,-1.46822709e+01, 5.17749072e+01,
  1.49829199e+00, 4.06059522e-01,-3.44139872e+00, 5.17647558e+01,
 -3.24734246e+01,-1.76193375e+00]

qfrc_actuator:
[-0.00149539, 0.16730136, 0.00732456, 0.1723292 ,-0.00136256, 0.16962093,
  0.00996306, 0.15669105,-0.00191686, 0.15865548, 0.00640143, 0.16057906,
  0.01018447,-0.00106694, 0.        ,-0.0024522 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.1871478 ,  8.35482863, -2.1871478 , 14.13020619,
        1.43819175,  8.35482863,  1.43819175,  9.01285705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00837083917984554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31574589e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.31574589e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05975464, -0.10338081,  0.06150739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07422754e-05,-1.47465210e-03,-3.83740413e-04, 3.99065200e-04,
 -4.97752487e-05,-7.13647496e-04,-1.95461128e-04, 1.90386825e-06,
 -2.95386577e-05,-4.58869885e-04,-9.31497820e-05, 7.72975580e-04,
  1.36680129e-04, 6.45050467e-04,-6.97687349e-06, 2.53610840e-04,
  5.16047628e-05,-5.00496393e-05,-1.21645757e+00, 1.28417469e-03,
  4.27975654e-04,-1.54330427e-04]


--- Step 1163 ---
qpos:
[-0.00436457, 0.724499  ,-0.01477641, 0.65938421, 0.00468659, 0.68941475,
 -0.02935768, 0.58129083, 0.01564059, 0.77136765,-0.01910623, 0.62173266,
  1.24407345,-0.0021397 , 0.99394682, 0.0643892 ,-0.00635554,-0.09973099,
  0.08688369, 0.55367244,-0.08622913,-0.04785035, 0.82687467]

qacc:
[ 2.03758343e+00,-3.49200842e+00,-5.22885343e+00, 2.63797153e+01,
  4.29625382e-01,-2.09147294e+01, 7.44702284e+01,-1.41911601e+02,
  1.45032117e-01, 5.96777210e+00,-6.40137055e+01, 2.13372026e+02,
 -1.29979603e+01, 2.92744592e+01, 4.55345706e-01, 1.55036194e+00,
  1.32851773e+00, 3.64323456e-01,-4.07540291e+00, 4.73682535e+01,
 -2.96431963e+01,-1.46851361e+00]

qfrc_actuator:
[-0.00117714, 0.16718541, 0.00732444, 0.17239344,-0.00128409, 0.16910747,
  0.00991836, 0.1564058 ,-0.0018865 , 0.15825829, 0.0064684 , 0.16110466,
  0.01017243,-0.00029469, 0.        ,-0.00244428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.77892082,  8.17706402, -2.77892082, 16.50768818,
        2.6750173 ,  8.17706402,  2.6750173 ,  9.54545047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00798812939997038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04238080e-14,  3.47460265e-15,  1.00000000e+00,  3.62185908e-29,
        1.00000000e+00, -3.47460265e-15, -1.00000000e+00,  0.00000000e+00,
       -1.04238080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0606473 , -0.10346487,  0.06153205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06637139e-04,-1.07528824e-03,-3.53284660e-04, 3.38297815e-06,
  5.82478650e-05,-1.03343746e-03,-2.39776556e-04,-3.23646827e-04,
  2.30503464e-05,-7.10094398e-04,-3.25841107e-05, 5.18928124e-04,
  2.17377360e-04, 9.46665686e-04, 1.97769372e-05, 2.00378833e-05,
  3.07171917e-05,-3.25717248e-05,-1.21645204e+00, 1.30081448e-03,
  4.36224674e-04,-8.40801005e-05]


--- Step 1164 ---
qpos:
[-0.00442243, 0.7273624 ,-0.01479222, 0.66279518, 0.00466424, 0.69233081,
 -0.02931104, 0.58436929, 0.01564854, 0.77402159,-0.01914196, 0.62491137,
  1.24434584,-0.00210638, 0.99418308, 0.06438407,-0.00640419,-0.09966046,
  0.08738675, 0.55336263,-0.08763131,-0.04746902, 0.82695662]

qacc:
[   6.22551784,   9.39819978, -59.64695334, 144.51502599,   2.25284932,
  -30.51430812, 110.91938553,-214.448782  ,   0.62946187, -20.33117607,
   53.95824379, -43.68629438, -13.20277672,  30.1707744 ,  20.17845624,
  -66.20456243,   1.20057431,   0.3296386 ,  -4.58424029,  43.81677021,
  -27.34286116,  -1.21241096]

qfrc_actuator:
[-0.00035726, 0.16714463, 0.00731322, 0.17272039,-0.00099623, 0.16841451,
  0.00987293, 0.1559796 ,-0.00180015, 0.15777566, 0.00661193, 0.16110086,
  0.01015547, 0.00045455, 0.        ,-0.00275959, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.98088972,  7.66415644, -3.98088972, 19.74960897,
        5.7724036 ,  7.66415644,  5.7724036 , 11.63464562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0076058123004542205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09477757e-14,  7.29851711e-15,  1.00000000e+00, -7.99025281e-29,
        1.00000000e+00, -7.29851711e-15, -1.00000000e+00,  0.00000000e+00,
        1.09477757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06152156, -0.10354783,  0.06155626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.44007689e-04,-7.85975004e-04,-2.92987428e-04, 2.73318995e-04,
  3.11290427e-04,-1.41218799e-03,-3.21047083e-04,-4.84905278e-04,
  1.02519784e-04,-9.32417356e-04,-7.66465371e-06,-2.31559378e-05,
  3.29090276e-04, 1.00902580e-03, 2.57264045e-06,-3.13553830e-04,
  1.44777564e-05,-1.70727860e-05,-1.21644771e+00, 1.31554863e-03,
  4.43594266e-04,-2.34083611e-05]


--- Step 1165 ---
qpos:
[-0.00446498, 0.7302212 ,-0.01480966, 0.66621574, 0.00464676, 0.69523071,
 -0.02926273, 0.58743916, 0.01565815, 0.77666481,-0.01917528, 0.6280884 ,
  1.24461802,-0.0020628 , 0.99441927, 0.06437555,-0.0064484 ,-0.09958872,
  0.08786985, 0.55305804,-0.08894569,-0.04704818, 0.8270441 ]

qacc:
[   8.85241778,  16.16949531, -90.04273667, 218.72755281,   2.96736053,
  -41.72599564, 140.91798444,-244.96967484,   0.93217918, -23.79979513,
   67.18833993, -80.34305331,  -8.58376115,  20.77082807,  10.89533534,
  -36.4756334 ,   1.10684505,   0.30041071,  -4.98854566,  40.98668263,
  -25.49047236,  -0.98115546]

qfrc_actuator:
[ 0.00059519, 0.16713233, 0.00731411, 0.17321725,-0.00071027, 0.16731814,
  0.00984454, 0.15552708,-0.00169893, 0.15706853, 0.00665688, 0.16099862,
  0.01013559, 0.00093552, 0.        ,-0.00292542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.17111982,  6.04185874, -6.17111982, 18.77843329,
       10.35905171,  6.04185874, 10.35905171, 19.21703958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0072271434522941935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.68092561e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.68092561e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06237303, -0.10362937,  0.06157987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35039908e-03,-5.73812035e-04,-2.06504122e-04, 4.61637769e-04,
  4.12399183e-04,-2.04868019e-03,-3.95447937e-04,-5.31521061e-04,
  1.53098496e-04,-1.29576813e-03,-1.65646876e-04,-1.40443637e-04,
  4.04232269e-04, 7.80873179e-04,-4.24349460e-05,-1.84901954e-04,
  1.90495051e-06,-3.14617020e-06,-1.21644432e+00, 1.32873511e-03,
  4.50278836e-04, 2.96199939e-05]


--- Step 1166 ---
qpos:
[-0.00449909, 0.73307616,-0.01482732, 0.6696375 , 0.00463269, 0.69811008,
 -0.02921318, 0.59049779, 0.01566881, 0.77929569,-0.01920784, 0.63126251,
  1.24489117,-0.0020133 , 0.99465456, 0.06437007,-0.00648845,-0.09951589,
  0.08833173, 0.55275829,-0.09017723,-0.04658983, 0.82713707]

qacc:
[ 4.85918723e+00,-2.18935623e+00,-2.63374986e+00, 2.16793558e+01,
  2.08473356e+00,-5.11937502e+01, 1.73712822e+02,-3.09959863e+02,
  5.79382294e-01,-2.37740202e+01, 6.79878142e+01,-9.60766325e+01,
 -3.81700609e+00, 1.06200253e+01,-1.01129372e+01, 3.43126781e+01,
  1.04108161e+00, 2.75434369e-01,-5.30579388e+00, 3.87708830e+01,
 -2.40160377e+01,-7.65603534e-01]

qfrc_actuator:
[ 0.00076618, 0.1670671 , 0.00734035, 0.17327756,-0.00058787, 0.16600712,
  0.00978942, 0.15493815,-0.00167856, 0.15633901, 0.00664249, 0.16083915,
  0.01010855, 0.00116501, 0.        ,-0.0027532 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.32837776,  2.28580418, -8.32837776, 10.47102804,
        6.6846401 ,  2.28580418,  6.6846401 , 32.99199675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006854715881892223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21473637e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21473637e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06319838, -0.10370923,  0.0616028 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45201901e-04,-4.83839974e-04,-1.21902825e-04, 3.97494857e-05,
  2.90536098e-04,-2.63400786e-03,-5.61121970e-04,-6.95310990e-04,
  9.51044835e-05,-1.55628507e-03,-3.20743139e-04,-2.18623267e-04,
  3.86936666e-04, 4.96522526e-04,-4.36592732e-05, 1.55653760e-04,
 -7.72219653e-06, 9.53559155e-06,-1.21644166e+00, 1.34065803e-03,
  4.56439420e-04, 7.65011515e-05]


--- Step 1167 ---
qpos:
[-0.0045366 , 0.73592913,-0.01484566, 0.6730504 , 0.00462114, 0.70096788,
 -0.02916394, 0.59354124, 0.01568009, 0.78191307,-0.0192396 , 0.63442668,
  1.2451655 ,-0.00196036, 0.99488938, 0.06436793,-0.00652451,-0.09944204,
  0.0887714 , 0.55246306,-0.09132974,-0.04609543, 0.82723555]

qacc:
[-1.95304962e+00,-1.72088525e+01, 7.99948984e+01,-1.93132071e+02,
  1.52661260e+00,-5.55542626e+01, 1.98932404e+02,-3.87476647e+02,
  3.44162788e-01,-3.84071250e+01, 1.36525986e+02,-2.57082895e+02,
 -1.66036662e+00, 5.52934235e+00,-1.06410442e+01, 3.66292641e+01,
  9.98134552e-01, 2.53798766e-01,-5.55075589e+00, 3.70764991e+01,
 -2.28596817e+01,-5.59174311e-01]

qfrc_actuator:
[ 1.49489962e-04, 1.67113204e-01, 7.34554347e-03, 1.72831952e-01,
 -4.93109855e-04, 1.64862195e-01, 9.73578525e-03, 1.54166963e-01,
 -1.67122543e-03, 1.55601960e-01, 6.64641456e-03, 1.60327693e-01,
  1.00824383e-02, 1.27934164e-03, 0.00000000e+00,-2.57847193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.44456   , -1.81002299, -8.44456   ,  9.58617535,
       -4.43129287, -1.81002299, -4.43129287, 29.31031015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0064905671400355275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71051774e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71051774e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06399522, -0.10378719,  0.06162496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01703361e-04,-3.20757924e-04,-1.28273880e-04,-4.69134526e-04,
  2.13489940e-04,-2.83298316e-03,-7.02879705e-04,-9.08378738e-04,
  5.59506661e-05,-1.74254402e-03,-3.75728407e-04,-5.86762712e-04,
  3.12254659e-04, 3.14077826e-04,-3.04016079e-06, 1.77659455e-04,
 -1.49278505e-05, 2.12371551e-05,-1.21643959e+00, 1.35154535e-03,
  4.62211337e-04, 1.18391451e-04]


--- Step 1168 ---
qpos:
[-0.00457944, 0.73877777,-0.01486345, 0.6764526 , 0.00461194, 0.70380421,
 -0.02911602, 0.596569  , 0.01569208, 0.78451918,-0.01927265, 0.63758168,
  1.24544114,-0.00190639, 0.99512434, 0.06436587,-0.00655667,-0.09936725,
  0.08918813, 0.55217206,-0.09240615,-0.04556603, 0.82733963]

qacc:
[-3.03939298e+00,-2.70200048e+01, 1.14174681e+02,-2.48573867e+02,
  1.42598992e+00,-5.36462280e+01, 1.94004550e+02,-3.88963482e+02,
  3.98828195e-01,-2.83353372e+01, 1.03833135e+02,-2.15544441e+02,
  1.68324164e-01, 9.78210895e-01, 1.65042017e-02, 2.92319852e-01,
  9.73741448e-01, 2.34815174e-01,-5.73589462e+00, 3.58230505e+01,
 -2.19701706e+01,-3.57251675e-01]

qfrc_actuator:
[-0.00018572, 0.1668175 , 0.00733864, 0.17228766,-0.00037988, 0.16384393,
  0.0096841 , 0.15338361,-0.0016362 , 0.15522155, 0.00664325, 0.15987954,
  0.01005683, 0.00127145, 0.        ,-0.00258131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.64503594, -4.01748707, -7.64503594, 11.55393007,
       -5.55195321, -4.01748707, -5.55195321, 19.20139622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006136270308269631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.04639927e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.04639927e-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([-0.06476187, -0.10386304,  0.0616463 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72466901e-04,-5.91754814e-04,-1.24603623e-04,-5.72943161e-04,
  2.00673794e-04,-2.85314831e-03,-7.64659159e-04,-9.36920288e-04,
  6.59390375e-05,-1.51395499e-03,-4.38615121e-04,-5.39785804e-04,
  2.27670725e-04, 1.33776324e-04, 1.63527404e-05, 6.12050543e-06,
 -2.00867947e-05, 3.21728820e-05,-1.21643802e+00, 1.36158195e-03,
  4.67709788e-04, 1.56182192e-04]


--- Step 1169 ---
qpos:
[-0.00462548, 0.74161962,-0.01488113, 0.67986037, 0.00460452, 0.70662057,
 -0.02907092, 0.59959923, 0.01570444, 0.78711829,-0.01930914, 0.64074954,
  1.24571887,-0.00185633, 0.99535901, 0.06436614,-0.00658498,-0.09929159,
  0.08958138, 0.55188501,-0.09340857,-0.0450023 , 0.82744943]

qacc:
[-1.82975015e+00, 1.07809619e+00,-3.10300887e+01, 1.08937920e+02,
  1.07788361e+00,-1.40100023e+01, 5.26029858e+00, 4.62199615e+01,
  1.98689145e-01, 2.40625338e+01,-1.31619094e+02, 3.08067516e+02,
  4.86828177e+00,-9.61487276e+00,-7.86574864e+00, 2.59855811e+01,
  9.64359447e-01, 2.17961549e-01,-5.87170769e+00, 3.49409052e+01,
 -2.13036977e+01,-1.56715368e-01]

qfrc_actuator:
[-0.00026   , 0.16644411, 0.00734129, 0.17257716,-0.00030967, 0.16310548,
  0.00965247, 0.15354042,-0.00163816, 0.15532456, 0.00665533, 0.16057322,
  0.01002615, 0.00097822, 0.        ,-0.00245796, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.94080189, -5.13926511, -6.94080189, 14.95314083,
       -8.53108337, -5.13926511, -8.53108337, 20.15796415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005793011269622908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79121727e-15,  1.91648691e-14,  1.00000000e+00, -9.18230516e-29,
        1.00000000e+00, -1.91648691e-14, -1.00000000e+00,  0.00000000e+00,
        4.79121727e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0654973 , -0.10393667,  0.06166678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86169441e-04,-8.22848848e-04,-1.72215887e-04, 2.49076236e-04,
  1.52690809e-04,-2.59719201e-03,-7.56521435e-04, 1.34328833e-07,
  3.35419964e-05,-9.13605678e-04,-3.82918848e-04, 6.09647350e-04,
  1.31699099e-04,-2.11133802e-04, 4.46708254e-06, 1.24831978e-04,
 -2.34598746e-05, 4.25165512e-05,-1.21643686e+00, 1.37091956e-03,
  4.73034054e-04, 1.90556567e-04]


--- Step 1170 ---
qpos:
[-0.00467625, 0.74445425,-0.01489917, 0.68328103, 0.00459836, 0.70942233,
 -0.0290299 , 0.60264409, 0.01571658, 0.78971144,-0.01934629, 0.64393697,
  1.24599889,-0.00181395, 0.99559356, 0.0643682 ,-0.00660942,-0.09921511,
  0.08995075, 0.55160169,-0.09433847,-0.04440461, 0.82756514]

qacc:
[-2.68559759e+00, 1.53379678e+01,-1.00351290e+02, 2.72355915e+02,
  7.47446469e-01, 1.89265148e+01,-1.35110704e+02, 3.47377183e+02,
 -1.22655011e-01, 3.02018099e+01,-1.70299571e+02, 4.34184405e+02,
  8.01202046e+00,-1.71820569e+01,-6.24745324e+00, 2.00436423e+01,
  9.67032586e-01, 2.02840424e-01,-5.96702320e+00, 3.43699544e+01,
 -2.08228612e+01, 4.44263999e-02]

qfrc_actuator:
[-0.00055052, 0.16615257, 0.00734988, 0.17323069,-0.00026565, 0.16289703,
  0.00965264, 0.15432047,-0.00168001, 0.15529182, 0.00673251, 0.1615786 ,
  0.00999763, 0.00050056, 0.        ,-0.00236771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.60055017, -5.56951652, -6.60055017, 12.04671706,
       -4.04168096, -5.56951652, -4.04168096, 13.42624403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005461654226751045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01637982e-14,  1.01637982e-14,  1.00000000e+00,  1.03302793e-28,
        1.00000000e+00, -1.01637982e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01637982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06620093, -0.10400793,  0.06168639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21880118e-04,-8.48265467e-04,-1.91526085e-04, 6.21101820e-04,
  1.06936778e-04,-1.88597387e-03,-6.40785722e-04, 6.53315761e-04,
 -2.10034189e-05,-6.60225870e-04,-1.52487173e-04, 9.69962143e-04,
 -1.73278805e-06,-4.94297974e-04, 1.44595706e-05, 9.72941646e-05,
 -2.52206203e-05, 5.24089962e-05,-1.21643607e+00, 1.37968433e-03,
  4.78270717e-04, 2.22033383e-04]


--- Step 1171 ---
qpos:
[-0.00472589, 0.74728097,-0.01491649, 0.68670186, 0.00459324, 0.71221583,
 -0.02899327, 0.60569211, 0.01572816, 0.79229786,-0.01938119, 0.64713325,
  1.24628063,-0.00178084, 0.99582813, 0.06437133,-0.00662994,-0.09913789,
  0.09029601, 0.55132186,-0.09519677,-0.04377305, 0.82768696]

qacc:
[  0.64966302,-12.09678593, 26.77278477,-17.47225735,  0.6227789 ,
   6.96862022,-47.75717066, 98.37101004, -0.29784159,  1.39347927,
 -42.39408825,165.16322171,  8.80736083,-19.78038797, -3.97917094,
  12.15397687,  0.97928604,  0.18914707, -6.02925404, 34.0584526 ,
 -20.49579055,  0.24732406]

qfrc_actuator:
[-2.57869114e-04, 1.65735748e-01, 7.36247658e-03, 1.73223195e-01,
 -2.19770518e-04, 1.62973724e-01, 9.60327783e-03, 1.54502664e-01,
 -1.72759395e-03, 1.54984103e-01, 6.84733269e-03, 1.62013533e-01,
  9.96498681e-03,-2.91669846e-05, 0.00000000e+00,-2.31546289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.46270651,  4.3468136 ,  7.46270651, 11.28241194,
       -4.54279472,  4.3468136 , -4.54279472, 16.4355349 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005142797166750805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07939608e-14,  5.39698042e-15,  1.00000000e+00, -5.82547953e-29,
        1.00000000e+00, -5.39698042e-15, -1.00000000e+00,  0.00000000e+00,
        1.07939608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06687263, -0.10407677,  0.06170512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01576482e-04,-9.77405833e-04,-1.82657329e-04,-3.32521130e-05,
  9.00900466e-05,-1.15543744e-03,-5.10879295e-04, 1.00043084e-04,
 -5.16331077e-05,-7.33752189e-04,-2.44434306e-05, 4.24092563e-04,
 -1.48668061e-04,-6.40125970e-04, 1.55933879e-05, 5.89353716e-05,
 -2.54753539e-05, 6.19641842e-05,-1.21643562e+00, 1.38798257e-03,
  4.83496185e-04, 2.51000928e-04]


--- Step 1172 ---
qpos:
[-0.00476896, 0.7500989 ,-0.01493287, 0.69011813, 0.00458848, 0.71500339,
 -0.02895984, 0.60873545, 0.01573919, 0.79487622,-0.01941505, 0.65033665,
  1.24656342,-0.0017576 , 0.99606317, 0.06437139,-0.00664646,-0.09905995,
  0.09061701, 0.55104531,-0.09598396,-0.04310752, 0.82781513]

qacc:
[   3.71188676, -22.55468254,  73.76927757,-124.23531509,   0.21365373,
   -7.70098959,  30.31328847, -88.22600049,  -0.29270126,  -0.29462233,
  -33.76359677, 134.53697437,   8.53923227, -20.05112132,   9.21748675,
  -32.99622074,   0.99904141,   0.17664555,  -6.0646159 ,  33.96198889,
  -20.29539128,   0.45251013]

qfrc_actuator:
[ 0.00029194, 0.16528286, 0.00739428, 0.17298643,-0.00022633, 0.16291919,
  0.00952614, 0.15427851,-0.00176044, 0.15449679, 0.00685782, 0.16235762,
  0.00992984,-0.00056772, 0.        ,-0.00248128, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.30616343, -5.90076941, -6.30616343,  9.07653417,
       -0.47041108, -5.90076941, -0.47041108,  9.13909285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00483681873344928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.73839483e-15, -5.73839483e-15,  1.00000000e+00, -3.29291752e-29,
        1.00000000e+00,  5.73839483e-15, -1.00000000e+00,  0.00000000e+00,
       -5.73839483e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06751256, -0.10414311,  0.06172297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87780542e-04,-1.10704295e-03,-2.09225011e-04,-2.80860816e-04,
  3.09026422e-05,-8.74207408e-04,-3.93242390e-04,-2.86096037e-04,
 -5.09961356e-05,-9.48542602e-04,-1.45927685e-04, 3.23123765e-04,
 -2.69838375e-04,-7.15415690e-04, 1.09174496e-05,-1.61313842e-04,
 -2.42784763e-05, 7.12741074e-05,-1.21643549e+00, 1.39590530e-03,
  4.88778688e-04, 2.77743440e-04]


--- Step 1173 ---
qpos:
[-0.00480877, 0.75290488,-0.01494732, 0.69353595, 0.00458303, 0.71778277,
 -0.02892742, 0.6117749 , 0.01574978, 0.79744528,-0.01944825, 0.65353872,
  1.24684657,-0.00174376, 0.99629829, 0.06436915,-0.00665889,-0.09898135,
  0.0909137 , 0.55077184,-0.09670013,-0.0424077 , 0.82794991]

qacc:
[  1.84879904,-18.15856219, 36.45764042, -5.71611363, -0.40604863,
 -15.19047949, 49.32988494,-94.47131817, -0.23647522,-16.49347664,
  43.69902654,-53.0338337 ,  7.67704378,-18.62084438,  6.35834899,
 -23.71425861,  1.02454851,  0.16515082, -6.07831372, 34.04257152,
 -20.19868868,  0.660072  ]

qfrc_actuator:
[ 0.00033333, 0.16458158, 0.00745486, 0.1730606 ,-0.00029959, 0.16248512,
  0.00946841, 0.15408341,-0.00178424, 0.15394127, 0.00684153, 0.16227258,
  0.00990384,-0.00105399, 0.        ,-0.00259671, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.14132719, -6.07213943, -6.14132719, 12.94731485,
       -4.36007148, -6.07213943, -4.36007148, 13.04611506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004543917764923175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22165836e-14, -6.10829180e-15,  1.00000000e+00,  7.46224574e-29,
        1.00000000e+00,  6.10829180e-15, -1.00000000e+00,  0.00000000e+00,
        1.22165836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06812115, -0.10420693,  0.06173995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93439025e-04,-1.44138398e-03,-2.17350103e-04, 1.93717297e-05,
 -6.04314734e-05,-1.08764276e-03,-3.15303305e-04,-2.50664489e-04,
 -4.17716829e-05,-1.16417086e-03,-2.33504104e-04,-1.19807720e-04,
 -3.48486648e-04,-7.07750328e-04,-1.74299242e-05,-1.24138991e-04,
 -2.16441734e-05, 8.04127560e-05,-1.21643568e+00, 1.40353175e-03,
  4.94179879e-04, 3.02461978e-04]


--- Step 1174 ---
qpos:
[-0.00484835, 0.7556956 ,-0.01495958, 0.69695633, 0.0045762 , 0.72055329,
 -0.02889594, 0.61480908, 0.01576003, 0.80000416,-0.01948004, 0.65672798,
  1.24712928,-0.00173771, 0.996533  , 0.06436786,-0.0066671 ,-0.09890214,
  0.09118609, 0.55050126,-0.09734511,-0.04167317, 0.82809157]

qacc:
[ 1.34436045e-01,-2.13179163e+01, 3.86125550e+01, 8.07305701e+00,
 -8.07758927e-01,-1.87495884e+01, 6.44098058e+01,-1.27469335e+02,
 -1.77147954e-01,-4.09288435e+01, 1.58111061e+02,-3.16574269e+02,
  5.99035482e+00,-1.51396983e+01,-4.02499657e+00, 1.19235248e+01,
  1.05433007e+00, 1.54515410e-01,-6.07470037e+00, 3.42678096e+01,
 -2.01862548e+01, 8.69784754e-01]

qfrc_actuator:
[ 0.0002301 , 0.16364917, 0.00749582, 0.173175  ,-0.0003942 , 0.16205872,
  0.0094214 , 0.15381806,-0.00180248, 0.15338477, 0.00688015, 0.16161614,
  0.00987803,-0.00143442, 0.        ,-0.00253942, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.05019141, -6.16295066, -6.05019141, 16.57171139,
       -7.79016018, -6.16295066, -7.79016018, 16.28399264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004264146579451192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50905758e-15,  1.95271727e-14,  1.00000000e+00, -1.27103492e-28,
        1.00000000e+00, -1.95271727e-14, -1.00000000e+00,  0.00000000e+00,
        6.50905758e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06869902, -0.10426822,  0.06175607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97083336e-05,-1.84848677e-03,-2.95033986e-04, 5.40822639e-05,
 -1.20215135e-04,-1.18117769e-03,-3.36991353e-04,-3.25518163e-04,
 -3.20926349e-05,-1.31888376e-03,-2.46566562e-04,-7.11263466e-04,
 -3.92003076e-04,-6.18351086e-04,-2.55057158e-05, 4.72465951e-05,
 -1.75554532e-05, 8.94393674e-05,-1.21643619e+00, 1.41093201e-03,
  4.99756119e-04, 3.25290991e-04]


--- Step 1175 ---
qpos:
[-0.00488841, 0.75847022,-0.01497048, 0.70037057, 0.00456838, 0.72331481,
 -0.02886514, 0.61783402, 0.01576983, 0.80255444,-0.01951135, 0.65990824,
  1.24741041,-0.00173601, 0.99676756, 0.06436721,-0.00667096,-0.09882235,
  0.09143425, 0.55023337,-0.09791844,-0.04090335, 0.82824039]

qacc:
[-2.60837498e-01,-3.62403669e+01, 1.11579670e+02,-1.75048565e+02,
 -5.74697451e-01,-2.70118317e+01, 1.04301375e+02,-2.20680274e+02,
 -2.35840141e-01,-2.92176208e+01, 1.10125315e+02,-2.20163680e+02,
  2.32485813e+00,-7.36782387e+00,-2.43999780e+00, 7.62858318e+00,
  1.08713665e+00, 1.44619533e-01,-6.05741165e+00, 3.46101833e+01,
 -2.02417082e+01, 1.08121215e+00]

qfrc_actuator:
[ 0.00018387, 0.16278147, 0.00752399, 0.17285034,-0.00042966, 0.16165863,
  0.00939892, 0.15335372,-0.00183507, 0.1531341 , 0.00696844, 0.16117918,
  0.00984173,-0.00160716, 0.        ,-0.0025051 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.02403478,  -6.18852016,  -6.02403478,
        19.8051274 , -10.87190792,  -6.18852016, -10.87190792,
        19.21930588,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00399743894214747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3886679e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3886679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06924697, -0.10432697,  0.06177135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40926505e-05,-2.02383159e-03,-3.97212534e-04,-4.01013173e-04,
 -8.64034150e-05,-1.21366269e-03,-3.36110227e-04,-5.30150986e-04,
 -4.20738000e-05,-1.12333619e-03,-2.48518194e-04,-5.10379992e-04,
 -4.06409007e-04,-4.01062273e-04,-9.83400223e-06, 3.29078272e-05,
 -1.19711834e-05, 9.84011001e-05,-1.21643705e+00, 1.41816918e-03,
  5.05559505e-04, 3.46311596e-04]


--- Step 1176 ---
qpos:
[-0.00492947, 0.76122926,-0.01498103, 0.70377228, 0.00456015, 0.72606492,
 -0.02883407, 0.62085348, 0.01577923, 0.80509759,-0.01954254, 0.6630801 ,
  1.24768958,-0.00173624, 0.99700217, 0.06436597,-0.00667033,-0.09874201,
  0.09165829, 0.54996798,-0.0984195 ,-0.04009758, 0.82839665]

qacc:
[-5.47924281e-01,-4.45123412e+01, 1.57787578e+02,-3.02511339e+02,
 -2.35842042e-01,-2.57911209e+01, 8.43993573e+01,-1.47776351e+02,
 -2.08938244e-01,-2.52506448e+01, 9.73869948e+01,-2.00666526e+02,
  1.71375644e-02,-2.17752404e+00, 1.85665418e+00,-6.50171707e+00,
  1.12190968e+00, 1.35363833e-01,-6.02948067e+00, 3.50463945e+01,
 -2.03512778e+01, 1.29378277e+00]

qfrc_actuator:
[ 1.19180171e-04, 1.62048291e-01, 7.54443802e-03, 1.72216673e-01,
 -4.29461889e-04, 1.61029475e-01, 9.39127561e-03, 1.53077876e-01,
 -1.85828055e-03, 1.52945136e-01, 7.03365528e-03, 1.60768715e-01,
  9.80992333e-03,-1.65561832e-03, 0.00000000e+00,-2.53789479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.0563669 ,  -6.15688207,  -6.0563669 ,
        22.56832904, -13.70451687,  -6.15688207, -13.70451687,
        22.11714521,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037436335135572207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.41407392e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.41407392e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06976589, -0.1043832 ,  0.06178582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.08041855e-05,-2.02321690e-03,-4.66459671e-04,-7.29146816e-04,
 -3.65965595e-05,-1.46788609e-03,-3.34142100e-04,-3.47031759e-04,
 -3.73583870e-05,-9.45211743e-04,-2.25690430e-04,-4.72343412e-04,
 -3.59375787e-04,-2.32018515e-04,-6.56040157e-06,-3.34742549e-05,
 -4.83161976e-06, 1.07335243e-04,-1.21643827e+00, 1.42530101e-03,
  5.11638692e-04, 3.65562259e-04]


--- Step 1177 ---
qpos:
[-0.00497324, 0.76397196,-0.01499122, 0.70716104, 0.00455097, 0.72880152,
 -0.02880281, 0.62387117, 0.01578832, 0.80763337,-0.01957318, 0.6662344 ,
  1.24796734,-0.00173827, 0.99723683, 0.06436332,-0.00666508,-0.09866117,
  0.09185835, 0.5497049 ,-0.0988475 ,-0.03925511, 0.82856064]

qacc:
[-1.49853965e+00,-4.63101286e+01, 1.63532463e+02,-3.12529541e+02,
 -5.43113627e-01,-2.15206964e+01, 5.49322488e+01,-6.65014961e+01,
 -1.61611377e-01,-4.35230495e+01, 1.84938879e+02,-4.06637739e+02,
  3.06636324e-01,-2.31877331e+00, 4.24114717e+00,-1.48709365e+01,
  1.15775104e+00, 1.26664056e-01,-5.99343449e+00, 3.55567910e+01,
 -2.05034228e+01, 1.50684659e+00]

qfrc_actuator:
[-8.01344488e-05, 1.61241970e-01, 7.56071519e-03, 1.71566216e-01,
 -4.96810918e-04, 1.60286637e-01, 9.37409979e-03, 1.52986060e-01,
 -1.87572816e-03, 1.52582141e-01, 7.04967836e-03, 1.59880084e-01,
  9.79687028e-03,-1.71894971e-03, 0.00000000e+00,-2.60996890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.14294321,  -6.07050456,  -6.14294321,
        24.8034477 , -16.36000408,  -6.07050456, -16.36000408,
        25.19158982,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003502493467742479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.37735566e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.37735566e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07025677, -0.10443695,  0.06179951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46228760e-04,-2.12111107e-03,-4.88838485e-04,-7.54999273e-04,
 -8.31366048e-05,-1.71511684e-03,-3.88504865e-04,-1.68397210e-04,
 -2.94704724e-05,-1.01364732e-03,-2.34860906e-04,-9.42331713e-04,
 -2.74202558e-04,-1.98353071e-04,-1.34630256e-05,-7.62411589e-05,
  3.93721211e-06, 1.16271044e-04,-1.21643988e+00, 1.43238105e-03,
  5.18039545e-04, 3.83047458e-04]


--- Step 1178 ---
qpos:
[-0.00502349, 0.76669723,-0.01500206, 0.71055929, 0.00453976, 0.7315291 ,
 -0.02877499, 0.62689502, 0.01579699, 0.81016516,-0.01960724, 0.66939513,
  1.24824456,-0.00174349, 0.9974708 , 0.06436449,-0.00665504,-0.09857986,
  0.09203462, 0.54944395,-0.09920154,-0.03837514, 0.82873262]

qacc:
[-3.59172321e+00,-3.74882928e+00,-4.28688297e+01, 1.77858414e+02,
 -1.17775006e+00, 8.78529530e+00,-6.39660080e+01, 1.54310960e+02,
 -2.28655778e-01, 1.58952231e+01,-7.89184992e+01, 1.65565819e+02,
  2.37071925e+00,-6.20109837e+00,-1.27825855e+01, 4.27092390e+01,
  1.19389778e+00, 1.18447163e-01,-5.95137578e+00, 3.61248586e+01,
 -2.06885031e+01, 1.71971638e+00]

qfrc_actuator:
[-0.0005534 , 0.16045202, 0.00757434, 0.17206504,-0.0006395 , 0.16019236,
  0.00933342, 0.15332269,-0.0019074 , 0.1527214 , 0.00701797, 0.16024379,
  0.00978977,-0.00187932, 0.        ,-0.00240278, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.28140982,  -5.92711292,  -6.28140982,
        26.44647227, -18.87471905,  -5.92711292, -18.87471905,
        28.63933086,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003273722868618864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39131646e-14,  8.47829115e-15,  1.00000000e+00,  2.87525683e-28,
        1.00000000e+00, -8.47829115e-15, -1.00000000e+00,  0.00000000e+00,
       -3.39131646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07072066, -0.10448826,  0.06181244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.89667234e-04,-2.16379890e-03,-5.14159913e-04, 3.89779357e-04,
 -1.78422816e-04,-1.20773950e-03,-4.62256798e-04, 2.53030127e-04,
 -4.01043016e-05,-5.68301032e-04,-3.12421601e-04, 2.97254417e-04,
 -2.11545337e-04,-2.67918088e-04,-2.05589311e-05, 1.99918008e-04,
  1.44200142e-05, 1.25231231e-04,-1.21644190e+00, 1.43945969e-03,
  5.24805643e-04, 3.98744726e-04]


--- Step 1179 ---
qpos:
[-0.00507994, 0.76941146,-0.01501695, 0.71397938, 0.00452617, 0.73425166,
 -0.02875113, 0.62993479, 0.01580528, 0.81269385,-0.01964453, 0.6725807 ,
  1.24852143,-0.0017525 , 0.99770467, 0.06436741,-0.00664009,-0.0984981 ,
  0.09218726, 0.54918492,-0.09948062,-0.03745683, 0.82891285]

qacc:
[-3.43860240e+00, 3.66318199e+01,-2.01118186e+02, 4.84468659e+02,
 -1.38146549e+00, 3.34524208e+01,-1.69971534e+02, 3.86844924e+02,
 -2.04721882e-01, 5.04991308e+01,-2.46742760e+02, 5.70777871e+02,
  2.88218066e+00,-7.36513141e+00,-5.68794274e+00, 1.90707351e+01,
  1.22970108e+00, 1.10648518e-01,-5.90505151e+00, 3.67367742e+01,
 -2.08984934e+01, 1.93169742e+00]

qfrc_actuator:
[-0.00084887, 0.16042513, 0.00756949, 0.17320067,-0.00077267, 0.16036388,
  0.00929995, 0.15415771,-0.00192961, 0.15280654, 0.00696135, 0.16151945,
  0.0097649 ,-0.00207806, 0.        ,-0.00231673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.47071778,  -5.71984163,  -6.47071778,
        27.40895854, -21.23698024,  -5.71984163, -21.23698024,
        32.66124309,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030569803076660185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72382281e-14,  2.72382281e-14,  1.00000000e+00,  7.41921069e-28,
        1.00000000e+00, -2.72382281e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72382281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07115865, -0.10453717,  0.06182464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.65995904e-04,-1.38721198e-03,-5.07009794e-04, 1.04941922e-03,
 -2.09729948e-04,-6.57819514e-04,-3.47399993e-04, 7.77073157e-04,
 -3.56245952e-05,-3.43892024e-04,-2.16651185e-04, 1.24968458e-03,
 -2.09007254e-04,-3.07285871e-04, 9.74496522e-06, 9.38534437e-05,
  2.67093949e-05, 1.34233267e-04,-1.21644439e+00, 1.44658477e-03,
  5.31978675e-04, 4.12610400e-04]


--- Step 1180 ---
qpos:
[-0.00513798, 0.77212499,-0.01503694, 0.71740161, 0.00451074, 0.73696853,
 -0.02872825, 0.6329894 , 0.01581346, 0.81521743,-0.01968058, 0.67577672,
  1.24879744,-0.00176404, 0.99793868, 0.06437034,-0.00662008,-0.09841593,
  0.09231648, 0.54892763,-0.09968368,-0.03649929, 0.82910158]

qacc:
[-8.81653094e-01, 1.69483976e+01,-6.37886993e+01, 8.99399000e+01,
 -1.06623305e+00, 2.23972004e+01,-1.30260415e+02, 3.32727362e+02,
 -5.39050526e-02, 9.06599301e+00,-6.91205094e+01, 2.08673250e+02,
  1.35540382e+00,-4.25461459e+00, 3.06018276e-02,-1.49770019e-01,
  1.26460870e+00, 1.03209850e-01,-5.85591071e+00, 3.73810156e+01,
 -2.11267371e+01, 2.14210822e+00]

qfrc_actuator:
[-0.00073356, 0.16110519, 0.00755721, 0.17333528,-0.00084571, 0.16017964,
  0.00929045, 0.15490672,-0.00192828, 0.15250486, 0.0069975 , 0.16202536,
  0.00972938,-0.00219142, 0.        ,-0.00232058, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.71022304,  -5.43688179,  -6.71022304,
        27.56678181, -23.36400409,  -5.43688179, -23.36400409,
        37.47231866,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0028518902320333814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73234359e-15,  1.94646872e-14,  1.00000000e+00,  1.89437023e-28,
        1.00000000e+00, -1.94646872e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73234359e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07157183, -0.10458375,  0.06183615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45162506e-04,-2.22626559e-04,-3.36539414e-04, 9.06720472e-05,
 -1.63211874e-04,-6.63905784e-04,-1.81459123e-04, 7.26513447e-04,
 -1.00393210e-05,-5.51006636e-04,-3.64516893e-05, 5.11742553e-04,
 -2.27265287e-04,-2.30065123e-04, 9.99192201e-06, 1.48637037e-06,
  4.09035804e-05, 1.43290398e-04,-1.21644737e+00, 1.45380210e-03,
  5.39598725e-04, 4.24584325e-04]


--- Step 1181 ---
qpos:
[-0.00519462, 0.77484025,-0.015059  , 0.72081285, 0.0044945 , 0.73967921,
 -0.02870599, 0.63604852, 0.01582144, 0.81773508,-0.01971447, 0.678975  ,
  1.2490727 ,-0.00177776, 0.99817295, 0.06437121,-0.00659488,-0.09833337,
  0.09242247, 0.54867187,-0.09980959,-0.0355016 , 0.82929902]

qacc:
[ 7.71898642e-01,-1.22297381e+01, 7.37065873e+01,-2.13314448e+02,
 -4.61652680e-01, 1.77984766e+00,-3.02270149e+01, 9.57075126e+01,
 -1.05552275e-01,-9.50541295e+00, 1.54436829e+01, 1.93867242e+01,
  1.06163578e+00,-3.52447629e+00, 6.50768048e+00,-2.24865819e+01,
  1.29815018e+00, 9.60777913e-02,-5.80515293e+00, 3.80480209e+01,
 -2.13677343e+01, 2.35029451e+00]

qfrc_actuator:
[-0.00053369, 0.16145788, 0.00754315, 0.17279148,-0.00084674, 0.15985565,
  0.00924069, 0.15511953,-0.00194844, 0.15218736, 0.00708612, 0.16212715,
  0.00971416,-0.00228882, 0.        ,-0.00243058, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -6.9982089 ,  -5.06081506,  -6.9982089 ,
        26.7603681 , -25.06228101,  -5.06081506, -25.06228101,
        43.29304952,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002658052328095163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13262181e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.13262181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07196132, -0.10462804,  0.06184699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28487026e-04, 9.72488378e-05,-1.15515850e-04,-5.62004173e-04,
 -7.14620115e-05,-7.75035537e-04,-2.04639278e-04, 1.94479573e-04,
 -1.96418542e-05,-6.72715797e-04,-2.79238484e-05, 9.01058332e-05,
 -1.99626842e-04,-2.01112800e-04,-1.30873496e-06,-1.10018916e-04,
  5.71045456e-05, 1.52412515e-04,-1.21645088e+00, 1.46115587e-03,
  5.47704493e-04, 4.34593706e-04]


--- Step 1182 ---
qpos:
[-0.00524857, 0.77755501,-0.01508002, 0.724209  , 0.00447798, 0.74238075,
 -0.02868324, 0.63910214, 0.01582903, 0.82024472,-0.01974656, 0.68217712,
  1.2493473 ,-0.00179344, 0.99840755, 0.06436773,-0.00656435,-0.09825046,
  0.09250545, 0.54841743,-0.09985722,-0.03446285, 0.82950538]

qacc:
[ 1.48277220e+00,-3.11399635e+01, 1.44218215e+02,-3.31717011e+02,
 -1.52214679e-01,-2.34105814e+01, 7.99283465e+01,-1.44708034e+02,
 -2.01048912e-01,-8.42053595e+00, 3.79340550e+00, 5.30124376e+01,
  8.12796805e-01,-2.91687471e+00, 1.34937309e+01,-4.67160542e+01,
  1.32992441e+00, 8.92028271e-02,-5.75376884e+00, 3.87298936e+01,
 -2.16169603e+01, 2.55563806e+00]

qfrc_actuator:
[-0.0003387 , 0.16139898, 0.00758029, 0.17203044,-0.00084038, 0.15921979,
  0.00918454, 0.15481973,-0.00198136, 0.15168571, 0.0071338 , 0.16231001,
  0.00970048,-0.00237595, 0.        ,-0.00265546, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.32938693,  -4.56802628,  -7.32938693,
        24.82140686, -25.96886201,  -4.56802628, -25.96886201,
        50.30333882,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002475049270438491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48566030e-14,  2.24283015e-14,  1.00000000e+00,  1.00605742e-27,
        1.00000000e+00, -2.24283015e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48566030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07232821, -0.10467013,  0.0618572 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47111304e-04,-1.15475984e-04, 5.04829069e-06,-7.75147183e-04,
 -2.46518158e-05,-1.17316638e-03,-2.53311708e-04,-3.34204521e-04,
 -3.69560238e-05,-9.38073436e-04,-1.05746888e-04, 1.58077961e-04,
 -1.75767565e-04,-1.77758603e-04,-1.87664689e-05,-2.32530510e-04,
  7.54164813e-05, 1.61606870e-04,-1.21645499e+00, 1.46868878e-03,
  5.56333439e-04, 4.42556264e-04]


--- Step 1183 ---
qpos:
[-0.00529891, 0.78026656,-0.01509885, 0.72758948, 0.00446127, 0.74506841,
 -0.02865854, 0.64214744, 0.01583626, 0.82274267,-0.01977588, 0.68538135,
  1.2496207 ,-0.00180915, 0.99864155, 0.06436558,-0.00652839,-0.09816722,
  0.09256563, 0.54816411,-0.09982539,-0.0333821 , 0.82972082]

qacc:
[ 1.98222229e+00,-3.89120063e+01, 1.67051009e+02,-3.58568782e+02,
 -1.04012792e-01,-3.87846965e+01, 1.32028409e+02,-2.29454979e+02,
 -1.85513541e-01,-1.90772702e+01, 3.83517836e+01,-3.79182578e-01,
 -7.94517931e-01, 7.49249028e-01,-4.85817829e+00, 1.58270939e+01,
  1.35958911e+00, 8.25385432e-02,-5.70257426e+00, 3.94201475e+01,
 -2.18707099e+01, 2.75756189e+00]

qfrc_actuator:
[-1.12976592e-04, 1.61130157e-01, 7.64585612e-03, 1.71236305e-01,
 -8.47548484e-04, 1.58260210e-01, 9.17696208e-03, 1.54380348e-01,
 -2.00391354e-03, 1.50900497e-01, 7.19191888e-03, 1.62397011e-01,
  9.67177371e-03,-2.34978282e-03, 0.00000000e+00,-2.57335748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.69082596,  -3.92911859,  -7.69082596,
        21.65692894, -25.48635258,  -3.92911859, -25.48635258,
        58.52315061,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0023024530989818257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41095687e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41095687e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0726736 , -0.10471007,  0.0618668 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31708118e-04,-4.26795745e-04,-1.53460647e-06,-8.16479685e-04,
 -1.80367323e-05,-1.74779968e-03,-3.07755028e-04,-5.01219415e-04,
 -3.48282727e-05,-1.38196811e-03,-1.55454454e-04, 5.17577789e-05,
 -1.72056140e-04,-5.34445077e-05,-4.00097695e-05, 6.54768829e-05,
  9.59445288e-05, 1.70878658e-04,-1.21645974e+00, 1.47644228e-03,
  5.65521880e-04, 4.48382814e-04]


--- Step 1184 ---
qpos:
[-0.00534582, 0.78296969,-0.01511453, 0.73095602, 0.00444489, 0.74773867,
 -0.02863229, 0.64518175, 0.01584301, 0.82522622,-0.01980183, 0.68857679,
  1.2498928 ,-0.00182384, 0.99887494, 0.06436738,-0.00648688,-0.09808367,
  0.09260319, 0.54791168,-0.09971294,-0.0322584 , 0.82994549]

qacc:
[ 1.88221304e+00,-4.51473174e+01, 1.74334208e+02,-3.38879071e+02,
  2.05672763e-01,-4.71705706e+01, 1.62178581e+02,-2.91410144e+02,
 -2.40021899e-01,-4.42630929e+01, 1.49207172e+02,-2.48313038e+02,
 -1.56304863e+00, 2.66725863e+00,-1.26944922e+01, 4.33558525e+01,
  1.38685191e+00, 7.60410862e-02,-5.65223851e+00, 4.01134875e+01,
 -2.21259658e+01, 2.95553259e+00]

qfrc_actuator:
[ 5.81797201e-05, 1.60418756e-01, 7.69141044e-03, 1.70517698e-01,
 -8.09538046e-04, 1.57168065e-01, 9.16136891e-03, 1.53808975e-01,
 -2.03787239e-03, 1.49987529e-01, 7.27235378e-03, 1.61929615e-01,
  9.64477159e-03,-2.27452022e-03, 0.00000000e+00,-2.36426734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.05608977,  -3.11226516,  -8.05608977,
        17.43289133, -22.76978766,  -3.11226516, -22.76978766,
        67.57589616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021398304464300133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59418457e-14,  1.29709228e-14,  1.00000000e+00, -3.36489679e-28,
        1.00000000e+00, -1.29709228e-14, -1.00000000e+00,  0.00000000e+00,
        2.59418457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07299855, -0.10474794,  0.06187583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15835275e-04,-1.04481554e-03,-8.57532346e-05,-7.52884128e-04,
  2.98934978e-05,-2.21685385e-03,-4.43221760e-04,-6.59606604e-04,
 -4.53648055e-05,-1.77001441e-03,-2.31362001e-04,-5.22349068e-04,
 -1.38828753e-04, 2.39489519e-05,-1.46753843e-05, 2.06829480e-04,
  1.18793733e-04, 1.80231506e-04,-1.21646517e+00, 1.48445660e-03,
  5.75305047e-04, 4.51979379e-04]


--- Step 1185 ---
qpos:
[-0.00539051, 0.78565925,-0.01512735, 0.73430936, 0.004429  , 0.75038945,
 -0.0286056 , 0.64820278, 0.01584973, 0.82769545,-0.01982713, 0.69175916,
  1.25016393,-0.00183769, 0.99910863, 0.06436795,-0.00643973,-0.09799985,
  0.09261834, 0.54765992,-0.09951867,-0.03109082, 0.8301795 ]

qacc:
[ 1.21574068e+00,-4.98076771e+01, 1.79118702e+02,-3.29471976e+02,
  2.81398711e-01,-5.11145277e+01, 1.78565591e+02,-3.35886528e+02,
 -1.13044502e-02,-4.45453723e+01, 1.62184997e+02,-3.15992996e+02,
 -1.48536022e+00, 2.54498272e+00, 4.30318569e+00,-1.41183899e+01,
  1.41146278e+00, 6.96687737e-02,-5.60330816e+00, 4.08056207e+01,
 -2.23802856e+01, 3.14906090e+00]

qfrc_actuator:
[ 1.24321347e-04, 1.59412786e-01, 7.70537859e-03, 1.69831193e-01,
 -7.80388025e-04, 1.56058693e-01, 9.12283106e-03, 1.53128894e-01,
 -2.02516128e-03, 1.49236090e-01, 7.27572107e-03, 1.61263915e-01,
  9.61884485e-03,-2.22410293e-03, 0.00000000e+00,-2.43717599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.37901036,  -2.09259699,  -8.37901036,
        12.8595044 , -16.90996422,  -2.09259699, -16.90996422,
        76.34589688,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019867468036890504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19110914e-14,  1.39703638e-14,  1.00000000e+00,  5.85513194e-28,
        1.00000000e+00, -1.39703638e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19110914e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0733041 , -0.10478382,  0.06188432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03931776e-04,-1.69691347e-03,-2.48592366e-04,-7.43535145e-04,
  4.18458256e-05,-2.52769085e-03,-5.81597429e-04,-7.93163716e-04,
 -3.79865803e-06,-1.86005680e-03,-4.13529382e-04,-7.49246101e-04,
 -1.00024952e-04, 2.37701747e-05, 1.19723088e-05,-6.42090189e-05,
  1.44068171e-04, 1.89667858e-04,-1.21647136e+00, 1.49277079e-03,
  5.85717100e-04, 4.53248906e-04]


--- Step 1186 ---
qpos:
[-0.00543385, 0.78833259,-0.01513903, 0.73764912, 0.00441357, 0.7530182 ,
 -0.02857827, 0.65121103, 0.01585673, 0.83015072,-0.01985388, 0.69493269,
  1.25043408,-0.00185007, 0.99934241, 0.06436732,-0.00638684,-0.09791577,
  0.09261126, 0.5474086 ,-0.09924143,-0.02987842, 0.83042293]

qacc:
[ 7.49781234e-01,-4.92350205e+01, 1.73600199e+02,-3.26375704e+02,
  2.79419995e-01,-5.40212465e+01, 1.82393198e+02,-3.30499976e+02,
  1.49123580e-01,-3.06172487e+01, 1.04018710e+02,-2.04453724e+02,
 -1.99141542e+00, 3.77305125e+00, 3.87209175e+00,-1.30162950e+01,
  1.43320755e+00, 6.33818098e-02,-5.55622678e+00, 4.14930962e+01,
 -2.26317066e+01, 3.33770078e+00]

qfrc_actuator:
[ 1.62804868e-04, 1.58416120e-01, 7.68165957e-03, 1.69133280e-01,
 -7.56824991e-04, 1.54841526e-01, 9.10651453e-03, 1.52479045e-01,
 -2.00244889e-03, 1.48587240e-01, 7.21645956e-03, 1.60824313e-01,
  9.59357985e-03,-2.13555771e-03, 0.00000000e+00,-2.49815838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59243029, -0.87001072, -8.59243029,  9.39631863,
       -7.50549416, -0.87001072, -7.50549416, 82.76238783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018427699814011211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51856323e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.51856323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07359126, -0.10481777,  0.06189229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25513805e-04,-2.08160774e-03,-4.35213943e-04,-7.82449416e-04,
  4.14840690e-05,-2.84058163e-03,-6.42379588e-04,-7.81460202e-04,
  2.57875389e-05,-1.85183888e-03,-5.22763622e-04,-5.36892760e-04,
 -7.73484747e-05, 7.10409215e-05,-8.30963960e-06,-6.45338887e-05,
  1.71870226e-04, 1.99189295e-04,-1.21647836e+00, 1.50142266e-03,
  5.96791130e-04, 4.52092658e-04]


--- Step 1187 ---
qpos:
[-0.00547601, 0.7909917 ,-0.01515188, 0.7409762 , 0.00439957, 0.75562641,
 -0.02855245, 0.65422287, 0.01586383, 0.83259322,-0.01988311, 0.69811174,
  1.25070344,-0.00186107, 0.99957573, 0.06436896,-0.00632814,-0.09783146,
  0.09258214, 0.54715747,-0.09888006,-0.02862027, 0.83067582]

qacc:
[ 6.45112763e-01,-3.86843884e+01, 1.39097740e+02,-2.82983041e+02,
  8.09573796e-01,-1.63499334e+01, 9.43329374e+00, 5.60633402e+01,
  5.91160407e-02, 7.21505000e-02,-3.72487079e+01, 1.18317041e+02,
 -1.57166625e+00, 3.13571592e+00,-7.39602030e+00, 2.52061384e+01,
  1.45190247e+00, 5.71420734e-02,-5.51135143e+00, 4.21731669e+01,
 -2.28786656e+01, 3.52104770e+00]

qfrc_actuator:
[ 0.00022016, 0.15785918, 0.00767142, 0.16850519,-0.00064804, 0.15403159,
  0.00912093, 0.15268653,-0.00200954, 0.14814733, 0.00717472, 0.16112497,
  0.00956875,-0.0020606 , 0.        ,-0.00237401, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62133946,  0.50919819, -8.62133946,  8.90022537,
        4.46749742,  0.50919819,  4.46749742, 84.27648261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017074729007201736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.87660605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.87660605e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07386099, -0.10484986,  0.06189977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08738973e-04,-1.89365397e-03,-5.21446765e-04,-7.32531169e-04,
  1.26558230e-04,-2.61837324e-03,-6.81075615e-04, 6.28975012e-05,
  9.97832055e-06,-1.65183479e-03,-5.09341604e-04, 2.04975574e-04,
 -5.30621361e-05, 7.33590338e-05,-1.66433697e-05, 1.18218902e-04,
  2.02299975e-04, 2.08796789e-04,-1.21648623e+00, 1.51044882e-03,
  6.08559135e-04, 4.48411343e-04]


--- Step 1188 ---
qpos:
[-0.00551791, 0.79363819,-0.01516562, 0.74428796, 0.00438775, 0.75821771,
 -0.02852924, 0.65724963, 0.01587096, 0.83502574,-0.01991444, 0.701299  ,
  1.25097223,-0.00187106, 0.99980944, 0.06436768,-0.00626358,-0.09774695,
  0.09253115, 0.54690629,-0.09843341,-0.02731546, 0.83093817]

qacc:
[ 1.45746164e-01,-4.21469792e+01, 1.60179925e+02,-3.37504576e+02,
  1.23837286e+00, 1.20727827e+01,-1.13466101e+02, 3.23596627e+02,
  1.59675856e-02, 7.61014422e+00,-6.52696269e+01, 1.77918373e+02,
 -1.40770320e+00, 2.69183541e+00, 9.50249334e+00,-3.21468763e+01,
  1.46738945e+00, 5.09129566e-02,-5.46896637e+00, 4.28436735e+01,
 -2.31199305e+01, 3.69873639e+00]

qfrc_actuator:
[ 0.00019973, 0.1574108 , 0.00768888, 0.167746  ,-0.000507  , 0.15356206,
  0.00913789, 0.15346815,-0.0020167 , 0.14794371, 0.00718061, 0.16155715,
  0.0095442 ,-0.00201206, 0.        ,-0.00253232, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.41452317,  1.94488474, -8.41452317, 12.41530405,
       16.34954551,  1.94488474, 16.34954551, 79.37249848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015804358252137635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51239515e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.51239515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07411423, -0.10488018,  0.06190679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34788139e-05,-1.69540073e-03,-4.64358467e-04,-8.58484772e-04,
  1.96328305e-04,-2.12953676e-03,-6.10565321e-04, 6.62270210e-04,
  2.38370945e-06,-1.27390916e-03,-3.95826681e-04, 3.60354108e-04,
 -3.80061526e-05, 5.29784620e-05, 1.46928794e-06,-1.54774828e-04,
  2.35454679e-04, 2.18490905e-04,-1.21649504e+00, 1.51988453e-03,
  6.21051975e-04, 4.42106018e-04]


--- Step 1189 ---
qpos:
[-0.00556123, 0.796273  ,-0.0151793 , 0.74757538, 0.00437807, 0.7607927 ,
 -0.02850769, 0.66027964, 0.0158779 , 0.837449  ,-0.01994486, 0.70448328,
  1.25124065,-0.00188062, 1.00004301, 0.06436553,-0.0061931 ,-0.09766227,
  0.09245843, 0.54665479,-0.09790037,-0.02596308, 0.83120995]

qacc:
[-7.58323104e-01,-5.98729333e+01, 2.44473311e+02,-5.32423619e+02,
  1.20743347e+00,-1.09920208e+01,-2.90719026e-01, 5.71359959e+01,
 -9.71839632e-02,-2.00990006e+01, 6.00903038e+01,-8.92969077e+01,
 -6.77331346e-01, 1.22873781e+00, 2.48148282e+00,-8.87038330e+00,
  1.47953206e+00, 4.46592374e-02,-5.42929446e+00, 4.35029451e+01,
 -2.33545434e+01, 3.87043825e+00]

qfrc_actuator:
[ 6.20499612e-05, 1.56942876e-01, 7.72312682e-03, 1.66525312e-01,
 -4.01218236e-04, 1.52822068e-01, 9.06934485e-03, 1.53622844e-01,
 -2.04161311e-03, 1.47617875e-01, 7.26894311e-03, 1.61406510e-01,
  9.51981878e-03,-1.99729435e-03, 0.00000000e+00,-2.57178552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.97706517,  3.30956314, -7.97706517, 19.03051601,
       25.05310441,  3.30956314, 25.05310441, 69.02205148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014612481278079986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.69832907e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.69832907e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07435187, -0.10490879,  0.06191337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32774182e-04,-1.59715756e-03,-4.04874636e-04,-1.31386829e-03,
  1.92109197e-04,-2.09055107e-03,-5.69481574e-04, 6.86074101e-05,
 -1.89801204e-05,-1.15697820e-03,-2.18887359e-04,-2.01831448e-04,
 -3.42838787e-05, 1.83551855e-05,-2.26382212e-05,-4.93007666e-05,
  2.71428340e-04, 2.28271959e-04,-1.21650486e+00, 1.52976367e-03,
  6.34299330e-04, 4.33078807e-04]


--- Step 1190 ---
qpos:
[-0.00560501, 0.7988992 ,-0.01519401, 0.75083372, 0.00437067, 0.76334839,
 -0.02848647, 0.6633123 , 0.0158848 , 0.8398609 ,-0.01997261, 0.70766042,
  1.2515088 ,-0.00189037, 1.00027613, 0.06436522,-0.00611666,-0.09757742,
  0.09236415, 0.54640271,-0.09727983,-0.02456224, 0.83149108]

qacc:
[-2.37666701e-01,-6.14989846e+01, 2.67117197e+02,-6.15591879e+02,
  1.27859963e+00,-1.96399830e+01, 2.54946214e+01, 2.64616523e+01,
 -1.38298033e-02,-3.52844211e+01, 1.18897525e+02,-1.98107469e+02,
  7.87065286e-02,-3.66640458e-01,-6.25060222e+00, 2.08757780e+01,
  1.48821214e+00, 3.83469746e-02,-5.39250665e+00, 4.41497153e+01,
 -2.35817724e+01, 4.03585861e+00]

qfrc_actuator:
[ 8.63883921e-05, 1.56751366e-01, 7.74911415e-03, 1.65078367e-01,
 -2.81902316e-04, 1.51730662e-01, 9.00284237e-03, 1.53744399e-01,
 -2.04146871e-03, 1.46973450e-01, 7.36907679e-03, 1.61038351e-01,
  9.49022353e-03,-2.02038051e-03, 0.00000000e+00,-2.46981031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.37219611,  4.49861106, -7.37219611, 26.35784637,
       29.04146289,  4.49861106, 29.04146289, 56.22868868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013495096715157515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11343115e-14,  2.05671558e-14,  1.00000000e+00,  8.46015792e-28,
        1.00000000e+00, -2.05671558e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11343115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07457478, -0.10493577,  0.06191955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27298672e-05,-1.26975808e-03,-4.00635120e-04,-1.54466009e-03,
  2.04040193e-04,-2.43346754e-03,-5.73541568e-04, 2.57089273e-05,
 -4.13731382e-06,-1.39501362e-03,-1.80517648e-04,-4.21607029e-04,
 -4.54929616e-05,-2.63160846e-05,-1.99301436e-05, 9.53901660e-05,
  3.10311333e-04, 2.38140139e-04,-1.21651578e+00, 1.54011863e-03,
  6.48329637e-04, 4.21233472e-04]


--- Step 1191 ---
qpos:
[-0.00564757, 0.80151887,-0.01521028, 0.75406055, 0.00436546, 0.76588347,
 -0.02846482, 0.66635016, 0.0158917 , 0.84225995,-0.01999929, 0.71082801,
  1.25177652,-0.00190022, 1.00050913, 0.06436576,-0.00603425,-0.09749245,
  0.09224843, 0.54614976,-0.09657072,-0.02311204, 0.83178144]

qacc:
[ 6.58327489e-01,-6.16653240e+01, 2.77126007e+02,-6.56419860e+02,
  1.24183106e+00,-1.88035997e+01, 1.30973670e+01, 7.30855764e+01,
  8.94531298e-03,-3.72639764e+01, 1.29576150e+02,-2.37985328e+02,
 -2.03980428e-01, 8.03499614e-02,-2.70739795e+00, 9.25010559e+00,
  1.49332676e+00, 3.19434192e-02,-5.35872986e+00, 4.47830515e+01,
 -2.38010716e+01, 4.19473407e+00]

qfrc_actuator:
[ 0.00022529, 0.15662081, 0.00773571, 0.16351015,-0.0001732 , 0.15070422,
  0.00902566, 0.15400513,-0.00204412, 0.14621469, 0.00736764, 0.16054503,
  0.0094575 ,-0.00203021, 0.        ,-0.00242736, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.68811453,  5.46405535, -6.68811453, 32.24331528,
       28.89538739,  5.46405535, 28.89538739, 44.00490361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012448318698937144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.68899382e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.68899382e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07478377, -0.10496118,  0.06192533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13413273e-04,-1.03362277e-03,-3.81171127e-04,-1.65939577e-03,
  1.98911655e-04,-2.56093156e-03,-5.54710676e-04, 1.51521000e-04,
  8.85124335e-08,-1.64143907e-03,-3.32055789e-04,-5.58632143e-04,
 -6.51681332e-05,-2.57927853e-05,-1.84338720e-06, 4.44363749e-05,
  3.52190077e-04, 2.48095593e-04,-1.21652785e+00, 1.55098025e-03,
  6.63170033e-04, 4.06475853e-04]


--- Step 1192 ---
qpos:
[-0.0056897 , 0.80413101,-0.01522624, 0.7572514 , 0.00436197, 0.76840111,
 -0.02844437, 0.66938516, 0.01589842, 0.84464921,-0.0200272 , 0.71398522,
  1.25204389,-0.00191062, 1.0007422 , 0.06436578,-0.00594586,-0.09740738,
  0.0921114 , 0.54589566,-0.095772  ,-0.02161165, 0.83208088]

qacc:
[ 2.38797534e-01,-7.62252069e+01, 3.35256917e+02,-7.66492774e+02,
  9.58123930e-01,-2.48497061e+01, 6.22030761e+01,-8.35090624e+01,
 -8.80407356e-02,-2.84041934e+01, 1.07222477e+02,-2.29199639e+02,
  1.51503631e-01,-7.70923335e-01, 1.62145845e+00,-5.58631883e+00,
  1.49478579e+00, 2.54169347e-02,-5.32805351e+00, 4.54022952e+01,
 -2.40120469e+01, 4.34682983e+00]

qfrc_actuator:
[ 2.18412930e-04, 1.56261878e-01, 7.75285907e-03, 1.61705702e-01,
 -1.07227707e-04, 1.50045323e-01, 9.03043837e-03, 1.53866451e-01,
 -2.06622237e-03, 1.45943698e-01, 7.37680271e-03, 1.60035139e-01,
  9.42825359e-03,-2.06762234e-03, 0.00000000e+00,-2.45587447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.00093011,  6.21092704, -6.00093011, 35.7955134 ,
       26.24087493,  6.21092704, 26.24087493, 33.99001142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011468384824060707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84036349e-14,  4.84036349e-14,  1.00000000e+00,  2.34291187e-27,
        1.00000000e+00, -4.84036349e-14, -1.00000000e+00,  0.00000000e+00,
       -4.84036349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07497961, -0.1049851 ,  0.06193076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.00338276e-05,-1.13038946e-03,-3.04530050e-04,-1.88926429e-03,
  1.54142606e-04,-2.25499345e-03,-5.91698837e-04,-2.49008522e-04,
 -1.74157897e-05,-1.32548430e-03,-3.92829439e-04,-5.91556295e-04,
 -7.27767187e-05,-5.79063910e-05,-6.18538977e-07,-2.73596943e-05,
  3.97146755e-04, 2.58138498e-04,-1.21654118e+00, 1.56237768e-03,
  6.78846287e-04, 3.88714215e-04]


--- Step 1193 ---
qpos:
[-0.00573194, 0.80673296,-0.01524063, 0.76040532, 0.00435967, 0.77090372,
 -0.02842596, 0.67241156, 0.01590531, 0.84703147,-0.02005489, 0.71713103,
  1.25231078,-0.00192138, 1.0009751 , 0.06436646,-0.00585151,-0.09732224,
  0.09195317, 0.5456401 ,-0.09488264,-0.02006019, 0.83238918]

qacc:
[-4.46596899e-02,-8.48036100e+01, 3.61459599e+02,-8.00325428e+02,
  6.72351950e-01,-2.98826120e+01, 9.99113657e+01,-1.98104212e+02,
  9.02095425e-02,-3.05941516e+01, 1.21858079e+02,-2.58291076e+02,
 -4.52434470e-02,-3.66054215e-01,-2.23273321e+00, 7.44278938e+00,
  1.49250969e+00, 1.87369259e-02,-5.30053492e+00, 4.60070117e+01,
 -2.42144285e+01, 4.49193719e+00]

qfrc_actuator:
[ 1.95376421e-04, 1.55645281e-01, 7.78709451e-03, 1.59847602e-01,
 -6.72669684e-05, 1.49487773e-01, 8.99033875e-03, 1.53440826e-01,
 -2.04656377e-03, 1.45896422e-01, 7.50072967e-03, 1.59484453e-01,
  9.40109843e-03,-2.08556859e-03, 0.00000000e+00,-2.41942541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.3584179 ,  6.7730447 , -5.3584179 , 37.17717813,
       22.57974341,  6.7730447 , 22.57974341, 26.50007291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010551661908217852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63044588e-14,  2.63044588e-14,  1.00000000e+00,  6.91924554e-28,
        1.00000000e+00, -2.63044588e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63044588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07516306, -0.10500759,  0.06193584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00653186e-05,-1.43399676e-03,-3.04728138e-04,-1.94877140e-03,
  1.08442189e-04,-2.00503940e-03,-5.91946638e-04,-5.34346223e-04,
  1.59380570e-05,-9.38976665e-04,-2.22701622e-04,-6.23629121e-04,
 -8.26796032e-05,-4.73084171e-05,-8.36329782e-06, 3.36781961e-05,
  4.45259059e-04, 2.68269098e-04,-1.21655584e+00, 1.57433833e-03,
  6.95382735e-04, 3.67859497e-04]


--- Step 1194 ---
qpos:
[-0.00577406, 0.80932407,-0.01525487, 0.7635281 , 0.00435817, 0.77339074,
 -0.02840932, 0.67543451, 0.01591279, 0.84940416,-0.02008112, 0.72027115,
  1.25257712,-0.0019323 , 1.0012082 , 0.06436521,-0.0057512 ,-0.09723704,
  0.09177383, 0.54538277,-0.09390164,-0.01845685, 0.8327061 ]

qacc:
[ 7.08490067e-02,-7.12282705e+01, 2.99725057e+02,-6.67157248e+02,
  4.49906731e-01,-2.19163752e+01, 5.71021574e+01,-8.76227966e+01,
  3.08848700e-01,-2.69420245e+01, 8.96302725e+01,-1.51671098e+02,
 -4.06046059e-01, 3.06289120e-01, 6.15661409e+00,-2.10614924e+01,
  1.48635481e+00, 1.18732825e-02,-5.27640620e+00, 4.65949006e+01,
 -2.44069529e+01, 4.62966251e+00]

qfrc_actuator:
[ 2.16264253e-04, 1.55110541e-01, 7.79470404e-03, 1.58292208e-01,
 -4.30908076e-05, 1.48764799e-01, 8.92462445e-03, 1.53276005e-01,
 -2.00212001e-03, 1.45345421e-01, 7.55052065e-03, 1.59198496e-01,
  9.37522343e-03,-2.09182466e-03, 0.00000000e+00,-2.52249113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.61944271, -4.77311618,  7.17719685, -4.77311618, 36.85248243,
       18.77607392,  7.17719685, 18.77607392, 21.10626508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009694649951798515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.72595726e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.72595726e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07533481, -0.10502872,  0.0619406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05655722e-05,-1.52223156e-03,-3.93479339e-04,-1.65765969e-03,
  7.24329435e-05,-2.04134116e-03,-5.76141808e-04,-2.70369336e-04,
  5.67813176e-05,-1.19440054e-03,-2.00130212e-04,-3.40410282e-04,
 -8.45699460e-05,-3.55893656e-05,-4.58053984e-06,-1.03295511e-04,
  4.96599959e-04, 2.78487730e-04,-1.21657192e+00, 1.58688778e-03,
  7.12802214e-04, 3.43825508e-04]


--- Step 1195 ---
qpos:
[-0.00581606, 0.81190462,-0.01527003, 0.76662869, 0.004357  , 0.77586328,
 -0.02839525, 0.67845603, 0.01592066, 0.85176549,-0.02010709, 0.72340818,
  1.25284293,-0.00194327, 1.00144146, 0.06436105,-0.005645  ,-0.09715183,
  0.09157346, 0.54512335,-0.0928281 ,-0.01680084, 0.83303134]

qacc:
[ 7.00334644e-02,-5.16505229e+01, 2.11611953e+02,-4.70845909e+02,
  1.83521993e-01,-1.46231378e+01, 2.87364517e+01,-3.46510616e+01,
  2.05529082e-01,-2.12391114e+01, 6.04033914e+01,-8.85766903e+01,
 -5.21785731e-01, 5.72460990e-01, 9.02429351e+00,-3.11760097e+01,
  1.47559079e+00, 4.79288385e-03,-5.25752041e+00, 4.71470324e+01,
 -2.45794971e+01, 4.75789191e+00]

qfrc_actuator:
[ 2.27823322e-04, 1.54682887e-01, 7.78711416e-03, 1.57193693e-01,
 -4.62197693e-05, 1.48179946e-01, 8.84410008e-03, 1.53212676e-01,
 -1.99655148e-03, 1.44675075e-01, 7.51899363e-03, 1.59034723e-01,
  9.35546568e-03,-2.09111570e-03, 0.00000000e+00,-2.67143121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.41926801, -4.1712369 ,  7.31333416, -4.1712369 , 34.35441952,
       14.79238589,  7.31333416, 14.79238589, 16.85626057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008893999327676261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24141617e-14,  1.24828323e-13,  1.00000000e+00, -7.79105516e-27,
        1.00000000e+00, -1.24828323e-13, -1.00000000e+00,  0.00000000e+00,
        6.24141617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07549553, -0.10504856,  0.06194506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08827661e-05,-1.47096259e-03,-4.27126116e-04,-1.19999361e-03,
  2.90897825e-05,-1.90971636e-03,-5.87494051e-04,-1.63808434e-04,
  3.75557498e-05,-1.44046994e-03,-3.20638350e-04,-2.20219069e-04,
 -7.70299528e-05,-2.63379712e-05,-1.90639334e-05,-1.56537086e-04,
  5.51235001e-04, 2.88794398e-04,-1.21658953e+00, 1.60004900e-03,
  7.31125177e-04, 3.16530275e-04]


--- Step 1196 ---
qpos:
[-0.005858  , 0.81447627,-0.01528616, 0.76970838, 0.00435556, 0.77832785,
 -0.02838554, 0.68147577, 0.01592859, 0.85411943,-0.02013448, 0.72653889,
  1.25310817,-0.00195416, 1.00167409, 0.06435913,-0.00553295,-0.09706662,
  0.09135212, 0.54486149,-0.09166114,-0.0150914 , 0.83336453]

qacc:
[ 3.80191781e-02,-4.69757829e+01, 1.95187657e+02,-4.39642447e+02,
 -1.44791660e-01,-1.85416594e+00,-2.21803781e+00,-1.42121208e+01,
  2.93405862e-02,-1.73578924e+01, 6.28009358e+01,-1.35312687e+02,
 -3.49492073e-01, 3.76446160e-01,-7.65534533e+00, 2.55017105e+01,
  1.46042023e+00,-2.53067304e-03,-5.24312672e+00, 4.76705833e+01,
 -2.47359321e+01, 4.87716973e+00]

qfrc_actuator:
[ 2.33735726e-04, 1.54430061e-01, 7.80693359e-03, 1.56159792e-01,
 -8.33278227e-05, 1.48286660e-01, 8.80945835e-03, 1.53156364e-01,
 -2.01434511e-03, 1.44595589e-01, 7.54582354e-03, 1.58730904e-01,
  9.32874414e-03,-2.08626938e-03, 0.00000000e+00,-2.54435654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.05197938, -3.58798844,  7.20837783, -3.58798844, 31.37285058,
       11.60802309,  7.20837783, 11.60802309, 13.82990246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008146646905294805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.81398763e-14,  1.02209814e-13,  1.00000000e+00, -6.96456411e-27,
        1.00000000e+00, -1.02209814e-13, -1.00000000e+00,  0.00000000e+00,
        6.81398763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0756458 , -0.10506715,  0.06194924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44105513e-06,-1.25767345e-03,-3.78633566e-04,-1.12440530e-03,
 -2.42864292e-05,-1.14258381e-03,-5.12701780e-04,-1.49878763e-04,
  4.88369326e-06,-1.00568869e-03,-3.21639272e-04,-3.69956446e-04,
 -7.77623697e-05,-1.82402174e-05,-3.11231823e-05, 1.14777054e-04,
  6.09200101e-04, 2.99185245e-04,-1.21660874e+00, 1.61383665e-03,
  7.50362550e-04, 2.85907803e-04]


--- Step 1197 ---
qpos:
[-0.00590032, 0.81703962,-0.01530237, 0.7727592 , 0.00435319, 0.78078825,
 -0.02837854, 0.68449874, 0.01593644, 0.85646923,-0.0201641 , 0.72966511,
  1.25337297,-0.00196522, 1.00190646, 0.06435902,-0.00541514,-0.09698146,
  0.09110985, 0.54459686,-0.09039994,-0.01332779, 0.83370527]

qacc:
[-1.91878805e-01,-6.30333232e+01, 2.69808939e+02,-6.10001054e+02,
 -5.15842541e-01, 7.77762706e+00,-4.24499035e+01, 8.72015644e+01,
 -3.55442067e-02,-7.51526470e+00, 3.02890350e+01,-8.29536440e+01,
 -8.73125913e-02,-1.61119198e-01,-5.84312437e+00, 1.98785211e+01,
  1.44116823e+00,-1.01225937e-02,-5.23213581e+00, 4.81762451e+01,
 -2.48819662e+01, 4.98846466e+00]

qfrc_actuator:
[ 2.00765674e-04, 1.54107179e-01, 7.82586074e-03, 1.54710668e-01,
 -1.58118982e-04, 1.48505811e-01, 8.84065817e-03, 1.53353711e-01,
 -2.02822182e-03, 1.44675912e-01, 7.53822299e-03, 1.58525057e-01,
  9.30851943e-03,-2.09680511e-03, 0.00000000e+00,-2.45093530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.58997962, -3.05998254,  6.9458115 , -3.05998254, 28.5363109 ,
        9.22792219,  6.9458115 ,  9.22792219, 11.65534776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007449764149782059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.45139713e-14,  7.45139713e-14,  1.00000000e+00, -5.55233192e-27,
        1.00000000e+00, -7.45139713e-14, -1.00000000e+00,  0.00000000e+00,
        7.45139713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07578618, -0.10508456,  0.06195315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59093520e-05,-1.19636274e-03,-3.28640044e-04,-1.52901071e-03,
 -8.59026375e-05,-5.87335372e-04,-2.83082946e-04, 1.34421224e-04,
 -6.96680467e-06,-6.09369369e-04,-2.73705900e-04,-2.59845203e-04,
 -6.93790989e-05,-3.21975228e-05,-4.51605676e-06, 9.51496972e-05,
  6.70530452e-04, 3.09658181e-04,-1.21662967e+00, 1.62826475e-03,
  7.70525486e-04, 2.51895372e-04]


--- Step 1198 ---
qpos:
[-0.00594365, 0.81959624,-0.01531899, 0.77577463, 0.00434915, 0.78324628,
 -0.02837327, 0.68753099, 0.01594401, 0.85881382,-0.02019489, 0.73279187,
  1.25363743,-0.00197666, 1.00213941, 0.06435465,-0.00529165,-0.09689637,
  0.09084668, 0.54432908,-0.08904367,-0.01150929, 0.83405313]

qacc:
[-5.25574799e-01,-7.18604181e+01, 3.17928942e+02,-7.36937076e+02,
 -9.17544562e-01, 1.83681925e+01,-9.20751633e+01, 2.12506853e+02,
 -1.45126947e-01,-2.74036524e+00,-9.95743731e-01, 1.18646450e+01,
 -2.24926552e-01,-3.93283048e-02, 1.37155657e+01,-4.67225637e+01,
  1.41801794e+00,-1.80084474e-02,-5.22385107e+00, 4.86707775e+01,
 -2.50211739e+01, 5.09238262e+00]

qfrc_actuator:
[ 1.27126317e-04, 1.53904982e-01, 7.84375232e-03, 1.52939992e-01,
 -2.72494231e-04, 1.48649794e-01, 8.85821097e-03, 1.53840972e-01,
 -2.05739939e-03, 1.44443513e-01, 7.49358926e-03, 1.58556206e-01,
  9.29220167e-03,-2.11634846e-03, 0.00000000e+00,-2.67996408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.09157521, -2.60172901,  6.59707853, -2.60172901, 25.94469437,
        7.43521648,  6.59707853,  7.43521648, 10.02384565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006800680351052857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22438819e-13,  8.16258791e-14,  1.00000000e+00,  9.99417621e-27,
        1.00000000e+00, -8.16258791e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22438819e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07591715, -0.10510083,  0.06195681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.59564301e-05,-1.04520748e-03,-3.24072157e-04,-1.85572458e-03,
 -1.53306330e-04,-2.96569065e-04,-1.48622569e-04, 4.57978844e-04,
 -2.79948469e-05,-6.87900355e-04,-2.22084812e-04,-4.90160133e-06,
 -6.36683176e-05,-4.24886116e-05, 4.20045184e-06,-2.25296885e-04,
  7.35267181e-04, 3.20213482e-04,-1.21665240e+00, 1.64334815e-03,
  7.91627282e-04, 2.14428703e-04]


--- Step 1199 ---
qpos:
[-0.00598872, 0.82214626,-0.01533535, 0.77875188, 0.00434267, 0.78570345,
 -0.02836925, 0.69057356, 0.01595109, 0.86115217,-0.02022535, 0.73591919,
  1.25390155,-0.00198876, 1.00237215, 0.06434926,-0.00515823,-0.0968145 ,
  0.09057059, 0.54405717,-0.0875309 ,-0.00966284, 0.83441403]

qacc:
[-9.08772067e-01,-7.84949318e+01, 3.46946503e+02,-7.98410443e+02,
 -1.33683952e+00, 2.09528749e+01,-1.01089630e+02, 2.33466957e+02,
 -2.43641878e-01,-8.02799670e+00, 1.48623133e+01,-1.98183434e+00,
  2.30745592e-01,-9.68051350e-01, 2.74564417e+00,-1.01183718e+01,
  2.48445417e+00,-8.04828930e-01,-3.23273813e+00, 5.41429513e+01,
 -5.82652180e+01, 5.61928387e+00]

qfrc_actuator:
[ 1.21158791e-05, 1.53652696e-01, 7.87912837e-03, 1.51029940e-01,
 -4.27265267e-04, 1.48801795e-01, 8.86766626e-03, 1.54370583e-01,
 -2.09551446e-03, 1.44150489e-01, 7.51532665e-03, 1.58584314e-01,
  9.26225703e-03,-2.15878714e-03, 0.00000000e+00,-2.72431570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.66087361,  -2.63811598,  -6.11617374,  -2.63811598,
        43.61498188, -15.93957723,  -6.11617374, -15.93957723,
        13.5361612 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006274177321139718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.76951171e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.76951171e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0691888 , -0.08682195,  0.06195974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65591657e-04,-1.02128554e-03,-2.85961915e-04,-1.99693045e-03,
 -2.24322441e-04,-8.75601428e-05,-7.18430640e-05, 5.22186234e-04,
 -4.72031497e-05,-7.72316431e-04,-1.57025226e-04,-3.37681484e-06,
 -7.69634580e-05,-6.60677294e-05,-2.94114644e-05,-5.78114733e-05,
  8.03454495e-04, 3.30852820e-04,-1.21667706e+00, 1.65910174e-03,
  8.13682229e-04, 1.73442019e-04]


--- Step 1200 ---
qpos:
[-0.00603537, 0.82468444,-0.01534944, 0.78169179, 0.00433355, 0.78815876,
 -0.02836485, 0.69362398, 0.01595755, 0.86348409,-0.0202552 , 0.73904082,
  1.25416534,-0.00200159, 1.00260404, 0.06434868,-0.00501576,-0.09673566,
  0.09028041, 0.54378087,-0.0858665 ,-0.00778893, 0.83478658]

qacc:
[-8.21458973e-01,-8.92953885e+01, 3.71653222e+02,-8.06385686e+02,
 -1.44562777e+00, 1.07456362e+01,-6.13899409e+01, 1.63224839e+02,
 -3.17242858e-01,-2.04485473e+01, 7.27662487e+01,-1.36949381e+02,
  6.27745060e-01,-1.62422120e+00,-1.58614099e+01, 5.35178989e+01,
  2.26170077e+00,-7.57388525e-01,-3.52018630e+00, 5.25662613e+01,
 -5.63224903e+01, 5.46573357e+00]

qfrc_actuator:
[-5.55725536e-05, 1.52787064e-01, 7.88898765e-03, 1.49141979e-01,
 -5.69331905e-04, 1.48727270e-01, 8.89023059e-03, 1.54761067e-01,
 -2.13868228e-03, 1.43841944e-01, 7.54036346e-03, 1.58290794e-01,
  9.24545174e-03,-2.19675958e-03, 0.00000000e+00,-2.46411626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([6.59009813, 0.81093323, 6.54001381, 0.81093323, 5.68955651,
       0.11166324, 6.54001381, 0.11166324, 6.57625237, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006189021650599702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79385869e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79385869e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06919865, -0.08681745,  0.06195991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51210862e-04,-1.61809502e-03,-3.06415480e-04,-1.97585634e-03,
 -2.44037738e-04,-1.79817542e-04,-5.49244263e-06, 3.94504509e-04,
 -6.16771064e-05,-8.21283825e-04,-1.62703230e-04,-3.25755524e-04,
 -7.69870465e-05,-6.99513148e-05,-2.36000179e-05, 2.52369083e-04,
  8.86392248e-04, 3.20228991e-04,-1.21671101e+00, 1.69816170e-03,
  8.40892400e-04, 7.87470691e-05]


--- Step 1201 ---
qpos:
[-0.00608229, 0.82720597,-0.01536112, 0.78459669, 0.00432217, 0.7906094 ,
 -0.0283589 , 0.69667627, 0.01596365, 0.86580739,-0.02028425, 0.74215594,
  1.25442856,-0.00201429, 1.00283614, 0.06434782,-0.00486501,-0.09665969,
  0.08997516, 0.54349993,-0.0840546 ,-0.00588795, 0.83516944]

qacc:
[-1.32139176e-01,-9.17739193e+01, 3.65582464e+02,-7.66748813e+02,
 -1.22912209e+00,-6.97839843e+00, 1.02683335e+01, 1.81020436e+01,
 -1.81515018e-01,-2.53226311e+01, 8.74754552e+01,-1.59556031e+02,
 -5.55583863e-01, 7.28666467e-01, 1.23438682e+00,-3.75550876e+00,
  2.06995984e+00,-7.17736263e-01,-3.76752421e+00, 5.12476904e+01,
 -5.46639728e+01, 5.33128703e+00]

qfrc_actuator:
[-5.56470121e-06, 1.51667823e-01, 7.89918658e-03, 1.47370480e-01,
 -6.67086801e-04, 1.48340640e-01, 8.90178484e-03, 1.54835633e-01,
 -2.14903729e-03, 1.43295983e-01, 7.53144953e-03, 1.57952357e-01,
  9.23121606e-03,-2.17847328e-03, 0.00000000e+00,-2.48818330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([6.46461945, 0.73769707, 6.42239111, 0.73769707, 6.01819739,
       0.05127751, 6.42239111, 0.05127751, 6.45872954, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006038474133358701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59645516e-14,  1.83858207e-13,  1.00000000e+00,  8.45096003e-27,
        1.00000000e+00, -1.83858207e-13, -1.00000000e+00,  0.00000000e+00,
       -4.59645516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06921984, -0.08681158,  0.06196049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69338332e-05,-2.20568971e-03,-4.26255040e-04,-1.87962306e-03,
 -2.08971046e-04,-5.34344392e-04,-3.11582410e-05, 7.46979817e-05,
 -3.60007076e-05,-1.09817081e-03,-2.17159901e-04,-3.79498186e-04,
 -7.46534275e-05,-1.49045674e-05, 1.48767524e-05,-1.35746936e-05,
  9.70013495e-04, 3.08822232e-04,-1.21674735e+00, 1.73759501e-03,
  8.68362517e-04,-2.10256518e-05]


--- Step 1202 ---
qpos:
[-0.00612852, 0.82970737,-0.01537102, 0.78746989, 0.00430918, 0.79305203,
 -0.02835112, 0.69972019, 0.01596934, 0.86811892,-0.02031096, 0.74526337,
  1.25469108,-0.00202644, 1.00306871, 0.06434335,-0.00470665,-0.09658645,
  0.08965399, 0.54321403,-0.08209866,-0.00396015, 0.83556128]

qacc:
[ 3.79810264e-01,-8.86052020e+01, 3.40650450e+02,-6.98699727e+02,
 -8.63799877e-01,-3.06389503e+01, 1.12768271e+02,-2.11286124e+02,
 -1.95867051e-01,-3.57795218e+01, 1.20116544e+02,-2.02746434e+02,
 -1.19239626e+00, 1.98243324e+00, 1.16555535e+01,-3.95996782e+01,
  1.90278831e+00,-6.84477824e-01,-3.98085988e+00, 5.01547881e+01,
 -5.32533739e+01, 5.21344948e+00]

qfrc_actuator:
[ 7.88825117e-05, 1.50459231e-01, 7.90852713e-03, 1.45770208e-01,
 -7.19829240e-04, 1.47699296e-01, 8.88765709e-03, 1.54386195e-01,
 -2.17522216e-03, 1.42559090e-01, 7.59050372e-03, 1.57554568e-01,
  9.20257800e-03,-2.14473773e-03, 0.00000000e+00,-2.67963228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29620842,  0.66245447,  6.26126142,  0.66245447,  6.36802558,
       -0.0075984 ,  6.26126142, -0.0075984 ,  6.29701235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005836762405809354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75530331e-14,  9.51060663e-14,  1.00000000e+00,  4.52258192e-27,
        1.00000000e+00, -9.51060663e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75530331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06925008, -0.08680466,  0.06196139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62446748e-05,-2.64097560e-03,-5.54631153e-04,-1.72964989e-03,
 -1.48261533e-04,-1.00279514e-03,-1.41141554e-04,-4.69675655e-04,
 -3.93998916e-05,-1.45531249e-03,-2.12408035e-04,-4.51250569e-04,
 -7.49689507e-05, 1.34364316e-05,-7.07389088e-07,-1.91675651e-04,
  1.05439702e-03, 2.96693374e-04,-1.21678611e+00, 1.77744377e-03,
  8.96133498e-04,-1.25676336e-04]


--- Step 1203 ---
qpos:
[-0.00617283, 0.83218664,-0.01537999, 0.79031599, 0.00429577, 0.79548487,
 -0.02834263, 0.70275012, 0.01597471, 0.8704183 ,-0.02033561, 0.74835573,
  1.25495281,-0.00203779, 1.00330075, 0.06434064,-0.00454127,-0.09651585,
  0.08931616, 0.54292285,-0.08000159,-0.00200573, 0.83596082]

qacc:
[ 1.01821890e+00,-8.05937622e+01, 2.98940417e+02,-6.00369428e+02,
 -2.27508731e-01,-4.00371618e+01, 1.56795691e+02,-3.24595744e+02,
 -1.60050490e-01,-4.88167606e+01, 1.82405087e+02,-3.55128812e+02,
 -1.12892036e+00, 2.02209739e+00,-6.00631650e+00, 2.01013400e+01,
  1.75494504e+00,-6.56461320e-01,-4.16539002e+00, 4.92589457e+01,
 -5.20587769e+01, 5.10980647e+00]

qfrc_actuator:
[ 0.00023639, 0.14926042, 0.00791702, 0.14440764,-0.00069206, 0.14707009,
  0.00885722, 0.15366736,-0.00219297, 0.14192727, 0.00767071, 0.15678764,
  0.00916533,-0.00210222, 0.        ,-0.00257751, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.09545336,  0.59272898,  6.06656608,  0.59272898,  6.59150078,
       -0.04846592,  6.06656608, -0.04846592,  6.10018868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000559588088269905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96000115e-14,  9.92000230e-14,  1.00000000e+00,  4.92032228e-27,
        1.00000000e+00, -9.92000230e-14, -1.00000000e+00,  0.00000000e+00,
       -4.96000115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0692874 , -0.08679695,  0.06196254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83548033e-04,-2.89232075e-03,-6.51923851e-04,-1.50706156e-03,
 -4.02509188e-05,-1.29276435e-03,-2.81690558e-04,-7.71020017e-04,
 -3.27431203e-05,-1.54974276e-03,-2.64058219e-04,-8.34081031e-04,
 -7.76575515e-05, 2.87394652e-05,-2.79404762e-05, 8.99194919e-05,
  1.13963468e-03, 2.83885878e-04,-1.21682735e+00, 1.81775570e-03,
  9.24247590e-04,-2.35098427e-04]


--- Step 1204 ---
qpos:
[-6.21345114e-03, 8.34643008e-01,-1.53887000e-02, 7.93137883e-01,
  4.28258450e-03, 7.97907718e-01,-2.83344704e-02, 7.05764493e-01,
  1.59798367e-02, 8.72704987e-01,-2.03595902e-02, 7.51435350e-01,
  1.25521382e+00,-2.04826695e-03, 1.00353263e+00, 6.43387870e-02,
 -4.36940367e-03,-9.64477712e-02, 8.89610263e-02, 5.42626064e-01,
 -7.77657700e-02,-2.47699541e-05, 8.36366809e-01]

qacc:
[ 1.93405322e+00,-7.45058391e+01, 2.69893631e+02,-5.35645712e+02,
  1.31930869e-01,-4.03193378e+01, 1.61618369e+02,-3.48997031e+02,
 -1.17512300e-01,-4.15513875e+01, 1.50912180e+02,-2.94671162e+02,
 -1.18339934e+00, 2.17516534e+00,-2.71335463e+00, 9.36525571e+00,
  1.62216072e+00,-6.32734098e-01,-4.32552643e+00, 4.85350183e+01,
 -5.10521954e+01, 5.01805864e+00]

qfrc_actuator:
[ 0.00050723, 0.14811304, 0.00792515, 0.14319579,-0.00065203, 0.14657744,
  0.00883513, 0.1528846 ,-0.00220557, 0.1412748 , 0.00769196, 0.15614698,
  0.00913893,-0.0020549 , 0.        ,-0.00253397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.87201908,  0.53279419,  5.84779774,  0.53279419,  6.66666498,
       -0.07240037,  5.84779774, -0.07240037,  5.87861549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005325909484452246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06933014, -0.08678868,  0.0619639 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52848860e-04,-2.99115706e-03,-7.06182752e-04,-1.36263048e-03,
  2.13865727e-05,-1.35618254e-03,-3.57496392e-04,-8.56161431e-04,
 -2.44067285e-05,-1.64621670e-03,-3.59806888e-04,-7.20943194e-04,
 -6.45063855e-05, 3.61829491e-05,-6.37695941e-06, 4.41801218e-05,
  1.22582399e-03, 2.70429797e-04,-1.21687113e+00, 1.85858087e-03,
  9.52746697e-04,-3.49256353e-04]


--- Step 1205 ---
qpos:
[-0.00624961, 0.83708311,-0.01540092, 0.79593908, 0.00426963, 0.80032549,
 -0.02833005, 0.70878712, 0.01598479, 0.87497834,-0.02038354, 0.75451314,
  1.25547431,-0.0020579 , 1.003765  , 0.06433276,-0.00419153,-0.09638215,
  0.08858803, 0.54232329,-0.07539318, 0.00198269, 0.83677798]

qacc:
[ 2.32886814e+00,-4.91819274e+01, 1.87833571e+02,-4.19799784e+02,
  1.21357920e-01, 1.83963300e+01,-9.30968542e+01, 2.00618754e+02,
 -8.18133389e-02,-2.09168982e+01, 5.23515658e+01,-6.25149963e+01,
 -1.32053633e+00, 2.45542274e+00, 1.34221038e+01,-4.56594851e+01,
  1.50095035e+00,-6.12506906e-01,-4.46501090e+00, 4.79609275e+01,
 -5.02091121e+01, 4.93603960e+00]

qfrc_actuator:
[ 0.00077254, 0.14776949, 0.0079156 , 0.14218881,-0.00064063, 0.14679217,
  0.00883656, 0.15334884,-0.00221504, 0.14065086, 0.0077139 , 0.15606511,
  0.00912971,-0.00200508, 0.        ,-0.00275615, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.63460897,  0.46891644,  5.61506328,  0.46891644,  7.61370362,
       -0.16527508,  5.61506328, -0.16527508,  5.64841116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005035287485603071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51221270e-14,  1.10244254e-13,  1.00000000e+00,  6.07689777e-27,
        1.00000000e+00, -1.10244254e-13, -1.00000000e+00,  0.00000000e+00,
       -5.51221270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06937685, -0.08678004,  0.06196541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.28352491e-04,-2.24703915e-03,-7.44840956e-04,-1.15929709e-03,
  2.10537419e-05,-7.01826093e-04,-3.58090358e-04, 3.84479528e-04,
 -1.72541889e-05,-1.68583395e-03,-3.85744397e-04,-1.65850229e-04,
 -3.78972234e-05, 4.33353110e-05,-2.82576613e-06,-2.21622399e-04,
  1.31306259e-03, 2.56344901e-04,-1.21691757e+00, 1.89996941e-03,
  9.81671141e-04,-4.68168275e-04]


--- Step 1206 ---
qpos:
[-0.0062823 , 0.83951475,-0.01541761, 0.79871984, 0.0042571 , 0.80274275,
 -0.02832946, 0.71182649, 0.01598999, 0.87723798,-0.02040661, 0.75758291,
  1.25573432,-0.0020666 , 1.00399685, 0.06432814,-0.00400811,-0.0963189 ,
  0.08819669, 0.54201416,-0.07288539, 0.00401669, 0.83719307]

qacc:
[ 1.81242304e+00,-3.58042497e+01, 1.55412628e+02,-3.91554626e+02,
  2.22174462e-01, 3.98773658e+01,-1.80744506e+02, 3.90521240e+02,
  1.28486547e-01,-3.49243782e+01, 1.14528528e+02,-1.99151841e+02,
 -1.00839263e+00, 2.05211452e+00,-4.94887271e+00, 1.63666073e+01,
  1.38853805e+00,-5.95148470e-01,-4.58679467e+00, 4.75192011e+01,
 -4.95101393e+01, 4.86192892e+00]

qfrc_actuator:
[ 0.00090801, 0.14796403, 0.00791686, 0.14120442,-0.00061099, 0.14721739,
  0.00882015, 0.15422415,-0.00218709, 0.13997875, 0.00775438, 0.15565584,
  0.00911482,-0.00195409, 0.        ,-0.00267152, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.40170274, -0.67959985, -5.35878125, -0.67959985, 16.64650642,
       -1.42606434, -5.35878125, -1.42606434,  5.58255601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047310487894496045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.86668556e-14,  1.17333711e-13,  1.00000000e+00,  6.88359989e-27,
        1.00000000e+00, -1.17333711e-13, -1.00000000e+00,  0.00000000e+00,
       -5.86668556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06942635, -0.08677117,  0.06196704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35140126e-04,-1.29587429e-03,-5.83865553e-04,-1.10822224e-03,
  3.92373516e-05,-8.20189529e-05,-2.04911693e-04, 8.45927519e-04,
  2.36045944e-05,-1.74098302e-03,-3.60275156e-04,-4.83027328e-04,
 -2.71145861e-05, 5.25722371e-05,-3.20645208e-05, 7.05341541e-05,
  1.40144419e-03, 2.41643149e-04,-1.21696677e+00, 1.94196952e-03,
  1.01105876e-03,-5.91892675e-04]


--- Step 1207 ---
qpos:
[-0.00631425, 0.84193826,-0.01543489, 0.80147346, 0.00424538, 0.80515863,
 -0.02832891, 0.71486703, 0.01599531, 0.87948212,-0.02042804, 0.76063164,
  1.25599422,-0.0020754 , 1.0042285 , 0.06432417,-0.00381955,-0.09625797,
  0.08778658, 0.54169825,-0.07024365, 0.00607731, 0.83761083]

qacc:
[ 3.85940159e-01,-5.79914562e+01, 2.45886110e+02,-5.58573922e+02,
  4.38528555e-01, 4.13125520e-01,-6.95759963e+00, 2.29664889e+01,
  7.44930829e-02,-6.27881604e+01, 2.38162389e+02,-4.78687569e+02,
  4.02786226e-02,-1.88999140e-01,-2.24765645e+00, 7.44000746e+00,
  1.28267378e+00,-5.80143325e-01,-4.69329333e+00, 4.71952381e+01,
 -4.89390865e+01, 4.79411456e+00]

qfrc_actuator:
[ 0.00082275, 0.14771678, 0.00794474, 0.13985104,-0.00055294, 0.14716277,
  0.00881236, 0.15426916,-0.0021903 , 0.13907041, 0.00776961, 0.15457775,
  0.00909656,-0.00197384, 0.        ,-0.00263748, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.19392077, -0.58083551, -5.16134121, -0.58083551, 25.17489559,
       -2.2485744 , -5.16134121, -2.2485744 ,  5.44696582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004419007991815077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.25619033e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.25619033e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0694776 , -0.08676221,  0.06196874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03377715e-05,-1.17541934e-03,-3.47549084e-04,-1.43911453e-03,
  7.61549199e-05,-1.69471518e-04,-3.90903253e-05, 5.26541454e-05,
  1.25373534e-05,-2.01335433e-03,-4.03269765e-04,-1.15976718e-03,
 -2.18854921e-05,-1.37211629e-05,-9.91062920e-06, 3.31681480e-05,
  1.49105935e-03, 2.26329916e-04,-1.21701886e+00, 1.98462805e-03,
  1.04094544e-03,-7.20523140e-04]


--- Step 1208 ---
qpos:
[-0.00634869, 0.844354  ,-0.01545223, 0.80419214, 0.00423465, 0.80756864,
 -0.02832563, 0.71790443, 0.01600071, 0.88170707,-0.02044694, 0.76365547,
  1.25625392,-0.00208453, 1.00446009, 0.06432028,-0.00362627,-0.09619932,
  0.08735731, 0.54137516,-0.06746891, 0.0081647 , 0.83802997]

qacc:
[-1.27998647e+00,-7.29615349e+01, 3.14984008e+02,-7.18805250e+02,
  5.32636023e-01,-2.07687414e+01, 6.82887730e+01,-1.01331830e+02,
  4.42648003e-02,-7.69820211e+01, 2.89035973e+02,-5.71880711e+02,
  1.19154279e-01,-4.94888817e-01,-3.41496632e-01, 1.03021764e+00,
  1.18136551e+00,-5.67018225e-01,-4.78695687e+00, 4.69726593e+01,
 -4.84778727e+01, 4.73070791e+00]

qfrc_actuator:
[ 0.00055315, 0.14738501, 0.00795097, 0.13809587,-0.00049616, 0.1466438 ,
  0.00886075, 0.15409114,-0.00219443, 0.13788559, 0.00780409, 0.15330986,
  0.00907093,-0.00199986, 0.        ,-0.00263362, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([5.01150787, 0.44665228, 4.99156417, 0.44665228, 4.40669393,
       0.05411961, 4.99156417, 0.05411961, 5.00666517, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004103914133075648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76319599e-14,  2.36711860e-13,  1.00000000e+00, -1.60092870e-26,
        1.00000000e+00, -2.36711860e-13, -1.00000000e+00,  0.00000000e+00,
        6.76319599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06952976, -0.08675326,  0.0619705 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40771115e-04,-1.15685377e-03,-3.27749903e-04,-1.83683505e-03,
  9.20241201e-05,-6.77724182e-04,-6.07432639e-06,-1.85404418e-04,
  6.09634816e-06,-2.47290449e-03,-4.64448680e-04,-1.37500159e-03,
 -4.15830169e-05,-3.36853678e-05,-4.79159153e-06, 3.53203965e-06,
  1.58199478e-03, 2.10405167e-04,-1.21707397e+00, 2.02799013e-03,
  1.07136512e-03,-8.54182853e-04]


--- Step 1209 ---
qpos:
[-0.00638698, 0.84676282,-0.01546983, 0.80687133, 0.00422496, 0.80996814,
 -0.02831962, 0.72094037, 0.01600631, 0.88391193,-0.02046424, 0.76665627,
  1.25651305,-0.00209327, 1.00469129, 0.06431912,-0.00342865,-0.09614288,
  0.08690857, 0.54104442,-0.06456189, 0.01027902, 0.83844918]

qacc:
[-1.98456907e+00,-7.94522582e+01, 3.48667909e+02,-8.05943437e+02,
  5.67799396e-01,-2.38821629e+01, 6.62515188e+01,-7.38900273e+01,
  1.14225248e-01,-7.22604311e+01, 2.66678565e+02,-5.25718296e+02,
 -5.81594656e-01, 9.67760245e-01,-8.81201299e+00, 3.00843623e+01,
  1.08295654e+00,-5.55374054e-01,-4.86988668e+00, 4.68368254e+01,
 -4.81103854e+01, 4.66993859e+00]

qfrc_actuator:
[ 0.00030014, 0.1471297 , 0.00796168, 0.13611829,-0.00044064, 0.1458335 ,
  0.00888684, 0.15399619,-0.00218136, 0.13684656, 0.00786633, 0.15215341,
  0.00904088,-0.00197611, 0.        ,-0.00248777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.8531571 ,  0.42595057,  4.8344286 ,  0.42595057,  5.39031036,
       -0.04732736,  4.8344286 , -0.04732736,  4.857327  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003789612990940869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92964751e-13,  2.19723563e-13,  1.00000000e+00,  6.43712588e-26,
        1.00000000e+00, -2.19723563e-13, -1.00000000e+00,  0.00000000e+00,
       -2.92964751e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06958213, -0.0867444 ,  0.0619723 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73745814e-04,-1.07922035e-03,-3.29425672e-04,-2.06678525e-03,
  9.81451285e-05,-1.25325054e-03,-1.33738746e-04,-1.24410825e-04,
  2.00277418e-05,-2.60136058e-03,-5.41916265e-04,-1.28580952e-03,
 -6.19548004e-05, 6.99838959e-06,-6.24363638e-06, 1.44408669e-04,
  1.67432421e-03, 1.93866101e-04,-1.21713227e+00, 2.07209459e-03,
  1.10234709e-03,-9.93008199e-04]


--- Step 1210 ---
qpos:
[-0.00642838, 0.84916292,-0.01548628, 0.80950816, 0.00421672, 0.81235523,
 -0.02831279, 0.7239743 , 0.01601228, 0.88610263,-0.02048312, 0.76963361,
  1.25677168,-0.00210166, 1.00492231, 0.06432037,-0.00322709,-0.09608863,
  0.08644005, 0.54070559,-0.06152309, 0.01242048, 0.83886715]

qacc:
[-1.59070667e+00,-9.07594557e+01, 3.89798068e+02,-8.77327015e+02,
  7.76234760e-01,-2.21334690e+01, 5.86841672e+01,-7.20193415e+01,
  1.94978363e-01,-5.65850572e+01, 2.25209441e+02,-4.95954573e+02,
 -5.18307657e-01, 8.50448623e-01,-7.46071500e+00, 2.58132699e+01,
  9.86068623e-01,-5.44874896e-01,-4.94386819e+00, 4.67747729e+01,
 -4.78223999e+01, 4.61016929e+00]

qfrc_actuator:
[ 0.00018372, 0.14663848, 0.00799306, 0.13399027,-0.00035082, 0.14506842,
  0.00886294, 0.15387963,-0.00215812, 0.13654268, 0.00792739, 0.15100088,
  0.00901888,-0.00195861, 0.        ,-0.00236593, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.71690001,  0.41501298,  4.69860723,  0.41501298,  6.13927083,
       -0.12563348,  4.69860723, -0.12563348,  4.72799682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003479189168089508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59551978e-13,  1.59551978e-13,  1.00000000e+00,  2.54568336e-26,
        1.00000000e+00, -1.59551978e-13, -1.00000000e+00,  0.00000000e+00,
       -1.59551978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06963411, -0.08673571,  0.0619741 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01436795e-04,-1.27968756e-03,-3.00455328e-04,-2.21972177e-03,
  1.35301739e-04,-1.55087942e-03,-3.11878547e-04,-1.68949058e-04,
  3.70278234e-05,-1.94908512e-03,-5.74570601e-04,-1.28651092e-03,
 -5.58112918e-05, 4.95159689e-06, 9.10048035e-06, 1.28147949e-04,
  1.76810655e-03, 1.76708317e-04,-1.21719389e+00, 2.11697301e-03,
  1.13391562e-03,-1.13714264e-03]


--- Step 1211 ---
qpos:
[-0.00647149, 0.85154981,-0.01550027, 0.81210107, 0.00421051, 0.81472814,
 -0.02830525, 0.72700033, 0.01601896, 0.88828612,-0.02050508, 0.77257818,
  1.25702993,-0.00211005, 1.00515385, 0.06431871,-0.00302198,-0.09603651,
  0.0859515 , 0.54035819,-0.05835283, 0.01458933, 0.83928251]

qacc:
[-8.66194522e-01,-1.02986291e+02, 4.26288223e+02,-9.25926345e+02,
  1.08521951e+00,-3.47537411e+01, 1.13904356e+02,-1.98837273e+02,
  3.52589822e-01,-6.00240434e+01, 2.71759131e+02,-6.61003915e+02,
 -4.74187755e-01, 5.93295821e-01, 9.57170623e+00,-3.22931679e+01,
  8.89553814e-01,-5.35238370e-01,-5.01040587e+00, 4.67750909e+01,
 -4.76014361e+01, 4.54990071e+00]

qfrc_actuator:
[ 0.0001678 , 0.14572624, 0.00801778, 0.13177291,-0.00022349, 0.14424782,
  0.00884538, 0.15346722,-0.00211129, 0.13666424, 0.00793701, 0.14938105,
  0.0089964 ,-0.00196271, 0.        ,-0.00252556, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.60052004,  0.41162859,  4.58206793,  0.41162859,  6.68546374,
       -0.18730024,  4.58206793, -0.18730024,  4.6173461 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031750895722380823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64895859e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.64895859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06968525, -0.08672725,  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:
[-1.66361062e-04,-1.81077507e-03,-3.48005365e-04,-2.31813958e-03,
  1.90206885e-04,-1.80862617e-03,-3.87264232e-04,-4.81752038e-04,
  6.91113600e-05,-1.16726299e-03,-4.99473455e-04,-1.73233603e-03,
 -5.31157781e-05,-1.57468245e-05, 1.35255859e-05,-1.52442004e-04,
  1.86338489e-03, 1.58926710e-04,-1.21725901e+00, 2.16264907e-03,
  1.16608964e-03,-1.28673216e-03]


--- Step 1212 ---
qpos:
[-0.00651519, 0.85391994,-0.01551183, 0.81465038, 0.00420625, 0.81708322,
 -0.02829621, 0.7300203 , 0.01602609, 0.89046479,-0.02052879, 0.77548563,
  1.25728802,-0.00211923, 1.00538605, 0.06431016,-0.00280924,-0.09599084,
  0.08546083, 0.53999827,-0.05496127, 0.01677089, 0.83970225]

qacc:
[-2.94407482e-01,-1.07001338e+02, 4.32597333e+02,-9.24487678e+02,
  1.04868697e+00,-3.83930701e+01, 1.14860705e+02,-1.73027035e+02,
  2.33828924e-01,-6.83123978e+01, 3.14022461e+02,-7.56182234e+02,
  1.03616637e-01,-7.80804904e-01, 2.17648906e+01,-7.47956515e+01,
  1.90373682e+00,-1.61141750e+00,-5.25996685e-01, 6.47302136e+01,
 -8.94657508e+01, 8.42126881e+00]

qfrc_actuator:
[ 1.94263301e-04, 1.44675879e-01, 8.05448191e-03, 1.29573694e-01,
 -1.28066002e-04, 1.43169861e-01, 8.84915078e-03, 1.53150263e-01,
 -2.10403557e-03, 1.36666979e-01, 7.93566640e-03, 1.47535027e-01,
  8.97363230e-03,-2.01507387e-03, 0.00000000e+00,-2.88521336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003569246236705681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.77631292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.77631292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05524317, -0.08023671,  0.06197245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.89257551e-05,-2.25564159e-03,-4.49682788e-04,-2.32113187e-03,
  1.84069764e-04,-2.23502220e-03,-4.36040488e-04,-4.04392464e-04,
  4.55852125e-05,-8.51987855e-04,-3.59592627e-04,-1.93920218e-03,
 -5.72011961e-05,-6.77616062e-05,-1.71699871e-05,-3.67897737e-04,
  1.96018581e-03, 1.40516163e-04,-1.21732779e+00, 2.20913815e-03,
  1.19888270e-03,-1.44192190e-03]


--- Step 1213 ---
qpos:
[-0.00655743, 0.85627282,-0.0155219 , 0.81715499, 0.00420351, 0.81941664,
 -0.02828581, 0.73304239, 0.01603332, 0.89263773,-0.02055303, 0.77836079,
  1.25754601,-0.00212975, 1.00561748, 0.0643027 ,-0.00259009,-0.09595096,
  0.08496552, 0.53962583,-0.05136105, 0.01896493, 0.84012281]

qacc:
[ 7.64418487e-01,-1.06969560e+02, 4.33888791e+02,-9.37524496e+02,
  8.19062750e-01,-2.83524363e+01, 5.27542854e+01,-6.05930680e+00,
  5.66998108e-02,-6.40909846e+01, 2.85796222e+02,-6.67653510e+02,
  1.08550889e+00,-2.67886706e+00,-4.55974016e+00, 1.40827330e+01,
  1.60476697e+00,-1.44593131e+00,-1.16322779e+00, 6.12342195e+01,
 -8.41580902e+01, 7.56655931e+00]

qfrc_actuator:
[ 3.70006046e-04, 1.43800023e-01, 8.11517303e-03, 1.27331620e-01,
 -7.02811926e-05, 1.41893542e-01, 8.84689585e-03, 1.53246959e-01,
 -2.12055931e-03, 1.36421389e-01, 7.92764254e-03, 1.45925802e-01,
  8.95068940e-03,-2.09560214e-03, 0.00000000e+00,-2.80940369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.05111655,  2.13098302,  4.57959493,  2.13098302,  5.31531316,
       -0.12293631,  4.57959493, -0.12293631,  5.10832143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004176166104605944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64618574e-14, -9.96927861e-14,  1.00000000e+00, -6.62576774e-27,
        1.00000000e+00,  9.96927861e-14, -1.00000000e+00,  0.00000000e+00,
       -6.64618574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05509232, -0.08026796,  0.06196721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42265675e-04,-2.34745533e-03,-5.25504463e-04,-2.38174536e-03,
  1.43695014e-04,-2.67663381e-03,-5.30322781e-04,-5.39743808e-06,
  1.01532392e-05,-9.04073889e-04,-2.93346985e-04,-1.69178770e-03,
 -7.26355964e-05,-1.08142546e-04,-5.44584501e-05, 5.18057996e-05,
  2.10179957e-03, 9.33527083e-05,-1.21743649e+00, 2.30182312e-03,
  1.25141990e-03,-1.71782958e-03]


--- Step 1214 ---
qpos:
[-0.00659559, 0.8586124 ,-0.01553299, 0.8196137 , 0.00420223, 0.82172866,
 -0.02827611, 0.73607121, 0.01604034, 0.89480677,-0.02057803, 0.78120345,
  1.25780332,-0.0021403 , 1.00584818, 0.06429947,-0.00238624,-0.09595523,
  0.08454819, 0.53932613,-0.04762006, 0.02040797, 0.84050174]

qacc:
[ 2.10227146e+00,-9.70980199e+01, 4.10158941e+02,-9.32152157e+02,
  7.78781721e-01,-1.41756145e+01,-6.60127773e+00, 1.09327870e+02,
 -1.02623930e-01,-6.14090235e+01, 2.80054831e+02,-6.65387191e+02,
 -2.34464393e-01, 8.26904253e-02,-1.38130632e+01, 4.67630265e+01,
 -3.82571870e+00,-1.10398003e+01, 1.94970636e+01,-2.75229689e+02,
 -2.61378133e+02,-5.97324641e+01]

qfrc_actuator:
[ 7.04502279e-04, 1.43408863e-01, 8.15472136e-03, 1.25046850e-01,
  7.26670262e-08, 1.40864224e-01, 8.82281968e-03, 1.53586096e-01,
 -2.15118110e-03, 1.36402438e-01, 7.95059282e-03, 1.44308896e-01,
  8.92231587e-03,-2.08564609e-03, 0.00000000e+00,-2.58407331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007195719971635484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71446797e-14,  7.71446797e-14,  1.00000000e+00,  5.95130160e-27,
        1.00000000e+00, -7.71446797e-14, -1.00000000e+00,  0.00000000e+00,
       -7.71446797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03841977, -0.04013119,  0.06194304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98720150e-04,-1.92998338e-03,-5.75186754e-04,-2.43100288e-03,
  1.37439328e-04,-2.67881238e-03,-6.38509225e-04, 2.27514426e-04,
 -2.16154281e-05,-6.84061911e-04,-2.56976801e-04,-1.69361391e-03,
 -9.59134741e-05,-3.05253157e-05,-2.07180614e-05, 2.20894765e-04,
  2.23761394e-03, 4.71600674e-05,-1.21754775e+00, 2.39186946e-03,
  1.30210793e-03,-1.99244523e-03]


--- Step 1215 ---
qpos:
[-0.00662891, 0.86094534,-0.0155476 , 0.82202608, 0.0042019 , 0.82402142,
 -0.02826776, 0.73910588, 0.0160469 , 0.89697302,-0.02060267, 0.78400756,
  1.25805984,-0.00215019, 1.00607911, 0.06429556,-0.0021957 ,-0.09599598,
  0.08419387, 0.53908419,-0.04375218, 0.02120861, 0.8408473 ]

qacc:
[ 2.48208782e+00,-8.22287673e+01, 3.72483466e+02,-9.06330698e+02,
  5.01080843e-01,-1.11607197e+01,-1.05900758e+01, 9.99279677e+01,
 -2.20858845e-01,-7.38180803e+01, 3.38121973e+02,-7.95424928e+02,
 -1.16761455e+00, 1.96715336e+00, 2.48762597e+00,-7.98016149e+00,
 -3.32611282e+00,-9.11807381e+00, 1.57521206e+01,-2.34036694e+02,
 -2.26357237e+02,-4.72780226e+01]

qfrc_actuator:
[ 9.89022881e-04, 1.43560013e-01, 8.14798992e-03, 1.22755550e-01,
  2.41682078e-05, 1.40098038e-01, 8.82266532e-03, 1.53887704e-01,
 -2.18998525e-03, 1.36395678e-01, 8.01032582e-03, 1.42380958e-01,
  8.90139118e-03,-2.03993548e-03, 0.00000000e+00,-2.62763818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.41641452, 4.42533304, 7.41641452, 7.72057334,
       1.53477273, 4.42533304, 1.53477273, 6.0642384 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001377252379157673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.03057218e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.03057218e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03736086, -0.04151747,  0.06189198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73764101e-04,-1.16687684e-03,-5.45664982e-04,-2.42627385e-03,
  8.83836180e-05,-2.42940520e-03,-6.19936738e-04, 1.91863028e-04,
 -4.56561238e-05,-5.42117495e-04,-1.71982237e-04,-1.99600644e-03,
 -8.29503939e-05, 1.68217362e-05, 1.19886409e-05,-3.45919800e-05,
  1.62259405e-03,-2.47373096e-04,-1.21746448e+00, 2.47561371e-03,
  1.10765522e-03,-2.22610823e-03]


--- Step 1216 ---
qpos:
[-0.00666006, 0.86327449,-0.01556445, 0.82439361, 0.00420177, 0.82630025,
 -0.02826261, 0.74214494, 0.0160532 , 0.89913432,-0.02062621, 0.78677107,
  1.25831578,-0.00215956, 1.00631007, 0.06429117,-0.00201675,-0.09606692,
  0.08388938, 0.53888755,-0.03976994, 0.02145711, 0.84116476]

qacc:
[ 1.11135833e+00,-7.93140285e+01, 3.63517903e+02,-8.81067853e+02,
  1.15065362e-01,-1.74612124e+00,-2.92019749e+01, 9.48839204e+01,
 -1.25102556e-01,-8.22831850e+01, 3.67356241e+02,-8.45449077e+02,
 -8.92466828e-01, 1.53037912e+00, 1.53585117e+00,-5.17211734e+00,
 -2.89717090e+00,-7.55049924e+00, 1.24563534e+01,-2.00017289e+02,
 -1.96772088e+02,-3.74809206e+01]

qfrc_actuator:
[ 9.74876650e-04, 1.43680146e-01, 8.15191252e-03, 1.20532380e-01,
  2.69322618e-06, 1.39797927e-01, 8.80228831e-03, 1.54129482e-01,
 -2.19786806e-03, 1.36041617e-01, 8.02030042e-03, 1.40338722e-01,
  8.88497002e-03,-2.00894059e-03, 0.00000000e+00,-2.65180650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.51772047, 4.25095941, 7.51772047, 7.85685157,
       1.37854852, 4.25095941, 1.37854852, 6.19843341, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001879536966758466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95344823e-14,  4.43017234e-14,  1.00000000e+00,  1.30842846e-27,
        1.00000000e+00, -4.43017234e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95344823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03656762, -0.04256541,  0.06185341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12172340e-04,-7.68008825e-04,-3.79892403e-04,-2.33193909e-03,
  1.98638657e-05,-1.82154284e-03,-5.88832863e-04, 1.40822771e-04,
 -2.67787827e-05,-8.03769505e-04,-1.92846807e-04,-2.10950279e-03,
 -6.01022372e-05, 1.58262237e-05,-4.56890860e-06,-2.59598234e-05,
  1.15200966e-03,-3.64522067e-04,-1.21743952e+00, 2.50990637e-03,
  9.70110080e-04,-2.28892035e-03]


--- Step 1217 ---
qpos:
[-0.0066927 , 0.86559818,-0.01558058, 0.82671745, 0.00420161, 0.82857132,
 -0.02826125, 0.7451799 , 0.01605916, 0.90128995,-0.02064964, 0.78949186,
  1.25857123,-0.00216852, 1.00654104, 0.06428584,-0.00184792,-0.09616299,
  0.08362331, 0.53872581,-0.03568442, 0.02122815, 0.84145736]

qacc:
[-7.51834523e-01,-8.73747943e+01, 3.84303113e+02,-8.83901661e+02,
 -1.90167576e-02,-7.28738971e+00, 2.23092914e+01,-6.72367483e+01,
 -1.62196643e-01,-8.43012167e+01, 3.77828493e+02,-8.80189176e+02,
 -7.51845413e-01, 1.27743978e+00, 2.90786410e+00,-1.00178147e+01,
 -2.53143817e+00,-6.27923379e+00, 9.60595962e+00,-1.72024840e+02,
 -1.71961741e+02,-2.97683511e+01]

qfrc_actuator:
[ 7.29012648e-04, 1.43426439e-01, 8.19785484e-03, 1.18349389e-01,
 -1.02698278e-05, 1.39868610e-01, 8.77216913e-03, 1.53943912e-01,
 -2.22271072e-03, 1.35713245e-01, 7.99953454e-03, 1.38192101e-01,
  8.86593533e-03,-1.98691092e-03, 0.00000000e+00,-2.69977188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.60047474, 4.10116576, 7.60047474, 7.96557309,
       1.24314083, 4.10116576, 1.24314083, 6.33251615, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002252450895736252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.46447775e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.46447775e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0359835 , -0.04334415,  0.06182477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46792125e-04,-8.84080526e-04,-2.36387227e-04,-2.27139287e-03,
 -3.81696558e-06,-1.10795316e-03,-4.74672766e-04,-2.65197749e-04,
 -3.43670733e-05,-9.30986853e-04,-2.81439996e-04,-2.22584079e-03,
 -5.00186482e-05, 1.20648114e-05,-1.00590147e-05,-5.11451927e-05,
  7.86623720e-04,-3.65203685e-04,-1.21745375e+00, 2.51740704e-03,
  8.71397712e-04,-2.24215936e-03]


--- Step 1218 ---
qpos:
[-0.00672856, 0.8679126 ,-0.01559463, 0.82899944, 0.00420153, 0.83083716,
 -0.02826232, 0.74820453, 0.01606499, 0.90344004,-0.02067419, 0.79216998,
  1.25882625,-0.00217735, 1.00677207, 0.06427862,-0.00168796,-0.09628003,
  0.08338583, 0.53859029,-0.03150545, 0.02058393, 0.84172692]

qacc:
[-1.62371376e+00,-9.28334940e+01, 3.91364231e+02,-8.64519759e+02,
  4.70397137e-02,-1.86871887e+01, 8.09858757e+01,-2.03541450e+02,
 -5.59306540e-02,-8.06492432e+01, 3.65331601e+02,-8.66904784e+02,
 -5.34954650e-01, 7.42375687e-01, 5.85203805e+00,-2.02406660e+01,
 -2.21799756e+00,-5.24462925e+00, 7.14725953e+00,-1.48823770e+02,
 -1.51041539e+02,-2.36526303e+01]

qfrc_actuator:
[ 4.88931653e-04, 1.42774067e-01, 8.23144175e-03, 1.16242782e-01,
 -2.07557410e-07, 1.39859379e-01, 8.73806942e-03, 1.53437680e-01,
 -2.22204320e-03, 1.35456231e-01, 7.94312001e-03, 1.36054478e-01,
  8.83469249e-03,-1.98811661e-03, 0.00000000e+00,-2.79686749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.6677579 , 3.97394837, 7.6677579 , 8.05385922,
       1.12394586, 3.97394837, 1.12394586, 6.46770317, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0025179222601228526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20464119e-14,  2.20464119e-14,  1.00000000e+00,  4.86044277e-28,
        1.00000000e+00, -2.20464119e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20464119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03556548, -0.04390652,  0.0618041 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16412172e-04,-1.31616477e-03,-2.52946134e-04,-2.19298770e-03,
  8.11963192e-06,-7.82521073e-04,-3.35208647e-04,-5.66118040e-04,
 -1.27210776e-05,-9.51459875e-04,-3.56163672e-04,-2.22639554e-03,
 -5.74371398e-05,-9.60421980e-06,-1.50932983e-05,-1.02320704e-04,
  4.98461226e-04,-2.90453103e-04,-1.21749330e+00, 2.51189149e-03,
  7.99420366e-04,-2.12703526e-03]


--- Step 1219 ---
qpos:
[-0.00676751, 0.87021306,-0.01560697, 0.83124239, 0.00420138, 0.83309752,
 -0.0282643 , 0.75121848, 0.01607113, 0.90558257,-0.02069802, 0.79481004,
  1.25908077,-0.00218608, 1.00700246, 0.06427463,-0.0015358 ,-0.09641467,
  0.08316847, 0.53847367,-0.02724169, 0.01957656, 0.84197432]

qacc:
[-1.55860534e+00,-9.28627790e+01, 3.76836738e+02,-8.12730511e+02,
 -4.02244277e-02,-2.37975105e+01, 9.84440439e+01,-2.24287463e+02,
  1.60638204e-01,-8.00383135e+01, 3.48026461e+02,-7.90980259e+02,
 -2.51336884e-01, 2.77083113e-01,-1.06678297e+01, 3.59645812e+01,
 -1.94872179e+00,-4.39939688e+00, 5.03134675e+00,-1.29479253e+02,
 -1.33329038e+02,-1.87684395e+01]

qfrc_actuator:
[ 3.43401916e-04, 1.41781996e-01, 8.20270129e-03, 1.14268661e-01,
 -1.19446901e-05, 1.39660740e-01, 8.71949946e-03, 1.52906671e-01,
 -2.18839625e-03, 1.35048903e-01, 7.97302773e-03, 1.34152326e-01,
  8.80678995e-03,-1.98537560e-03, 0.00000000e+00,-2.62031719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.72290632, 3.86568167, 7.72290632, 8.1236412 ,
       1.02432319, 3.86568167, 1.02432319, 6.58995818, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002694480910966836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.06017979e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.06017979e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03528023, -0.0442937 ,  0.06178985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05133402e-04,-1.89562475e-03,-4.00092994e-04,-2.07329806e-03,
 -7.97785502e-06,-7.73503978e-04,-2.47568874e-04,-5.81670431e-04,
  3.10824405e-05,-1.12756467e-03,-2.82419674e-04,-1.99386590e-03,
 -6.35651793e-05,-1.21853440e-05,-2.30408472e-05, 1.67843098e-04,
  2.67808518e-04,-1.67776539e-04,-1.21754831e+00, 2.50152591e-03,
  7.46113090e-04,-1.97107300e-03]


--- Step 1220 ---
qpos:
[-0.00680837, 0.87249671,-0.01561801, 0.8334442 , 0.00420092, 0.83535362,
 -0.02826646, 0.75421901, 0.0160773 , 0.90771778,-0.02072046, 0.79741224,
  1.25933475,-0.00219443, 1.00723245, 0.06427439,-0.0013905 ,-0.09656414,
  0.08296397, 0.53836975,-0.02290076, 0.01824985, 0.84219981]

qacc:
[-9.54404384e-01,-9.92331905e+01, 3.97782403e+02,-8.54429856e+02,
 -1.52421908e-01,-2.91018182e+01, 1.25229669e+02,-2.84927967e+02,
  1.54222070e-02,-8.10774585e+01, 3.51037857e+02,-7.90669665e+02,
 -4.87922222e-01, 8.07007646e-01,-1.19015883e+01, 4.08882543e+01,
 -1.71726149e+00,-3.70595070e+00, 3.21442453e+00,-1.13274768e+02,
 -1.18291062e+02,-1.48393778e+01]

qfrc_actuator:
[ 3.09025418e-04, 1.40754255e-01, 8.18936965e-03, 1.12192687e-01,
 -3.66276297e-05, 1.39599344e-01, 8.76296033e-03, 1.52241023e-01,
 -2.20635693e-03, 1.34768660e-01, 8.07107599e-03, 1.32261885e-01,
  8.78623759e-03,-1.96255390e-03, 0.00000000e+00,-2.42595763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.76915218, 3.77187635, 7.76915218, 8.17470586,
       0.95090327, 3.77187635, 0.95090327, 6.6777331 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0027978184389945496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.98408697e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.98408697e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03510157, -0.04453837,  0.06178082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88755864e-04,-2.27717873e-03,-5.12508777e-04,-2.19577600e-03,
 -2.85632017e-05,-6.13866763e-04,-1.73723904e-04,-7.13485474e-04,
  1.45671711e-06,-1.07502984e-03,-2.33166556e-04,-1.98054161e-03,
 -5.98722486e-05, 5.64828877e-06, 5.10979347e-06, 2.00088727e-04,
  8.05457747e-05,-1.56555049e-05,-1.21761187e+00, 2.49104513e-03,
  7.06024918e-04,-1.79262221e-03]


--- Step 1221 ---
qpos:
[-6.85005836e-03, 8.74763002e-01,-1.56285190e-02, 8.35604131e-01,
  4.20035816e-03, 8.37610107e-01,-2.82701816e-02, 7.57197820e-01,
  1.60831946e-02, 9.09849091e-01,-2.07430045e-02, 7.99976471e-01,
  1.25958834e+00,-2.20273954e-03, 1.00746315e+00, 6.42704500e-02,
 -1.25128514e-03,-9.67261409e-02, 8.27661057e-02, 5.38273226e-01,
 -1.84893528e-02, 1.66407598e-02, 8.42403207e-01]

qacc:
[-4.09101929e-01,-9.91555583e+01, 3.98144193e+02,-8.62872824e+02,
 -5.51815988e-02,-3.39801144e+01, 1.70878204e+02,-4.36207796e+02,
 -1.23412982e-01,-7.27387412e+01, 3.28876126e+02,-7.72931957e+02,
 -5.74747772e-01, 7.68930239e-01, 1.22700410e+01,-4.13355314e+01,
 -1.51844884e+00,-3.13434672e+00, 1.65765858e+00,-9.96536754e+01,
 -1.05505346e+02,-1.16542705e+01]

qfrc_actuator:
[ 3.23640294e-04, 1.39873343e-01, 8.20275853e-03, 1.10091050e-01,
 -3.33248054e-05, 1.39940819e-01, 8.79000125e-03, 1.51164300e-01,
 -2.23735990e-03, 1.34833725e-01, 8.15580851e-03, 1.30375747e-01,
  8.76479248e-03,-1.96349601e-03, 0.00000000e+00,-2.63105459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.80925995, 3.68812092, 7.80925995, 8.21078918,
       0.90111512, 3.68812092, 0.90111512, 6.72833449, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0028412409130769145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95376432e-14,  1.95376432e-14,  1.00000000e+00,  3.81719502e-28,
        1.00000000e+00, -1.95376432e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95376432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03500863, -0.04466682,  0.06177601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.28050961e-05,-2.36757359e-03,-5.77825234e-04,-2.23994272e-03,
 -1.03617658e-05,-1.11851119e-04,-1.53572499e-04,-1.11950861e-03,
 -2.65133053e-05,-6.89821965e-04,-2.29645715e-04,-1.97257319e-03,
 -5.41090001e-05,-1.34418867e-05, 2.02486436e-05,-1.94282866e-04,
 -7.35932032e-05, 1.53528012e-04,-1.21767915e+00, 2.48309565e-03,
  6.75421444e-04,-1.60381072e-03]


--- Step 1222 ---
qpos:
[-6.89176136e-03, 8.77012220e-01,-1.56397791e-02, 8.37725240e-01,
  4.19995221e-03, 8.39868240e-01,-2.82742288e-02, 7.60144130e-01,
  1.60889699e-02, 9.11978002e-01,-2.07662211e-02, 8.02506329e-01,
  1.25984155e+00,-2.21100651e-03, 1.00769389e+00, 6.42644535e-02,
 -1.11745750e-03,-9.68987858e-02, 8.25695458e-02, 5.38179560e-01,
 -1.40133177e-02, 1.47805164e-02, 8.42584075e-01]

qacc:
[ 4.86066816e-03,-8.98101154e+01, 3.60148282e+02,-7.90012753e+02,
  8.45424683e-02,-5.48830221e+01, 2.70494896e+02,-6.66551635e+02,
 -5.70033676e-02,-6.27375260e+01, 2.88948756e+02,-6.91622944e+02,
 -4.31892258e-01, 5.56353440e-01, 6.28326689e+00,-2.18339222e+01,
 -1.34794196e+00,-2.66067493e+00, 3.26815001e-01,-8.81775905e+01,
 -9.46327209e+01,-9.05027538e+00]

qfrc_actuator:
[ 3.67337992e-04, 1.39070028e-01, 8.17917498e-03, 1.08151006e-01,
 -1.33006414e-05, 1.40148255e-01, 8.80865383e-03, 1.49535058e-01,
 -2.24041232e-03, 1.34874707e-01, 8.18021781e-03, 1.28667215e-01,
  8.74814363e-03,-1.96076345e-03, 0.00000000e+00,-2.73255702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.84586897, 3.60958682, 7.84586897, 8.23032677,
       0.88256973, 3.60958682, 0.88256973, 6.71799271, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0028360383269641076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.89337104e-15,  1.95734841e-14,  1.00000000e+00,  9.57803204e-29,
        1.00000000e+00, -1.95734841e-14, -1.00000000e+00,  0.00000000e+00,
       -4.89337104e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03498461, -0.04470047,  0.06177462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65981086e-06,-2.35375439e-03,-6.41284098e-04,-2.08414757e-03,
  1.50844319e-05, 2.29084387e-05,-7.20477187e-05,-1.66287579e-03,
 -1.26555012e-05,-4.98745523e-04,-2.12568910e-04,-1.78170660e-03,
 -5.10968624e-05,-1.23977781e-05,-1.93019593e-05,-1.11334367e-04,
 -2.02176780e-04, 3.31560203e-04,-1.21774690e+00, 2.47906935e-03,
  6.51709001e-04,-1.41251058e-03]


--- Step 1223 ---
qpos:
[-6.93290231e-03, 8.79247243e-01,-1.56523880e-02, 8.39809818e-01,
  4.19993087e-03, 8.42128272e-01,-2.82783859e-02, 7.63055541e-01,
  1.60946797e-02, 9.14105922e-01,-2.07916661e-02, 8.05012909e-01,
  1.26009428e+00,-2.21889742e-03, 1.00792403e+00, 6.42609392e-02,
 -9.88437898e-04,-9.70804939e-02, 8.23697533e-02, 5.38084800e-01,
 -9.47773045e-03, 1.26955250e-02, 8.42741802e-01]

qacc:
[ 2.92553037e-01,-8.02677767e+01, 3.27661481e+02,-7.33750419e+02,
  2.03429222e-01,-5.93716096e+01, 2.91761771e+02,-7.16191539e+02,
 -3.05998056e-02,-3.68133271e+01, 1.77703014e+02,-4.51577738e+02,
 -5.02861278e-01, 8.57067876e-01,-8.32537958e+00, 2.79490657e+01,
 -1.20200883e+00,-2.26579876e+00,-8.08177836e-01,-7.84965334e+01,
 -8.53968747e+01,-6.90074306e+00]

qfrc_actuator:
[ 4.27997517e-04, 1.38621736e-01, 8.20548319e-03, 1.06339353e-01,
  1.65349587e-05, 1.40309367e-01, 8.82165944e-03, 1.47789044e-01,
 -2.24447939e-03, 1.34990062e-01, 8.13354372e-03, 1.27520656e-01,
  8.72905870e-03,-1.93809005e-03, 0.00000000e+00,-2.59454897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.88099684, 3.53223239, 7.88099684, 8.23319789,
       0.89952971, 3.53223239, 0.89952971, 6.62936353, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0027917888750886993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97093026e-15, -9.94186053e-15,  1.00000000e+00, -4.94202954e-29,
        1.00000000e+00,  9.94186053e-15, -1.00000000e+00,  0.00000000e+00,
       -4.97093026e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03501589, -0.04465694,  0.06177601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53155114e-05,-1.99770820e-03,-5.90858005e-04,-1.95359859e-03,
  3.70687518e-05, 4.87889971e-05,-5.82430226e-05,-1.78436617e-03,
 -6.68607912e-06,-3.08048521e-04,-2.37575810e-04,-1.20850921e-03,
 -5.18237056e-05, 8.62050780e-06,-2.57202427e-05, 1.28309427e-04,
 -3.10856156e-04, 5.13100022e-04,-1.21781298e+00, 2.47962294e-03,
  6.33060293e-04,-1.22366675e-03]


--- Step 1224 ---
qpos:
[-6.97328163e-03, 8.81474978e-01,-1.56674206e-02, 8.41858629e-01,
  4.20027673e-03, 8.44390225e-01,-2.82826677e-02, 7.65931999e-01,
  1.61003476e-02, 9.16232900e-01,-2.08184493e-02, 8.07504850e-01,
  1.26034656e+00,-2.22645359e-03, 1.00815390e+00, 6.42597179e-02,
 -8.67544281e-04,-9.72716856e-02, 8.21832584e-02, 5.37986802e-01,
 -4.93659527e-03, 1.03322840e-02, 8.42875480e-01]

qacc:
[ 3.89532910e-01,-6.68766848e+01, 2.92621541e+02,-6.96574803e+02,
  1.94019400e-01,-5.93610400e+01, 2.91514846e+02,-7.15721564e+02,
 -1.94456730e-02,-2.37302382e+01, 1.13013866e+02,-2.84607411e+02,
 -4.69930258e-01, 7.89507656e-01,-7.29486620e+00, 2.50098136e+01,
 -2.03149719e+00,-2.37090794e+00, 3.32442492e+00,-1.15616796e+02,
 -7.70650526e+01,-6.38942660e+00]

qfrc_actuator:
[ 4.80512394e-04, 1.38798714e-01, 8.28037880e-03, 1.04582469e-01,
  3.42140904e-05, 1.40459524e-01, 8.83119158e-03, 1.46041627e-01,
 -2.24916427e-03, 1.35060827e-01, 8.11705438e-03, 1.26802698e-01,
  8.70853561e-03,-1.92155527e-03, 0.00000000e+00,-2.47632244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027664565662228885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00328977e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00328977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04030675, -0.05596247,  0.06177605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.54165445e-05,-1.16001487e-03,-4.61639680e-04,-1.88267312e-03,
  3.54547336e-05, 5.09430449e-05,-5.86329240e-05,-1.78709387e-03,
 -4.29404779e-06,-2.31917595e-04,-1.54417989e-04,-7.61475918e-04,
 -4.83510624e-05, 6.82562262e-06,-5.79130964e-07, 1.21392118e-04,
 -4.03901063e-04, 6.94797484e-04,-1.21787605e+00, 2.48500134e-03,
  6.18168072e-04,-1.04020758e-03]


--- Step 1225 ---
qpos:
[-7.01321039e-03, 8.83700631e-01,-1.56849875e-02, 8.43872711e-01,
  4.20072155e-03, 8.46651099e-01,-2.82856868e-02, 7.68772265e-01,
  1.61059819e-02, 9.18358059e-01,-2.08444738e-02, 8.09977069e-01,
  1.26059844e+00,-2.23398082e-03, 1.00838333e+00, 6.42629198e-02,
 -7.53750553e-04,-9.74709294e-02, 8.20039733e-02, 5.37881991e-01,
 -3.88579215e-04, 7.72186973e-03, 8.42984689e-01]

qacc:
[ 2.30617907e-01,-5.78403505e+01, 2.68565860e+02,-6.64959285e+02,
  5.67643769e-02,-6.92296340e+01, 3.22202480e+02,-7.56948300e+02,
 -1.33066164e-02,-3.96253816e+01, 1.76530908e+02,-4.05144599e+02,
 -5.93380433e-02,-4.16856716e-02,-1.39856652e+01, 4.80104571e+01,
 -1.77497242e+00,-2.01301662e+00, 1.80244748e+00,-1.02208046e+02,
 -6.92930951e+01,-4.28483323e+00]

qfrc_actuator:
[ 4.92210799e-04, 1.39136597e-01, 8.31503089e-03, 1.02872296e-01,
  2.67102688e-05, 1.40265027e-01, 8.83869830e-03, 1.44218617e-01,
 -2.25421720e-03, 1.34980919e-01, 8.15418220e-03, 1.25809993e-01,
  8.68183827e-03,-1.92656542e-03, 0.00000000e+00,-2.24650010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3217818 ,  2.30970227,  8.3217818 ,  8.64684858,
       -0.03777692,  2.30970227, -0.03777692,  8.77247265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002779190039401677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.98692972e-15,  3.99477189e-14,  1.00000000e+00, -3.98955061e-28,
        1.00000000e+00, -3.99477189e-14, -1.00000000e+00,  0.00000000e+00,
        9.98692972e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04025416, -0.05602074,  0.06177345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47406394e-05,-5.06204733e-04,-3.18794275e-04,-1.80320068e-03,
  9.53098282e-06,-2.92428391e-04,-6.02311900e-05,-1.86265664e-03,
 -3.46854039e-06,-3.08304643e-04,-6.19418476e-05,-1.02109331e-03,
 -5.26973735e-05,-1.44506682e-05, 8.89495320e-06, 2.35519749e-04,
 -5.05132444e-04, 9.45412959e-04,-1.21792876e+00, 2.48848460e-03,
  5.94938638e-04,-7.16724017e-04]


--- Step 1226 ---
qpos:
[-7.05273015e-03, 8.85925895e-01,-1.57039855e-02, 8.45854901e-01,
  4.20098276e-03, 8.48905941e-01,-2.82863984e-02, 7.71582848e-01,
  1.61115845e-02, 9.20480743e-01,-2.08698261e-02, 8.12425846e-01,
  1.26084988e+00,-2.24169274e-03, 1.00861266e+00, 6.42695101e-02,
 -6.67852341e-04,-9.76639110e-02, 8.18881470e-02, 5.37749192e-01,
  3.52629182e-03, 4.99015313e-03, 8.43082718e-01]

qacc:
[ 2.09141875e-01,-5.35276785e+01, 2.50236229e+02,-6.14513900e+02,
 -8.78569627e-02,-6.69605618e+01, 2.89260152e+02,-6.39565626e+02,
 -1.17482564e-02,-4.68663641e+01, 2.08319627e+02,-4.79394361e+02,
 -2.03184259e-03,-3.01326509e-01,-1.03861208e+01, 3.61018226e+01,
 -6.97387879e+00, 1.56555282e+00, 1.58646787e+01,-2.21369879e+02,
  2.34355776e+02, 6.32157281e+00]

qfrc_actuator:
[ 5.14931013e-04, 1.39337946e-01, 8.32661676e-03, 1.01292180e-01,
  4.21804250e-06, 1.39706194e-01, 8.86140505e-03, 1.42720526e-01,
 -2.25948249e-03, 1.34829611e-01, 8.16866080e-03, 1.24627874e-01,
  8.64612176e-03,-1.94433061e-03, 0.00000000e+00,-2.07703617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002907771883382121
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.81812284e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.81812284e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06097498, -0.102338  ,  0.06176252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07240619e-05,-2.48979024e-04,-1.93398195e-04,-1.64580301e-03,
 -1.79249148e-05,-8.50120048e-04,-1.15906938e-04,-1.55121446e-03,
 -3.28850235e-06,-4.12268295e-04,-9.69353854e-05,-1.21595720e-03,
 -6.88492048e-05,-3.31826473e-05, 2.61020989e-05, 1.82759360e-04,
 -5.84783035e-04, 1.18970335e-03,-1.21797915e+00, 2.49938072e-03,
  5.75601435e-04,-4.14057720e-04]


--- Step 1227 ---
qpos:
[-7.09197346e-03, 8.88149541e-01,-1.57230660e-02, 8.47807279e-01,
  4.20101809e-03, 8.51149574e-01,-2.82850131e-02, 7.74372115e-01,
  1.61171554e-02, 9.22599505e-01,-2.08945514e-02, 8.14850899e-01,
  1.26110087e+00,-2.24979315e-03, 1.00884219e+00, 6.42770963e-02,
 -6.05453484e-04,-9.78514688e-02, 8.18221838e-02, 5.37591550e-01,
  6.90336414e-03, 2.15334245e-03, 8.43174378e-01]

qacc:
[ 1.43325815e-01,-5.50705285e+01, 2.48264809e+02,-5.86158914e+02,
 -1.08838931e-01,-5.82926776e+01, 2.30038601e+02,-4.74381620e+02,
 -1.13575614e-02,-4.91247149e+01, 2.13904069e+02,-4.86462854e+02,
  1.81466945e-02,-4.73389264e-01,-2.72228123e+00, 9.92844492e+00,
 -5.87483898e+00, 1.35595787e+00, 1.24657917e+01,-1.88842780e+02,
  1.98499999e+02, 7.60345071e+00]

qfrc_actuator:
[ 5.26373013e-04, 1.39261236e-01, 8.32427357e-03, 9.98011553e-02,
 -9.27161436e-06, 1.38845382e-01, 8.85617667e-03, 1.41638384e-01,
 -2.26486374e-03, 1.34565840e-01, 8.16933300e-03, 1.23432477e-01,
  8.61566423e-03,-1.96954677e-03, 0.00000000e+00,-2.03328480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.93791949, -3.40238315,  7.93791949,  9.52807288,
        2.08039951, -3.40238315,  2.08039951, 13.49003327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003328452442097174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.33555322e-14,  1.66777661e-14,  1.00000000e+00, -5.56295763e-28,
        1.00000000e+00, -1.66777661e-14, -1.00000000e+00,  0.00000000e+00,
        3.33555322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05992159, -0.10223575,  0.06173156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75350082e-05,-3.54118720e-04,-1.36961473e-04,-1.54100105e-03,
 -2.22045337e-05,-1.46157490e-03,-2.51540592e-04,-1.14917179e-03,
 -3.34226202e-06,-5.95705917e-04,-1.41375026e-04,-1.23807464e-03,
 -7.71309929e-05,-4.86789350e-05, 2.68978156e-05, 5.60210672e-05,
 -5.15992266e-04, 1.33693724e-03,-1.21772407e+00, 2.42716726e-03,
  5.27475263e-04, 2.81239745e-04]


--- Step 1228 ---
qpos:
[-7.13142839e-03, 8.90367665e-01,-1.57410648e-02, 8.49729350e-01,
  4.20086367e-03, 8.53378318e-01,-2.82823673e-02, 7.77139230e-01,
  1.61228676e-02, 9.24711629e-01,-2.09166829e-02, 8.17249157e-01,
  1.26135127e+00,-2.25786038e-03, 1.00907231e+00, 6.42811619e-02,
 -5.62987198e-04,-9.80343357e-02, 8.17944155e-02, 5.37411550e-01,
  9.82025009e-03,-7.75063008e-04, 8.43262585e-01]

qacc:
[-9.91077112e-02,-6.42258221e+01, 2.73064323e+02,-6.11586718e+02,
 -8.92120568e-02,-6.23178757e+01, 2.39233356e+02,-4.90039801e+02,
  7.55877971e-02,-6.34795430e+01, 2.64188478e+02,-5.68126277e+02,
 -7.03893647e-01, 8.82856243e-01, 1.15474486e+01,-3.90221282e+01,
 -4.98314257e+00, 1.17270868e+00, 9.54872420e+00,-1.62230792e+02,
  1.69401884e+02, 8.31814169e+00]

qfrc_actuator:
[ 4.95511768e-04, 1.38770538e-01, 8.29504400e-03, 9.82677442e-02,
 -1.72440148e-05, 1.37846478e-01, 8.81572203e-03, 1.40507524e-01,
 -2.25254917e-03, 1.34112756e-01, 8.25026069e-03, 1.22079000e-01,
  8.58837759e-03,-1.96345058e-03, 0.00000000e+00,-2.22369768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.75058628, -3.80988046,  7.75058628, 10.25546961,
        3.29380952, -3.80988046,  3.29380952, 15.33708697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003623765408324889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59559146e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.59559146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05920688, -0.10216898,  0.06171048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12948514e-05,-8.11474464e-04,-1.74734305e-04,-1.58266014e-03,
 -1.88474837e-05,-1.95167369e-03,-4.11608693e-04,-1.21403081e-03,
  1.42844195e-05,-8.96049277e-04,-1.03223493e-04,-1.40404423e-03,
 -8.25645792e-05,-2.26705028e-05, 1.24706682e-05,-1.85269953e-04,
 -4.13283962e-04, 1.44479910e-03,-1.21753961e+00, 2.37631183e-03,
  4.87174445e-04, 7.69803766e-04]


--- Step 1229 ---
qpos:
[-7.17087670e-03, 8.92574998e-01,-1.57568266e-02, 8.51620290e-01,
  4.20038854e-03, 8.55589349e-01,-2.82786441e-02, 7.79880207e-01,
  1.61283909e-02, 9.26813746e-01,-2.09355408e-02, 8.19621493e-01,
  1.26160088e+00,-2.26525578e-03, 1.00930264e+00, 6.42816022e-02,
 -5.37547317e-04,-9.82131535e-02, 8.17948617e-02, 5.37211193e-01,
  1.23405880e-02,-3.78375067e-03, 8.43348995e-01]

qacc:
[ 1.25861812e-02,-7.57394548e+01, 3.04167863e+02,-6.45731814e+02,
 -1.55166085e-01,-7.25846745e+01, 2.78621350e+02,-5.74011214e+02,
 -8.46711821e-02,-6.81762548e+01, 2.71866075e+02,-5.61496065e+02,
 -1.34727436e+00, 2.25392772e+00, 1.13604922e+01,-3.90514492e+01,
 -4.25660114e+00, 1.01226503e+00, 7.05363337e+00,-1.40305221e+02,
  1.45609001e+02, 8.64791948e+00]

qfrc_actuator:
[ 5.10656608e-04, 1.37911730e-01, 8.28405682e-03, 9.66858166e-02,
 -3.96044673e-05, 1.36772882e-01, 8.78963469e-03, 1.39179269e-01,
 -2.28303540e-03, 1.33426102e-01, 8.34161894e-03, 1.20767503e-01,
  8.55769760e-03,-1.92108062e-03, 0.00000000e+00,-2.40846970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.53883376, -4.21340272,  7.53883376, 11.4088787 ,
        4.96072452, -4.21340272,  4.96072452, 17.51234346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038162079273213467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90923096e-14,  1.45461548e-14,  1.00000000e+00,  4.23181238e-28,
        1.00000000e+00, -1.45461548e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90923096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05875753, -0.10212853,  0.06169717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73182239e-07,-1.44160047e-03,-2.52361610e-04,-1.64794449e-03,
 -3.16916886e-05,-2.33207870e-03,-5.15324600e-04,-1.43441789e-03,
 -1.95921848e-05,-1.29389474e-03,-1.52907371e-04,-1.37448518e-03,
 -8.36137625e-05, 1.85087881e-05,-2.16875533e-05,-1.95071286e-04,
 -2.92893537e-04, 1.52497176e-03,-1.21740471e+00, 2.33908345e-03,
  4.52014281e-04, 1.11333483e-03]


--- Step 1230 ---
qpos:
[-7.20958137e-03, 8.94766167e-01,-1.57696928e-02, 8.53480493e-01,
  4.19962474e-03, 8.57782216e-01,-2.82751274e-02, 7.82597536e-01,
  1.61334825e-02, 9.28903295e-01,-2.09526437e-02, 8.21967966e-01,
  1.26184988e+00,-2.27191315e-03, 1.00953256e+00, 6.42821416e-02,
 -5.26757355e-04,-9.83884824e-02, 8.18150109e-02, 5.36992107e-01,
  1.45168667e-02,-6.86319999e-03, 8.43434428e-01]

qacc:
[ 3.82274654e-01,-8.38735980e+01, 3.21149179e+02,-6.52228895e+02,
 -1.39441715e-01,-6.52491186e+01, 2.46889689e+02,-5.12188457e+02,
 -2.03238019e-01,-6.72912445e+01, 2.64366760e+02,-5.51372489e+02,
 -1.02939135e+00, 1.87555788e+00,-8.44660540e-01, 2.23114736e+00,
 -3.66247997e+00, 8.72258929e-01, 4.92572967e+00,-1.22141071e+02,
  1.26033212e+02, 8.72293884e+00]

qfrc_actuator:
[ 5.88776747e-04, 1.36768524e-01, 8.30017967e-03, 9.51232306e-02,
 -5.26382560e-05, 1.35858529e-01, 8.77184655e-03, 1.37993961e-01,
 -2.32117574e-03, 1.32605330e-01, 8.34875498e-03, 1.19455535e-01,
  8.54632372e-03,-1.87535095e-03, 0.00000000e+00,-2.39306548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.29593141, -4.62127274,  7.29593141, 13.22127776,
        7.23852949, -4.62127274,  7.23852949, 20.06434412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003924601457631308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41444047e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41444047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05851719, -0.10210756,  0.06168999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.40885262e-05,-2.09230595e-03,-3.60525238e-04,-1.65262382e-03,
 -2.86413897e-05,-2.41170190e-03,-6.01459806e-04,-1.31235661e-03,
 -4.45923118e-05,-1.65713947e-03,-3.20683256e-04,-1.38888047e-03,
 -5.56564974e-05, 3.10900877e-05,-3.69781742e-05, 5.39894722e-07,
 -1.64898829e-04, 1.58542642e-03,-1.21730484e+00, 2.31073278e-03,
  4.20418876e-04, 1.35415042e-03]


--- Step 1231 ---
qpos:
[-7.24716033e-03, 8.96936279e-01,-1.57797777e-02, 8.55310080e-01,
  4.19900957e-03, 8.59958161e-01,-2.82721186e-02, 7.85292190e-01,
  1.61384952e-02, 9.30978505e-01,-2.09687841e-02, 8.24286237e-01,
  1.26209855e+00,-2.27808005e-03, 1.00976223e+00, 6.42827955e-02,
 -5.28667843e-04,-9.85608076e-02, 8.18476238e-02, 5.36755623e-01,
  1.63925757e-02,-1.00053793e-02, 8.43519162e-01]

qacc:
[ 5.73461498e-01,-8.97569864e+01, 3.32114627e+02,-6.56813931e+02,
  8.43775508e-02,-6.10521591e+01, 2.32298934e+02,-4.86800966e+02,
 -3.05940507e-02,-7.16022376e+01, 2.81126399e+02,-5.93580173e+02,
 -6.18057478e-01, 1.17708321e+00,-6.50130146e-01, 1.87473468e+00,
 -3.17511243e+00, 7.50895990e-01, 3.11592685e+00,-1.07032322e+02,
  1.09848389e+02, 8.63650966e+00]

qfrc_actuator:
[ 6.68437154e-04, 1.35393357e-01, 8.31326249e-03, 9.35665567e-02,
 -2.44745429e-05, 1.35153775e-01, 8.79539608e-03, 1.36866880e-01,
 -2.31033221e-03, 1.31763910e-01, 8.34107211e-03, 1.18029324e-01,
  8.54654612e-03,-1.84569301e-03, 0.00000000e+00,-2.38409813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.01423331, -5.03858193,  7.01423331, 16.03204912,
       10.29556812, -5.03858193, 10.29556812, 22.96887183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003964722229208226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80025424e-14,  2.80025424e-14,  1.00000000e+00,  7.84142383e-28,
        1.00000000e+00, -2.80025424e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80025424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05844189, -0.10210095,  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:
[ 1.12411927e-04,-2.70588237e-03,-5.04495231e-04,-1.67089092e-03,
  1.39979011e-05,-2.25847165e-03,-5.81831572e-04,-1.25661179e-03,
 -8.46534531e-06,-1.91257361e-03,-4.27229167e-04,-1.52046714e-03,
 -2.48982592e-05, 2.42836758e-05,-2.02154642e-05, 3.50152968e-06,
 -3.54655115e-05, 1.63168338e-03,-1.21722990e+00, 2.28830880e-03,
  3.91442387e-04, 1.52163848e-03]


--- Step 1232 ---
qpos:
[-7.28342145e-03, 8.99084509e-01,-1.57889120e-02, 8.57108029e-01,
  4.19882165e-03, 8.62121141e-01,-2.82708162e-02, 7.87965849e-01,
  1.61435465e-02, 9.33041255e-01,-2.09864492e-02, 8.26579723e-01,
  1.26234709e+00,-2.28460214e-03, 1.00999167e+00, 6.42841826e-02,
 -5.41675109e-04,-9.87305463e-02, 8.18865598e-02, 5.36502827e-01,
  1.80038642e-02,-1.32035085e-02, 8.43603132e-01]

qacc:
[ 6.67450079e-01,-8.76713712e+01, 3.26044586e+02,-6.62494586e+02,
  2.24578208e-01,-4.96002803e+01, 1.96328895e+02,-4.34713280e+02,
  2.42837042e-02,-5.62849440e+01, 2.25118553e+02,-5.00986698e+02,
  2.32078176e-01,-6.61039084e-01,-2.58091797e+00, 8.47462503e+00,
 -2.77419441e+00, 6.46644931e-01, 1.58080366e+00,-9.44322946e+01,
  9.64186295e+01, 8.45563695e+00]

qfrc_actuator:
[ 7.48342187e-04, 1.34227673e-01, 8.32347734e-03, 9.19723444e-02,
  1.03332037e-05, 1.34829339e-01, 8.82637976e-03, 1.35836481e-01,
 -2.30578392e-03, 1.31271950e-01, 8.30683588e-03, 1.16795790e-01,
  8.52176744e-03,-1.87898367e-03, 0.00000000e+00,-2.34354277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.69411957, -5.45669681,  6.69411957, 20.23125865,
       14.22428554, -5.45669681, 14.22428554, 26.08631027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003949808312908899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05849678, -0.10210481,  0.06168913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31858850e-04,-2.86483005e-03,-6.45437830e-04,-1.73275524e-03,
  4.13474089e-05,-1.78648184e-03,-5.39478115e-04,-1.15269073e-03,
  3.62818764e-06,-1.72979887e-03,-5.20593866e-04,-1.34229930e-03,
 -3.37128718e-05,-3.30944349e-05,-1.26793131e-05, 3.72754825e-05,
  9.17543745e-05, 1.66761735e-03,-1.21717279e+00, 2.26995468e-03,
  3.64493621e-04, 1.63642422e-03]


--- Step 1233 ---
qpos:
[-7.31845115e-03, 9.01215849e-01,-1.58000460e-02, 8.58872595e-01,
  4.19887001e-03, 8.64276074e-01,-2.82722106e-02, 7.90622832e-01,
  1.61484861e-02, 9.35092791e-01,-2.10058629e-02, 8.28847056e-01,
  1.26259526e+00,-2.29133419e-03, 1.01022133e+00, 6.42833373e-02,
 -5.64456534e-04,-9.88980526e-02, 8.19266249e-02, 5.36234601e-01,
  1.93808394e-02,-1.64518711e-02, 8.43686062e-01]

qacc:
[ 6.20446231e-01,-7.61784763e+01, 3.00034593e+02,-6.62682885e+02,
  1.23724214e-01,-3.27881318e+01, 1.37562691e+02,-3.29468970e+02,
 -4.92126833e-02,-5.64471595e+01, 2.30749495e+02,-5.23256416e+02,
 -2.52136707e-01, 9.78344216e-02, 7.07635606e+00,-2.42560328e+01,
 -2.44353989e+00, 5.58088379e-01, 2.82248498e-01,-8.39114975e+01,
  8.52476179e+01, 8.22834366e+00]

qfrc_actuator:
[ 8.09998948e-04, 1.33711752e-01, 8.33268962e-03, 9.03156209e-02,
  1.32840334e-05, 1.34842423e-01, 8.84547277e-03, 1.35031253e-01,
 -2.32285127e-03, 1.30833750e-01, 8.25876967e-03, 1.15490446e-01,
  8.48730837e-03,-1.89613612e-03, 0.00000000e+00,-2.46222537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.3659312 , -5.83623996,  6.3659312 , 25.79895615,
       18.72025207, -5.83623996, 18.72025207, 29.05564687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038909713250384337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42666565e-14,  1.42666565e-14,  1.00000000e+00, -2.03537487e-28,
        1.00000000e+00, -1.42666565e-14, -1.00000000e+00,  0.00000000e+00,
        1.42666565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05865398, -0.10211618,  0.06169362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23476167e-04,-2.33229128e-03,-6.95686991e-04,-1.80589786e-03,
  2.28672322e-05,-1.17423632e-03,-4.48905103e-04,-9.07727696e-04,
 -1.18152727e-05,-1.58664366e-03,-5.03265159e-04,-1.40684067e-03,
 -6.17100364e-05,-3.20341990e-05,-5.43381194e-06,-1.19119340e-04,
  2.14735320e-04, 1.69598152e-03,-1.21712847e+00, 2.25448425e-03,
  3.39177636e-04, 1.71310866e-03]


--- Step 1234 ---
qpos:
[-7.35328654e-03, 9.03338736e-01,-1.58150293e-02, 8.60602544e-01,
  4.19904899e-03, 8.66425378e-01,-2.82756511e-02, 7.93259564e-01,
  1.61532848e-02, 9.37131984e-01,-2.10240102e-02, 8.31083834e-01,
  1.26284299e+00,-2.29819505e-03, 1.01045081e+00, 6.42820748e-02,
 -5.95918586e-04,-9.90636234e-02, 8.19634379e-02, 5.35951650e-01,
  2.05485959e-02,-1.97456613e-02, 8.43767559e-01]

qacc:
[ 1.01568137e-01,-6.22365296e+01, 2.70375216e+02,-6.55865611e+02,
  6.96180695e-02,-3.76836002e+01, 1.66600170e+02,-4.02332400e+02,
 -6.07867110e-02,-7.39034918e+01, 2.96860239e+02,-6.36373798e+02,
 -2.47902283e-01, 1.22366379e-01, 1.00575900e+00,-3.87728950e+00,
 -2.17015684e+00, 4.83860794e-01,-8.13021579e-01,-7.51276461e+01,
  7.59427024e+01, 7.98881017e+00]

qfrc_actuator:
[ 7.71502876e-04, 1.33908998e-01, 8.36162306e-03, 8.86180364e-02,
  1.48934248e-05, 1.34791996e-01, 8.82359917e-03, 1.34027908e-01,
 -2.33500040e-03, 1.30236266e-01, 8.32750772e-03, 1.13958018e-01,
  8.46304487e-03,-1.90360879e-03, 0.00000000e+00,-2.47849949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.12199378, -6.09163106,  6.12199378, 31.37144757,
       22.84840316, -6.09163106, 22.84840316, 31.59865086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037975337790075447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46176847e-14,  1.46176847e-14,  1.00000000e+00,  2.13676705e-28,
        1.00000000e+00, -1.46176847e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46176847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05889098, -0.1021328 ,  0.06170044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93343628e-05,-1.33562492e-03,-5.78585224e-04,-1.83280367e-03,
  1.26256835e-05,-8.70829623e-04,-3.49559374e-04,-1.07674352e-03,
 -1.48326478e-05,-1.66472523e-03,-3.57818291e-04,-1.63003461e-03,
 -6.75036249e-05,-2.85619153e-05,-2.09771376e-05,-2.48179092e-05,
  3.32506188e-04, 1.71875436e-03,-1.21709335e+00, 2.24112497e-03,
  3.15205228e-04, 1.76209849e-03]


--- Step 1235 ---
qpos:
[-7.38956296e-03, 9.05458959e-01,-1.58329067e-02, 8.62298436e-01,
  4.19966144e-03, 8.68569830e-01,-2.82802556e-02, 7.95870192e-01,
  1.61583007e-02, 9.39158928e-01,-2.10413053e-02, 8.33289030e-01,
  1.26309040e+00,-2.30564298e-03, 1.01067994e+00, 6.42822619e-02,
 -6.36680641e-04,-9.92251100e-02, 8.20044841e-02, 5.35652262e-01,
  2.14891435e-02,-2.30615690e-02, 8.43850126e-01]

qacc:
[-7.09926747e-01,-5.61950674e+01, 2.58344725e+02,-6.41677349e+02,
  2.24846280e-01,-4.93877056e+01, 2.21155416e+02,-5.25810870e+02,
  1.12806705e-01,-7.44517524e+01, 3.01004283e+02,-6.52111481e+02,
  3.20847039e-01,-1.03267276e+00,-4.94184890e+00, 1.64365228e+01,
 -2.32500043e+00, 1.02106840e+00, 1.05829453e+00,-7.00381312e+01,
  8.97777551e+01, 9.69192087e+00]

qfrc_actuator:
[ 6.20201748e-04, 1.34283925e-01, 8.40503863e-03, 8.69460302e-02,
  5.12143544e-05, 1.34651006e-01, 8.79532624e-03, 1.32720659e-01,
 -2.30861960e-03, 1.29655340e-01, 8.37524963e-03, 1.12375216e-01,
  8.43959231e-03,-1.94077603e-03, 0.00000000e+00,-2.39874543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.15646726,   2.83880585,   8.15646726,
        14.48613138, -16.8075739 ,   2.83880585, -16.8075739 ,
        56.92794596,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003702564915926597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49926207e-14,  7.49631033e-15,  1.00000000e+00, -1.12389337e-28,
        1.00000000e+00, -7.49631033e-15, -1.00000000e+00,  0.00000000e+00,
        1.49926207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04855024, -0.10712373,  0.06170735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45555935e-04,-5.82831737e-04,-3.54445680e-04,-1.77239746e-03,
  4.23948683e-05,-7.78592383e-04,-2.89063625e-04,-1.37097747e-03,
  2.20996749e-05,-1.66954787e-03,-3.84029818e-04,-1.68343452e-03,
 -6.91690007e-05,-5.88396469e-05,-1.64091119e-05, 7.47579504e-05,
  4.44775745e-04, 1.73737278e-03,-1.21706487e+00, 2.22936076e-03,
  2.92342022e-04, 1.79084778e-03]


--- Step 1236 ---
qpos:
[-7.42857653e-03, 9.07576111e-01,-1.58514423e-02, 8.63961369e-01,
  4.20052130e-03, 8.70709929e-01,-2.82854119e-02, 7.98453049e-01,
  1.61635945e-02, 9.41172689e-01,-2.10592295e-02, 8.35466937e-01,
  1.26333729e+00,-2.31319871e-03, 1.01090880e+00, 6.42843704e-02,
 -6.85718229e-04,-9.93830581e-02, 8.20452457e-02, 5.35337486e-01,
  2.22255755e-02,-2.63977892e-02, 8.43933029e-01]

qacc:
[-1.34879217e+00,-6.08257723e+01, 2.70238057e+02,-6.38577199e+02,
  1.30237685e-01,-5.33073757e+01, 2.38872514e+02,-5.62663102e+02,
  1.40985879e-01,-6.40201664e+01, 2.54603879e+02,-5.56025209e+02,
 -1.91069413e-01, 1.86153530e-02,-6.16845412e+00, 2.10515550e+01,
 -2.06888356e+00, 8.84631602e-01,-7.11467936e-02,-6.30687704e+01,
  8.05076335e+01, 9.15438262e+00]

qfrc_actuator:
[ 4.20527836e-04, 1.34212723e-01, 8.40447013e-03, 8.53026559e-02,
  5.47492197e-05, 1.34528164e-01, 8.79865529e-03, 1.31333784e-01,
 -2.29492787e-03, 1.28947172e-01, 8.32153834e-03, 1.11006221e-01,
  8.41663109e-03,-1.94199232e-03, 0.00000000e+00,-2.29857976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.30796773,  -6.81265406,  -5.30796773,
        30.28357126, -16.86606695,  -6.81265406, -16.86606695,
        21.77728321,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036106135580545318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07488743e-14,  7.68721858e-15,  1.00000000e+00, -2.36373318e-28,
        1.00000000e+00, -7.68721858e-15, -1.00000000e+00,  0.00000000e+00,
        3.07488743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04874522, -0.10716242,  0.06171414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76784761e-04,-5.65183748e-04,-2.21962409e-04,-1.71156809e-03,
  2.41903485e-05,-7.06941001e-04,-2.41031927e-04,-1.45208095e-03,
  2.83581086e-05,-1.80590799e-03,-4.90877989e-04,-1.47168715e-03,
 -7.64651439e-05,-3.02334979e-05,-2.80117383e-06, 1.01395167e-04,
  5.61995870e-04, 1.72720838e-03,-1.21703143e+00, 2.21268981e-03,
  2.68619100e-04, 1.77714956e-03]


--- Step 1237 ---
qpos:
[-7.47036807e-03, 9.09686724e-01,-1.58692579e-02, 8.65592639e-01,
  4.20133803e-03, 8.72846795e-01,-2.82911130e-02, 8.01009443e-01,
  1.61691218e-02, 9.43172502e-01,-2.10766213e-02, 8.37622927e-01,
  1.26358357e+00,-2.32047665e-03, 1.01113785e+00, 6.42856361e-02,
 -7.42189410e-04,-9.95379135e-02, 8.20819378e-02, 5.35008153e-01,
  2.27770790e-02,-2.97528254e-02, 8.44015551e-01]

qacc:
[-1.36543902e+00,-6.68036477e+01, 2.81179253e+02,-6.30138356e+02,
 -1.80893813e-02,-4.95194006e+01, 2.24647564e+02,-5.33507499e+02,
  1.19531942e-01,-5.86327530e+01, 2.22657922e+02,-4.60408385e+02,
 -7.40457012e-01, 1.10412070e+00, 2.86746532e+00,-9.51569566e+00,
 -1.85839800e+00, 7.73153372e-01,-1.01736621e+00,-5.72826342e+01,
  7.28010367e+01, 8.69005046e+00]

qfrc_actuator:
[ 2.82465939e-04, 1.33715541e-01, 8.37643293e-03, 8.37067388e-02,
  3.86251189e-05, 1.34506416e-01, 8.82079894e-03, 1.30017757e-01,
 -2.28899707e-03, 1.28292761e-01, 8.36786930e-03, 1.09915871e-01,
  8.39399413e-03,-1.92188249e-03, 0.00000000e+00,-2.34699230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.51621556,  -6.64515935,  -5.51621556,
        31.28075954, -18.79734744,  -6.64515935, -18.79734744,
        24.24023632,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003494816396270903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.94192669e-15, -7.94192669e-15,  1.00000000e+00,  6.30741996e-29,
        1.00000000e+00,  7.94192669e-15, -1.00000000e+00,  0.00000000e+00,
        7.94192669e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04898635, -0.10720807,  0.06172258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81394730e-04,-9.52920028e-04,-2.28636778e-04,-1.65812593e-03,
 -4.34144534e-06,-5.58918361e-04,-2.04702786e-04,-1.37906883e-03,
  2.37832686e-05,-1.84133839e-03,-4.23432469e-04,-1.19588536e-03,
 -7.34120840e-05,-4.26516276e-06, 5.58977177e-06,-4.41353117e-05,
  6.71979346e-04, 1.71643767e-03,-1.21700367e+00, 2.19642525e-03,
  2.45941181e-04, 1.75162026e-03]


--- Step 1238 ---
qpos:
[-7.51353173e-03, 9.11788642e-01,-1.58857472e-02, 8.67192293e-01,
  4.20221242e-03, 8.74980731e-01,-2.82971796e-02, 8.03536701e-01,
  1.61749845e-02, 9.45159932e-01,-2.10934030e-02, 8.39757577e-01,
  1.26382928e+00,-2.32747427e-03, 1.01136751e+00, 6.42812952e-02,
 -8.05400323e-04,-9.96900368e-02, 8.21114000e-02, 5.34664913e-01,
  2.31595676e-02,-3.31254572e-02, 8.44097014e-01]

qacc:
[-6.69069975e-01,-7.11825665e+01, 2.91809811e+02,-6.37276317e+02,
  3.33907448e-02,-5.42999464e+01, 2.47353089e+02,-5.87181822e+02,
  1.68257455e-01,-5.57417991e+01, 2.14127825e+02,-4.46276529e+02,
 -1.00515638e+00, 1.52621035e+00, 1.78966505e+01,-6.11366838e+01,
 -1.68493317e+00, 6.83052400e-01,-1.80748146e+00,-5.24950829e+01,
  6.63998186e+01, 8.30117029e+00]

qfrc_actuator:
[ 2.89022729e-04, 1.33180499e-01, 8.40181012e-03, 8.21156786e-02,
  4.64024762e-05, 1.34421675e-01, 8.81893992e-03, 1.28558762e-01,
 -2.27003690e-03, 1.27836417e-01, 8.45556294e-03, 1.08856232e-01,
  8.36625281e-03,-1.90707209e-03, 0.00000000e+00,-2.64232998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.12449387,  -6.95171486,  -5.12449387,
        36.72096106, -20.70271154,  -6.95171486, -20.70271154,
        23.89747843,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003361105167687506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04926223, -0.1072585 ,  0.06173226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39327069e-04,-1.20484831e-03,-2.50683714e-04,-1.66454285e-03,
  5.59915709e-06,-5.29660947e-04,-1.92598842e-04,-1.51424909e-03,
  3.44302789e-05,-1.63980478e-03,-3.72494173e-04,-1.15794880e-03,
 -7.08885025e-05,-2.89147042e-06,-8.04919881e-06,-2.98388918e-04,
  7.75543915e-04, 1.70545180e-03,-1.21698005e+00, 2.18055011e-03,
  2.24139212e-04, 1.71779152e-03]


--- Step 1239 ---
qpos:
[-7.55598415e-03, 9.13883259e-01,-1.59021559e-02, 8.68760398e-01,
  4.20315832e-03, 8.77112304e-01,-2.83040807e-02, 8.06029552e-01,
  1.61809662e-02, 9.47136514e-01,-2.11109842e-02, 8.41868401e-01,
  1.26407427e+00,-2.33368951e-03, 1.01159688e+00, 6.42754610e-02,
 -8.63650845e-04,-9.98144823e-02, 8.21941067e-02, 5.34358166e-01,
  2.34210840e-02,-3.59863569e-02, 8.44166918e-01]

qacc:
[ 3.57027016e-01,-6.58298016e+01, 2.76112355e+02,-6.22754936e+02,
  4.04899389e-02,-6.15555821e+01, 2.85075561e+02,-6.86937339e+02,
  6.26007470e-02,-5.42879641e+01, 2.17496730e+02,-4.80174930e+02,
 -1.23046532e+00, 2.17676013e+00, 4.16340805e+00,-1.49853203e+01,
  1.24009779e+00, 6.91941758e+00, 1.33111430e+01, 1.83022876e+02,
  1.88330205e+02,-2.24146187e+01]

qfrc_actuator:
[ 4.35313962e-04, 1.32929308e-01, 8.44058904e-03, 8.05401502e-02,
  5.06845409e-05, 1.34353388e-01, 8.78496509e-03, 1.26831964e-01,
 -2.27895983e-03, 1.27396409e-01, 8.44351527e-03, 1.07663434e-01,
  8.34079410e-03,-1.86004974e-03, 0.00000000e+00,-2.70791648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036306016134115826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03125558, -0.14683709,  0.06171429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.20021093e-05,-1.06472910e-03,-2.89539063e-04,-1.65777363e-03,
  6.98997257e-06,-4.98854261e-04,-2.21526973e-04,-1.78365071e-03,
  1.20438806e-05,-1.49984802e-03,-4.25041069e-04,-1.28203209e-03,
 -6.74914329e-05, 3.05494688e-05,-4.31571753e-05,-8.46753530e-05,
  8.73552269e-04, 1.69449374e-03,-1.21695949e+00, 2.16503160e-03,
  2.03039023e-04, 1.67809396e-03]


--- Step 1240 ---
qpos:
[-7.59516828e-03, 9.15977853e-01,-1.59220920e-02, 8.70297640e-01,
  4.20416082e-03, 8.79242331e-01,-2.83113007e-02, 8.08484976e-01,
  1.61867943e-02, 9.49104974e-01,-2.11304873e-02, 8.43951441e-01,
  1.26431872e+00,-2.33955196e-03, 1.01182577e+00, 6.42704902e-02,
 -9.17451013e-04,-9.99157376e-02, 8.23178779e-02, 5.34083202e-01,
  2.35771647e-02,-3.84078465e-02, 8.44229879e-01]

qacc:
[ 1.61023672e+00,-4.52338077e+01, 2.18356490e+02,-5.66746070e+02,
  3.33015243e-02,-6.71757387e+01, 3.12155572e+02,-7.49089233e+02,
 -6.97291887e-02,-5.46461880e+01, 2.32199882e+02,-5.43039192e+02,
 -6.24372909e-01, 1.00192783e+00,-3.25558598e+00, 1.04858471e+01,
  1.11258853e+00, 5.79756858e+00, 1.02661064e+01, 1.56801035e+02,
  1.62394928e+02,-1.85189868e+01]

qfrc_actuator:
[ 7.34921877e-04, 1.33418596e-01, 8.43486625e-03, 7.90220261e-02,
  5.28325124e-05, 1.34384341e-01, 8.80334658e-03, 1.24961410e-01,
 -2.30453021e-03, 1.27182655e-01, 8.40829361e-03, 1.06277495e-01,
  8.31141164e-03,-1.84757229e-03, 0.00000000e+00,-2.65527547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.61540356, -4.07337765, -7.61540356,  9.56113497,
       -1.72891087, -4.07337765, -1.72891087, 11.8686576 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003924185135938396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41459053e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41459053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0308986 , -0.14635206,  0.06169578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32215262e-04,-2.53662843e-04,-3.10532951e-04,-1.59690263e-03,
  5.55201071e-06,-3.97158813e-04,-1.74625670e-04,-1.93321965e-03,
 -1.61627816e-05,-1.21004955e-03,-4.30208360e-04,-1.47492715e-03,
 -6.15954473e-05, 4.32663144e-06,-3.27328202e-05, 4.16117991e-05,
  6.59004982e-04, 1.21142081e-03,-1.21680381e+00, 2.00693487e-03,
  2.99409129e-04, 1.15724317e-03]


--- Step 1241 ---
qpos:
[-7.62978954e-03, 9.18079405e-01,-1.59456535e-02, 8.71804082e-01,
  4.20519930e-03, 8.81372546e-01,-2.83190513e-02, 8.10902523e-01,
  1.61924038e-02, 9.51073153e-01,-2.11542081e-02, 8.46005890e-01,
  1.26456291e+00,-2.34600022e-03, 1.01205403e+00, 6.42694753e-02,
 -9.67238133e-04,-9.99974099e-02, 8.24724074e-02, 5.33836035e-01,
  2.36407040e-02,-4.04489083e-02, 8.44289103e-01]

qacc:
[ 2.24206021e+00,-3.56535123e+01, 1.97796981e+02,-5.51752971e+02,
  2.22073216e-02,-6.50790767e+01, 3.08817607e+02,-7.51983042e+02,
 -1.04220786e-01,-3.95185517e+01, 1.96719970e+02,-5.25452578e+02,
  5.11698230e-01,-1.30496574e+00,-1.29279193e+01, 4.37528459e+01,
  1.00326192e+00, 4.89576771e+00, 7.68957048e+00, 1.35472777e+02,
  1.41143209e+02,-1.54389556e+01]

qfrc_actuator:
[ 1.03491509e-03, 1.34330061e-01, 8.45927606e-03, 7.75147725e-02,
  5.36863384e-05, 1.34563730e-01, 8.83520753e-03, 1.23074643e-01,
 -2.32211156e-03, 1.27727607e-01, 8.39611499e-03, 1.04877923e-01,
  8.28501131e-03,-1.89121040e-03, 0.00000000e+00,-2.44469436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.64318249, -4.02101209, -7.64318249,  9.6905328 ,
       -2.00377594, -4.02101209, -2.00377594, 12.44516222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041184494534837746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34786530e-14,  1.34786530e-14,  1.00000000e+00,  1.81674088e-28,
        1.00000000e+00, -1.34786530e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34786530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03068159, -0.14606777,  0.06168469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64638037e-04, 6.15986910e-04,-1.20962093e-04,-1.55957879e-03,
  3.56801345e-06,-1.87740456e-04,-1.39972151e-04,-1.94788381e-03,
 -2.27513590e-05,-2.97650310e-04,-3.56166223e-04,-1.48358630e-03,
 -6.10154425e-05,-5.65270379e-05,-1.35711973e-05, 2.07992878e-04,
  4.99104742e-04, 8.60116878e-04,-1.21669415e+00, 1.89167701e-03,
  3.70506218e-04, 7.79453006e-04]


--- Step 1242 ---
qpos:
[-7.66025966e-03, 9.20186530e-01,-1.59691114e-02, 8.73279989e-01,
  4.20625611e-03, 8.83503611e-01,-2.83273854e-02, 8.13283082e-01,
  1.61976382e-02, 9.53046478e-01,-2.11804131e-02, 8.48030771e-01,
  1.26480661e+00,-2.35260160e-03, 1.01228198e+00, 6.42722882e-02,
 -1.01338842e-03,-1.00062404e-01, 8.26489911e-02, 5.33613298e-01,
  2.36224599e-02,-4.21579629e-02, 8.44346809e-01]

qacc:
[ 2.03960106e+00,-4.71099369e+01, 2.32489167e+02,-5.78678241e+02,
  1.29200275e-02,-6.24640038e+01, 2.98733871e+02,-7.31416855e+02,
 -1.79865569e-01,-3.87893514e+01, 2.05191990e+02,-5.48328397e+02,
 -2.11512907e-02,-2.62519528e-01,-1.19973455e+01, 4.13268170e+01,
  9.09209573e-01, 4.16957226e+00, 5.51355805e+00, 1.18006301e+02,
  1.23619436e+02,-1.29883427e+01]

qfrc_actuator:
[ 1.22602180e-03, 1.34653486e-01, 8.48552176e-03, 7.59908177e-02,
  5.37616448e-05, 1.34706797e-01, 8.83999004e-03, 1.21229075e-01,
 -2.35252568e-03, 1.28474654e-01, 8.45408468e-03, 1.03428834e-01,
  8.26039465e-03,-1.89670985e-03, 0.00000000e+00,-2.24930266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.62854749, -4.04870845, -7.62854749,  9.91496965,
       -2.40914031, -4.04870845, -2.40914031, 13.17564858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004231698760764194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31179355e-14,  1.31179355e-14,  1.00000000e+00,  1.72080231e-28,
        1.00000000e+00, -1.31179355e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31179355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03057317, -0.14593939,  0.06167938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23286527e-04, 5.48494357e-04, 7.53490618e-05,-1.54221305e-03,
  1.83905791e-06,-1.01174831e-04,-1.21751282e-04,-1.89892888e-03,
 -3.89276918e-05, 4.24962700e-04,-9.71381013e-05,-1.50144399e-03,
 -7.26061840e-05,-3.22812469e-05, 1.39510663e-05, 2.04558689e-04,
  3.78604308e-04, 6.03683642e-04,-1.21661630e+00, 1.80670084e-03,
  4.23584567e-04, 5.04409515e-04]


--- Step 1243 ---
qpos:
[-7.68709204e-03, 9.22294327e-01,-1.59905141e-02, 8.74727223e-01,
  4.20731876e-03, 8.85632739e-01,-2.83346591e-02, 8.15625960e-01,
  1.62026871e-02, 9.55024042e-01,-2.12055162e-02, 8.50024854e-01,
  1.26504964e+00,-2.35892363e-03, 1.01251066e+00, 6.42717301e-02,
 -1.05622516e-03,-1.00113061e-01, 8.28402905e-02, 5.33412143e-01,
  2.35314420e-02,-4.35749642e-02, 8.44404512e-01]

qacc:
[ 1.78761851e+00,-5.55275255e+01, 2.47944537e+02,-5.66729098e+02,
  8.62606415e-03,-7.17684103e+01, 3.26318499e+02,-7.62544012e+02,
 -8.62487212e-02,-5.18553442e+01, 2.49447072e+02,-6.02403815e+02,
 -9.58266886e-01, 1.41401928e+00, 1.12981628e+01,-3.78368808e+01,
  8.28383605e-01, 3.58407684e+00, 3.67893820e+00, 1.03625768e+02,
  1.09099907e+02,-1.10278951e+01]

qfrc_actuator:
[ 1.38588845e-03, 1.34427411e-01, 8.49283755e-03, 7.45399084e-02,
  5.33731151e-05, 1.34490031e-01, 8.84654323e-03, 1.19333724e-01,
 -2.35489018e-03, 1.28751807e-01, 8.53634423e-03, 1.01891437e-01,
  8.22622580e-03,-1.87952447e-03, 0.00000000e+00,-2.43728433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.56402992, -4.16800051, -7.56402992, 10.28849234,
       -2.99826042, -4.16800051, -2.99826042, 14.07756535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004279170170824104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29724103e-14,  2.59448206e-14,  1.00000000e+00,  3.36566858e-28,
        1.00000000e+00, -2.59448206e-14, -1.00000000e+00,  0.00000000e+00,
       -1.29724103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03054907, -0.14593226,  0.06167856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71338698e-04, 9.76717141e-07, 6.63259108e-05,-1.46499669e-03,
  5.32540535e-07,-4.07418128e-04,-9.90316177e-05,-1.94415222e-03,
 -1.92110625e-05, 4.06528956e-04, 9.95338135e-05,-1.55890590e-03,
 -8.28085563e-05,-6.98412132e-06, 2.44815038e-05,-1.75871182e-04,
  2.86884543e-04, 4.16298599e-04,-1.21656075e+00, 1.74340838e-03,
  4.63635846e-04, 3.04011405e-04]


--- Step 1244 ---
qpos:
[-7.71126231e-03, 9.24397402e-01,-1.60091416e-02, 8.76147005e-01,
  4.20837895e-03, 8.87755085e-01,-2.83390634e-02, 8.17930710e-01,
  1.62078101e-02, 9.57003267e-01,-2.12280942e-02, 8.51986233e-01,
  1.26529196e+00,-2.36473107e-03, 1.01273964e+00, 6.42672951e-02,
 -1.09602509e-03,-1.00151272e-01, 8.30401289e-02, 5.33230166e-01,
  2.33752142e-02,-4.47330036e-02, 8.44463231e-01]

qacc:
[ 1.30959590e+00,-6.23966481e+01, 2.58953137e+02,-5.58084220e+02,
  7.14218051e-03,-8.37833658e+01, 3.58890716e+02,-7.93679721e+02,
  4.00456500e-02,-6.24480551e+01, 2.84378593e+02,-6.54881679e+02,
 -1.17775915e+00, 1.90554730e+00, 1.22502437e+01,-4.19875923e+01,
  7.59205517e-01, 3.11170158e+00, 2.13473623e+00, 9.17390557e+01,
  9.70283805e+01,-9.45213317e+00]

qfrc_actuator:
[ 1.47260612e-03, 1.33856553e-01, 8.50455504e-03, 7.31431786e-02,
  5.27114252e-05, 1.33882289e-01, 8.88825368e-03, 1.17406239e-01,
 -2.34046455e-03, 1.28710367e-01, 8.61283274e-03, 1.00243102e-01,
  8.19701204e-03,-1.84909940e-03, 0.00000000e+00,-2.63659060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.43470214, -4.3945399 , -7.43470214, 10.89397517,
       -3.81943722, -4.3945399 , -3.81943722, 15.09810451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004273567766054226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.29894164e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.29894164e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03059029, -0.14601922,  0.06168126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71983701e-04,-6.46282297e-04,-3.57918988e-05,-1.42660697e-03,
 -4.22035894e-07,-9.65019441e-04,-1.23264661e-04,-1.98675831e-03,
  7.78300832e-06, 1.14872793e-04, 1.11165981e-04,-1.66577943e-03,
 -7.83963763e-05, 9.90285273e-06,-1.57540664e-05,-2.07664626e-04,
  2.16443013e-04, 2.79672026e-04,-1.21652104e+00, 1.69583195e-03,
  4.94145070e-04, 1.58420782e-04]


--- Step 1245 ---
qpos:
[-7.73387241e-03, 9.26490766e-01,-1.60251994e-02, 8.77538487e-01,
  4.20943103e-03, 8.89865946e-01,-2.83408382e-02, 8.20197005e-01,
  1.62128964e-02, 9.58980927e-01,-2.12470170e-02, 8.53911501e-01,
  1.26553366e+00,-2.37014187e-03, 1.01296819e+00, 6.42631669e-02,
 -1.13302357e-03,-1.00178561e-01, 8.32433163e-02, 5.33065334e-01,
  2.31601332e-02,-4.56595552e-02, 8.44523631e-01]

qacc:
[ 7.70713249e-01,-6.98863128e+01, 2.77291070e+02,-5.81015610e+02,
  5.67409068e-03,-8.98549544e+01, 3.71733343e+02,-8.05240998e+02,
 -1.12868722e-02,-7.57472146e+01, 3.30618020e+02,-7.35208065e+02,
 -7.43395098e-01, 1.18884902e+00,-1.51671941e+00, 4.49473879e+00,
  7.00361078e-01, 2.73054000e+00, 8.37237751e-01, 8.18875613e+01,
  8.69709478e+01,-8.18021756e+00]

qfrc_actuator:
[ 1.49720231e-03, 1.33030695e-01, 8.49961875e-03, 7.17004414e-02,
  5.18918209e-05, 1.32992322e-01, 8.89556743e-03, 1.15457241e-01,
 -2.35165543e-03, 1.28443147e-01, 8.71949986e-03, 9.84181616e-02,
  8.17079853e-03,-1.82883014e-03, 0.00000000e+00,-2.61005314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.21494941, -4.74671274, -7.21494941, 11.90869667,
       -4.97390901, -4.74671274, -4.97390901, 16.19664878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004225492941083833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31372013e-14,  1.31372013e-14,  1.00000000e+00,  1.72586057e-28,
        1.00000000e+00, -1.31372013e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31372013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03068182, -0.14617879,  0.06168665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59435065e-04,-1.27851428e-03,-1.90471094e-04,-1.49519457e-03,
 -1.11756571e-06,-1.56245621e-03,-2.72244660e-04,-2.02843161e-03,
 -3.85398400e-06,-2.73650404e-04, 8.18275969e-05,-1.85386470e-03,
 -6.94162760e-05, 4.85290018e-06,-3.58782094e-05, 1.16924993e-05,
  1.61911866e-04, 1.80717450e-04,-1.21649273e+00, 1.65977870e-03,
  5.17577184e-04, 5.34827965e-05]


--- Step 1246 ---
qpos:
[-7.75567259e-03, 9.28571425e-01,-1.60398381e-02, 8.78901892e-01,
  4.21064885e-03, 8.91962180e-01,-2.83413391e-02, 8.22424105e-01,
  1.62179116e-02, 9.60956563e-01,-2.12648944e-02, 8.55800835e-01,
  1.26577491e+00,-2.37553760e-03, 1.01319634e+00, 6.42606628e-02,
 -1.16741927e-03,-1.00196157e-01, 8.34454999e-02, 5.32915927e-01,
  2.28915403e-02,-4.63774578e-02, 8.44586126e-01]

qacc:
[ 4.03646809e-01,-7.02900469e+01, 2.73152584e+02,-5.72230297e+02,
  9.30134569e-02,-9.15764123e+01, 3.73750171e+02,-8.13045532e+02,
 -2.90332243e-02,-6.89292617e+01, 3.06741984e+02,-7.10384239e+02,
 -2.53153260e-01, 2.23371764e-01,-5.47942649e+00, 1.83441118e+01,
  6.50694908e-01, 2.42310962e+00,-2.50930645e-01, 7.37110344e+01,
  7.85842200e+01,-7.14952690e+00]

qfrc_actuator:
[ 1.50231532e-03, 1.32182982e-01, 8.48378561e-03, 7.02774339e-02,
  6.87367231e-05, 1.32029199e-01, 8.86358259e-03, 1.13475408e-01,
 -2.36038247e-03, 1.28273807e-01, 8.73561816e-03, 9.66102626e-02,
  8.14640198e-03,-1.83249488e-03, 0.00000000e+00,-2.52165295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.86399703, -5.24140455, -6.86399703, 13.59185598,
       -6.4895744 , -5.24140455, -6.4895744 , 17.13492906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004143794101190451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33962137e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33962137e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03081174, -0.14639383,  0.06169412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.26744991e-05,-1.68295072e-03,-3.45675875e-04,-1.50154795e-03,
  1.61336161e-05,-1.99754021e-03,-4.48413892e-04,-2.08648379e-03,
 -7.48787449e-06,-4.02910946e-04,-9.45635810e-05,-1.85447592e-03,
 -6.34309502e-05,-1.82334759e-05,-1.84156565e-05, 8.37252416e-05,
  1.19407884e-04, 1.09993139e-04,-1.21647272e+00, 1.63227042e-03,
  5.35695949e-04,-2.09913232e-05]


--- Step 1247 ---
qpos:
[-7.77733039e-03, 9.30638157e-01,-1.60539328e-02, 8.80238180e-01,
  4.21204450e-03, 8.94043131e-01,-2.83416143e-02, 8.24614072e-01,
  1.62226819e-02, 9.62932540e-01,-2.12847138e-02, 8.57655847e-01,
  1.26601562e+00,-2.38041893e-03, 1.01342410e+00, 6.42612055e-02,
 -1.19937834e-03,-1.00205052e-01, 8.36430369e-02, 5.32780486e-01,
  2.25739170e-02,-4.69056982e-02, 8.44650950e-01]

qacc:
[ 7.73860304e-02,-6.78079262e+01, 2.60753915e+02,-5.48458227e+02,
  9.82354670e-02,-8.59441596e+01, 3.48752313e+02,-7.63566163e+02,
 -1.14397995e-01,-5.48563330e+01, 2.60256326e+02,-6.49809597e+02,
 -6.34007257e-01, 1.12850512e+00,-9.72629755e+00, 3.33015495e+01,
  6.09157875e-01, 2.17539744e+00,-1.16166276e+00, 6.69226953e+01,
  7.15927390e+01,-6.31108331e+00]

qfrc_actuator:
[ 1.47811199e-03, 1.31417799e-01, 8.47928980e-03, 6.89128659e-02,
  7.82570879e-05, 1.31242949e-01, 8.86158040e-03, 1.11614264e-01,
 -2.38533470e-03, 1.28430567e-01, 8.68080238e-03, 9.48978651e-02,
  8.13375542e-03,-1.79703921e-03, 0.00000000e+00,-2.36206987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.32434959, -5.8812736 , -6.32434959, 16.3768988 ,
       -8.32368186, -5.8812736 , -8.32368186, 17.58712456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004035853043706308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.37545026e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.37545026e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03097047, -0.14665059,  0.06170314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42428770e-05,-1.85481912e-03,-4.31888970e-04,-1.46058797e-03,
  1.73422578e-05,-2.09835842e-03,-5.26683736e-04,-1.98677573e-03,
 -2.56328005e-05,-1.83127431e-04,-2.11350768e-04,-1.76848093e-03,
 -5.33341009e-05, 1.68896156e-05,-2.72403200e-06, 1.61072436e-04,
  8.60949779e-05, 6.06423674e-05,-1.21645883e+00, 1.61117075e-03,
  5.49776438e-04,-7.23862499e-05]


--- Step 1248 ---
qpos:
[-7.79866248e-03, 9.32690135e-01,-1.60676856e-02, 8.81547495e-01,
  4.21340132e-03, 8.96110097e-01,-2.83424672e-02, 8.26769120e-01,
  1.62271956e-02, 9.64910677e-01,-2.13065549e-02, 8.59476452e-01,
  1.26625584e+00,-2.38462089e-03, 1.01365153e+00, 6.42656426e-02,
 -1.22903828e-03,-1.00206042e-01, 8.38328853e-02, 5.32657772e-01,
  2.22110136e-02,-4.72600441e-02, 8.44718212e-01]

qacc:
[ 1.66628150e-01,-6.80800329e+01, 2.59867064e+02,-5.45076664e+02,
 -1.13277389e-02,-7.81468461e+01, 3.19475409e+02,-7.09861801e+02,
 -1.20472506e-01,-5.23728704e+01, 2.54985968e+02,-6.46757111e+02,
 -6.74206958e-01, 1.32948745e+00,-1.21737044e+01, 4.20306999e+01,
  5.74781881e-01, 1.97612452e+00,-1.92214547e+00, 6.12914527e+01,
  6.57727844e+01,-5.62624995e+00]

qfrc_actuator:
[ 1.50767294e-03, 1.30655178e-01, 8.48190381e-03, 6.75581270e-02,
  6.55517147e-05, 1.30675847e-01, 8.87810635e-03, 1.09874654e-01,
 -2.40206733e-03, 1.28710423e-01, 8.63925325e-03, 9.31845208e-02,
  8.12285717e-03,-1.75636928e-03, 0.00000000e+00,-2.16184942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.53247522, -6.63162837, -5.53247522, 20.61605964,
       -9.9941323 , -6.63162837, -9.9941323 , 16.97402767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003907821122734745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42051413e-14,  7.10257065e-15,  1.00000000e+00,  1.00893020e-28,
        1.00000000e+00, -7.10257065e-15, -1.00000000e+00,  0.00000000e+00,
       -1.42051413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03115035, -0.14693799,  0.06171331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30781919e-05,-1.96265319e-03,-4.67109055e-04,-1.45775457e-03,
 -4.28042120e-06,-1.94665106e-03,-5.33841255e-04,-1.86860860e-03,
 -2.68665099e-05, 4.17313236e-05,-1.65449789e-04,-1.76395396e-03,
 -3.72699938e-05, 3.22517690e-05, 1.25585121e-05, 2.07909225e-04,
  5.98850320e-05, 2.76619990e-05,-1.21644953e+00, 1.59493369e-03,
  5.60748818e-04,-1.06081227e-04]


--- Step 1249 ---
qpos:
[-7.81943611e-03, 9.34725407e-01,-1.60803110e-02, 8.82830562e-01,
  4.21465750e-03, 8.98163144e-01,-2.83435987e-02, 8.28891378e-01,
  1.62314945e-02, 9.66891898e-01,-2.13290318e-02, 8.61262220e-01,
  1.26649578e+00,-2.38858032e-03, 1.01387883e+00, 6.42734460e-02,
 -1.25651155e-03,-1.00199767e-01, 8.40125115e-02, 5.32546726e-01,
  2.18059557e-02,-4.74535610e-02, 8.44787929e-01]

qacc:
[ 2.80481436e-01,-7.14826982e+01, 2.66171416e+02,-5.40518506e+02,
 -4.22572858e-02,-7.50982787e+01, 3.04120018e+02,-6.69141944e+02,
 -9.98292768e-02,-5.56473174e+01, 2.68029720e+02,-6.63877297e+02,
 -2.18981352e-01, 3.95938467e-01,-1.03290414e+01, 3.59090409e+01,
  5.46668342e-01, 1.81617560e+00,-2.55553598e+00, 5.66290483e+01,
  6.09406449e+01,-5.06431550e+00]

qfrc_actuator:
[ 1.55149955e-03, 1.29740719e-01, 8.50652076e-03, 6.62377416e-02,
  5.74090620e-05, 1.30049770e-01, 8.88870965e-03, 1.08238358e-01,
 -2.41375837e-03, 1.29008923e-01, 8.65977856e-03, 9.14489159e-02,
  8.10769619e-03,-1.74844680e-03, 0.00000000e+00,-1.99257069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.45934508,  -7.39601368,  -4.45934508,
        26.24144845, -10.61479219,  -7.39601368, -10.61479219,
        15.0364358 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037648151863014373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.68618036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.68618036e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0313452 , -0.14724705,  0.06172429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70243554e-05,-2.18055312e-03,-4.70097482e-04,-1.42771441e-03,
 -1.04759063e-05,-1.91827929e-03,-5.06572786e-04,-1.75773836e-03,
 -2.24699147e-05, 1.94419936e-04,-5.34463881e-05,-1.77751390e-03,
 -2.85051853e-05, 6.60936963e-06, 2.42990043e-05, 1.81411429e-04,
  3.92303680e-05, 7.39081237e-06,-1.21644373e+00, 1.58243147e-03,
  5.69297030e-04,-1.26006775e-04]


--- Step 1250 ---
qpos:
[-0.00783997, 0.93674831,-0.01609402, 0.88408929, 0.00421563, 0.90020659,
 -0.0283476 , 0.83098588, 0.01623546, 0.96887806,-0.02135204, 0.86301417,
  1.2667354 ,-0.00239212, 1.0141069 , 0.06427754,-0.00128189,-0.10018674,
  0.08417981, 0.53244644, 0.02136133,-0.04749704, 0.84486005]

qacc:
[ 1.22176078e-01,-5.63826236e+01, 2.19188205e+02,-4.78114661e+02,
 -1.35681281e-01,-5.35498792e+01, 2.27662645e+02,-5.40162967e+02,
 -1.56514008e-01,-5.16641040e+01, 2.55359298e+02,-6.40872589e+02,
 -8.11262224e-01, 1.41999583e+00, 1.23819347e+01,-4.15293735e+01,
  5.23983109e-01, 1.68815436e+00,-3.08154830e+00, 5.27806507e+01,
  5.69440223e+01,-4.60070461e+00]

qfrc_actuator:
[ 1.55026464e-03, 1.29435364e-01, 8.56116999e-03, 6.50367961e-02,
  3.43287561e-05, 1.29890908e-01, 8.86018620e-03, 1.06871166e-01,
 -2.44011631e-03, 1.29441089e-01, 8.69921855e-03, 8.97674057e-02,
  8.09530326e-03,-1.72450243e-03, 0.00000000e+00,-2.19793940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.17433859, -8.03183362, -3.17433859, 32.41290915,
       -9.39695835, -8.03183362, -9.39695835, 12.35022637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003611080979134554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.68622354e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.68622354e-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([-0.03155003, -0.14757054,  0.0617358 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42779955e-05,-1.69121558e-03,-4.82170776e-04,-1.31443813e-03,
 -2.85097911e-05,-1.42556830e-03,-5.33198826e-04,-1.48426361e-03,
 -3.48467477e-05, 4.34569601e-04, 8.20461824e-06,-1.71545872e-03,
 -2.66653025e-05, 1.88329767e-05, 2.62275980e-05,-1.93347331e-04,
  2.29778662e-05,-2.85281319e-06,-1.21644064e+00, 1.57283544e-03,
  5.75927395e-04,-1.35037646e-04]


--- Step 1251 ---
qpos:
[-0.00786104, 0.93876607,-0.0161104 , 0.88532327, 0.0042165 , 0.90224648,
 -0.0283561 , 0.83305723, 0.01623946, 0.97086929,-0.02137605, 0.86473411,
  1.26697452,-0.00239476, 1.01433518, 0.06427853,-0.00130524,-0.10016737,
  0.08433304, 0.53235613, 0.02087928,-0.04739935, 0.8449345 ]

qacc:
[-2.53981389e-01,-4.33225969e+01, 1.88700586e+02,-4.60240285e+02,
 -5.13916750e-02,-3.31197136e+01, 1.58913292e+02,-4.25196387e+02,
  1.62936182e-02,-4.70334532e+01, 2.36000601e+02,-6.01317208e+02,
 -1.28603660e+00, 2.42789314e+00, 9.79888018e+00,-3.36097303e+01,
  5.05954048e-01, 1.58603513e+00,-3.51695745e+00, 4.96178812e+01,
  5.36556465e+01,-4.21563571e+00]

qfrc_actuator:
[ 1.48658374e-03, 1.29710845e-01, 8.61784542e-03, 6.38273383e-02,
  3.80120175e-05, 1.30191157e-01, 8.81089126e-03, 1.05744527e-01,
 -2.42181263e-03, 1.29737332e-01, 8.66139396e-03, 8.81667700e-02,
  8.07393241e-03,-1.67346200e-03, 0.00000000e+00,-2.35608087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.87287061, -8.43084412, -1.87287061, 36.86548739,
       -6.27096118, -8.43084412, -6.27096118, 10.02942686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034501300005727875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.04479124e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.04479124e-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([-0.03176085, -0.14790261,  0.06174764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48530800e-05,-8.37637979e-04,-3.81588099e-04,-1.30534738e-03,
 -1.07230085e-05,-6.88753668e-04,-4.50755425e-04,-1.22207555e-03,
  3.34787337e-06, 4.46058230e-04,-1.26032516e-05,-1.62365450e-03,
 -3.24540724e-05, 4.94926531e-05,-1.66465565e-05,-1.67228540e-04,
  1.02651772e-05,-5.03022844e-06,-1.21643972e+00, 1.56553265e-03,
  5.81016895e-04,-1.35273292e-04]


--- Step 1252 ---
qpos:
[-0.00788338, 0.94077964,-0.01612779, 0.88653195, 0.00421751, 0.90428554,
 -0.02836712, 0.83510756, 0.01624376, 0.97286173,-0.0213995 , 0.86642284,
  1.26721322,-0.00239671, 1.01456264, 0.06428328,-0.00132663,-0.10014198,
  0.08447077, 0.53227511, 0.02036154,-0.04716773, 0.84501114]

qacc:
[-6.15601752e-01,-4.74939220e+01, 2.05041589e+02,-4.81730081e+02,
  7.17125329e-02,-3.11318001e+01, 1.51460696e+02,-3.93725993e+02,
  1.48392939e-01,-5.48980517e+01, 2.53636939e+02,-6.04542486e+02,
 -6.10481236e-01, 1.25849996e+00,-1.25215675e+01, 4.21792332e+01,
  4.91869430e-01, 1.50488915e+00,-3.87603153e+00, 4.70335695e+01,
  5.09684644e+01,-3.89310277e+00]

qfrc_actuator:
[ 1.38610886e-03, 1.29657961e-01, 8.62449899e-03, 6.25696691e-02,
  5.76901459e-05, 1.30462860e-01, 8.80516368e-03, 1.04715474e-01,
 -2.39469488e-03, 1.29594867e-01, 8.61339770e-03, 8.65908792e-02,
  8.05252866e-03,-1.64233200e-03, 0.00000000e+00,-2.14769671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.77524501, -8.60149824, -0.77524501, 39.41304154,
       -2.77387324, -8.60149824, -2.77387324,  8.88637024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032848545330815757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68991201e-14,  8.44956004e-15,  1.00000000e+00,  1.42790130e-28,
        1.00000000e+00, -8.44956004e-15, -1.00000000e+00,  0.00000000e+00,
       -1.68991201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03197445, -0.14823852,  0.06175963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32187520e-04,-6.72803871e-04,-2.51627969e-04,-1.32359674e-03,
  1.42448458e-05,-2.83120349e-04,-2.43405039e-04,-1.09181706e-03,
  3.21393084e-05, 1.26964232e-05,-2.00726212e-05,-1.59711026e-03,
 -2.90184283e-05, 3.53783054e-05,-3.12958209e-05, 1.95763220e-04,
  4.46057775e-07,-5.69919862e-07,-1.21644057e+00, 1.56006682e-03,
  5.84847533e-04,-1.28240049e-04]


--- Step 1253 ---
qpos:
[-0.00790742, 0.9427869 ,-0.01614472, 0.88771595, 0.00421853, 0.90632369,
 -0.02837815, 0.83713569, 0.01624822, 0.97485059,-0.02142035, 0.86808131,
  1.2674517 ,-0.0023985 , 1.01479024, 0.0642874 ,-0.00134609,-0.10011082,
  0.08459182, 0.53220277, 0.01980952,-0.04680807, 0.84508982]

qacc:
[-8.14559035e-01,-5.31385781e+01, 2.18690380e+02,-4.84969701e+02,
  6.36759560e-03,-4.00285985e+01, 1.83379131e+02,-4.36849439e+02,
  8.10005863e-02,-6.50065313e+01, 2.76787517e+02,-6.10268745e+02,
 -3.37785966e-01, 5.45191674e-01, 2.11989806e+00,-7.05520651e+00,
  4.81076255e-01, 1.44066866e+00,-4.17090125e+00, 4.49377536e+01,
  4.87919576e+01,-3.62009461e+00]

qfrc_actuator:
[ 1.28227070e-03, 1.29267129e-01, 8.61829878e-03, 6.13290191e-02,
  5.12547217e-05, 1.30520869e-01, 8.84314834e-03, 1.03610064e-01,
 -2.39808034e-03, 1.29155498e-01, 8.64690015e-03, 8.50595925e-02,
  8.03644136e-03,-1.64103724e-03, 0.00000000e+00,-2.18660054e-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, -2.75436261e-02, -8.63631971e+00, -2.75436261e-02,
        4.07824380e+01, -1.02522774e-01, -8.63631971e+00, -1.02522774e-01,
        8.63669061e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.003117624595125698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67083878e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67083878e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03218825, -0.14857449,  0.06177161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75349487e-04,-8.94155305e-04,-2.17521401e-04,-1.29791573e-03,
  6.94621007e-07,-2.26085318e-04,-9.11684541e-05,-1.14558317e-03,
  1.66789555e-05,-5.24807252e-04,-2.40640737e-05,-1.56595162e-03,
 -2.44817419e-05, 2.85336678e-06, 5.09746772e-06,-3.25541204e-05,
 -6.96389428e-06, 9.49590352e-06,-1.21644291e+00, 1.55609614e-03,
  5.87631044e-04,-1.15038173e-04]


--- Step 1254 ---
qpos:
[-0.00793354, 0.94478524,-0.01616027, 0.88887576, 0.00421951, 0.90835678,
 -0.02838635, 0.83913818, 0.01625259, 0.97683237,-0.02143784, 0.86971231,
  1.26768998,-0.00240022, 1.01501809, 0.06428903,-0.00136366,-0.10007411,
  0.08469521, 0.53213857, 0.01922431,-0.04632505, 0.84517037]

qacc:
[-1.00333619e+00,-5.82705273e+01, 2.30212353e+02,-4.87707706e+02,
 -1.25683792e-02,-5.92590850e+01, 2.48088684e+02,-5.34559562e+02,
 -3.67510715e-02,-6.67659147e+01, 2.70440811e+02,-5.68313115e+02,
 -3.60936498e-01, 5.24982930e-01, 7.93010328e+00,-2.71739209e+01,
  4.72978209e-01, 1.39003606e+00,-4.41187555e+00, 4.32545820e+01,
  4.70492790e+01,-3.38599045e+00]

qfrc_actuator:
[ 1.15958866e-03, 1.28695080e-01, 8.63883654e-03, 6.01080787e-02,
  4.69818083e-05, 1.30060500e-01, 8.90586881e-03, 1.02308651e-01,
 -2.41974373e-03, 1.28613312e-01, 8.74479932e-03, 8.36731145e-02,
  8.02354159e-03,-1.63963975e-03, 0.00000000e+00,-2.31773416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.31456152, -8.63063311,  0.31456152, 42.24955206,
        1.22510314, -8.63063311,  1.22510314,  8.68101509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029503698383366653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88149806e-14,  2.82224709e-14,  1.00000000e+00,  5.31005242e-28,
        1.00000000e+00, -2.82224709e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88149806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03240022, -0.14890749,  0.06178349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16521820e-04,-1.19012208e-03,-2.29509054e-04,-1.28347685e-03,
 -3.93561764e-06,-6.84205779e-04,-3.90354164e-05,-1.33626058e-03,
 -9.76173876e-06,-9.25005734e-04,-6.51093226e-05,-1.43765365e-03,
 -2.63841131e-05,-3.33725596e-06,-6.41269193e-06,-1.33501534e-04,
 -1.23270581e-05, 2.44309978e-05,-1.21644658e+00, 1.55336284e-03,
  5.89526859e-04,-9.64495930e-05]


--- Step 1255 ---
qpos:
[-0.00796138, 0.94677148,-0.01617374, 0.89001221, 0.00422062, 0.91038112,
 -0.02839185, 0.84111438, 0.0162568 , 0.97880623,-0.02145455, 0.87131633,
  1.26792795,-0.00240184, 1.01524562, 0.06429107,-0.00137936,-0.100032  ,
  0.08478018, 0.53208202, 0.0186068 ,-0.04572242, 0.84525261]

qacc:
[-8.15859745e-01,-6.28160562e+01, 2.38051027e+02,-4.82387301e+02,
  7.09142563e-02,-6.48365087e+01, 2.61814691e+02,-5.51724665e+02,
 -6.89099510e-02,-5.99725286e+01, 2.45430154e+02,-5.38754794e+02,
 -2.69674985e-01, 3.69253211e-01,-1.69578652e+00, 5.31535340e+00,
  4.67033155e-01, 1.35022838e+00,-4.60771111e+00, 4.19198801e+01,
  4.56749916e+01,-3.18208793e+00]

qfrc_actuator:
[ 1.09768324e-03, 1.27912913e-01, 8.67429428e-03, 5.89261123e-02,
  6.18010816e-05, 1.29382394e-01, 8.94508162e-03, 1.00972984e-01,
 -2.43443502e-03, 1.28120875e-01, 8.73750478e-03, 8.23118270e-02,
  8.00190910e-03,-1.63815393e-03, 0.00000000e+00,-2.28904685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.22701128, -8.63337957,  0.22701128, 44.0323854 ,
        0.93072432, -8.63337957,  0.93072432,  8.66083666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027846488424914453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99347043e-14,  2.99020564e-14,  1.00000000e+00,  5.96088653e-28,
        1.00000000e+00, -2.99020564e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99347043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03260877, -0.14923513,  0.06179518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77104842e-04,-1.56570308e-03,-2.73619432e-04,-1.25372747e-03,
  1.27773514e-05,-1.15172191e-03,-1.52921027e-04,-1.38815749e-03,
 -1.67303518e-05,-1.10064489e-03,-2.49936712e-04,-1.42347703e-03,
 -3.79765489e-05,-4.93523781e-06,-2.28233872e-05, 1.92455552e-05,
 -1.59132711e-05, 4.37209000e-05,-1.21645144e+00, 1.55167101e-03,
  5.90655283e-04,-7.30174643e-05]


--- Step 1256 ---
qpos:
[-0.00798967, 0.94874133,-0.01618473, 0.8911271 , 0.00422223, 0.91239483,
 -0.02839576, 0.8430643 , 0.0162612 , 0.98077173,-0.0214718 , 0.87289172,
  1.26816546,-0.00240308, 1.01547316, 0.06429206,-0.00139321,-0.09998461,
  0.08484608, 0.53203264, 0.01795763,-0.04500305, 0.84533633]

qacc:
[-2.16935157e-01,-6.63612110e+01, 2.38784865e+02,-4.58621680e+02,
  2.53708819e-01,-6.42696536e+01, 2.56646151e+02,-5.44968505e+02,
  9.24929723e-02,-5.99072349e+01, 2.48116178e+02,-5.60451562e+02,
 -7.20252335e-01, 1.19393455e+00, 3.24733769e+00,-1.12259916e+01,
  4.62750247e-01, 1.31894935e+00,-4.76584236e+00, 4.08792103e+01,
  4.46132537e+01,-3.00123172e+00]

qfrc_actuator:
[ 1.14370627e-03, 1.26833913e-01, 8.69971623e-03, 5.78296264e-02,
  1.05676947e-04, 1.28721374e-01, 8.96918967e-03, 9.96454171e-02,
 -2.40933591e-03, 1.27661966e-01, 8.68608777e-03, 8.08696263e-02,
  7.97505285e-03,-1.61892095e-03, 0.00000000e+00,-2.34391207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.31113137, -8.63075745, -0.31113137, 46.51227135,
       -1.36539386, -8.63075745, -1.36539386,  8.68558491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026217078193221666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11736605e-14,  1.05868302e-14,  1.00000000e+00, -2.24161949e-28,
        1.00000000e+00, -1.05868302e-14, -1.00000000e+00,  0.00000000e+00,
        2.11736605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03281264, -0.14955553,  0.0618066 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.89652373e-05,-2.07786024e-03,-3.61550285e-04,-1.18054806e-03,
  5.02008927e-05,-1.41779723e-03,-2.75174761e-04,-1.39988989e-03,
  1.93512488e-05,-1.20013112e-03,-3.49440305e-04,-1.51517714e-03,
 -5.00580753e-05, 9.66390324e-06,-1.18399878e-05,-5.75414276e-05,
 -1.79218446e-05, 6.70177143e-05,-1.21645743e+00, 1.55087025e-03,
  5.91107257e-04,-4.51052544e-05]


--- Step 1257 ---
qpos:
[-0.00801753, 0.95069168,-0.0161943 , 0.89222125, 0.00422399, 0.91439762,
 -0.02839929, 0.84498499, 0.01626585, 0.98272783,-0.02148752, 0.87443828,
  1.26840252,-0.00240404, 1.01570094, 0.06428968,-0.00140522,-0.09993204,
  0.08489241, 0.53199   , 0.01727727,-0.04416913, 0.84542133]

qacc:
[ 2.23654535e-01,-6.61112314e+01, 2.31077405e+02,-4.39691159e+02,
  8.16390216e-02,-6.64777675e+01, 2.70226762e+02,-5.92510664e+02,
  1.25096550e-01,-6.71681225e+01, 2.70589847e+02,-5.81860768e+02,
 -7.56303649e-01, 1.18672952e+00, 1.05546017e+01,-3.62974496e+01,
  4.59686740e-01, 1.29428317e+00,-4.89257772e+00, 4.00863070e+01,
  4.38163428e+01,-2.83751929e+00]

qfrc_actuator:
[ 1.21842567e-03, 1.25639187e-01, 8.68236989e-03, 5.67742176e-02,
  9.55545148e-05, 1.28146998e-01, 8.96650584e-03, 9.81734349e-02,
 -2.39614649e-03, 1.27209030e-01, 8.76897405e-03, 7.94268407e-02,
  7.95041438e-03,-1.60711412e-03, 0.00000000e+00,-2.51861324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.32666367, -8.53385847, -1.32666367, 48.4281257 ,
       -6.18598084, -8.53385847, -6.18598084,  9.59802899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024625303863115844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50846426e-14,  1.12711607e-14,  1.00000000e+00,  5.08156251e-28,
        1.00000000e+00, -1.12711607e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50846426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03301089, -0.14986726,  0.06181771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58623296e-05,-2.49170219e-03,-5.12761211e-04,-1.15631969e-03,
  1.50636094e-05,-1.50285670e-03,-3.68935798e-04,-1.55688128e-03,
  2.63950447e-05,-1.27151673e-03,-2.48856463e-04,-1.52395722e-03,
 -5.13408099e-05, 2.72528436e-06,-1.65121341e-05,-1.80505527e-04,
 -1.84981414e-05, 9.40987706e-05,-1.21646452e+00, 1.55084358e-03,
  5.90951664e-04,-1.29409064e-05]


--- Step 1258 ---
qpos:
[-0.0080443 , 0.95261993,-0.0162021 , 0.89329382, 0.00422541, 0.91638945,
 -0.02840314, 0.84687524, 0.01627055, 0.98467577,-0.02150281, 0.87595756,
  1.26863927,-0.00240534, 1.01592856, 0.06428554,-0.00141541,-0.09987437,
  0.08491877, 0.53195367, 0.01656604,-0.04322227, 0.84550736]

qacc:
[ 5.27540692e-01,-7.19757917e+01, 2.47945008e+02,-4.62982819e+02,
 -1.61608057e-01,-6.68017586e+01, 2.73845049e+02,-6.09946404e+02,
  2.85347581e-02,-5.98150545e+01, 2.44739816e+02,-5.40446939e+02,
 -5.79752203e-02,-2.64317922e-01, 5.08203112e+00,-1.81193385e+01,
  4.57444627e-01, 1.27462540e+00,-4.99326693e+00, 3.95017968e+01,
  4.32434405e+01,-2.68606635e+00]

qfrc_actuator:
[ 1.30963620e-03, 1.24384695e-01, 8.71044422e-03, 5.56802457e-02,
  5.31808663e-05, 1.27611394e-01, 8.94833651e-03, 9.66460231e-02,
 -2.40799587e-03, 1.26906072e-01, 8.82407582e-03, 7.80663587e-02,
  7.92179529e-03,-1.63531657e-03, 0.00000000e+00,-2.60271155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.78180228,  -8.1760842 ,  -2.78180228,
        46.89738751, -13.01779689,  -8.1760842 , -13.01779689,
        13.0654933 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0023078797917763655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40528781e-14,  3.60793171e-14,  1.00000000e+00,  8.67811415e-28,
        1.00000000e+00, -3.60793171e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40528781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03320282, -0.15016922,  0.06182845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11413425e-04,-2.80907949e-03,-5.65164514e-04,-1.21166569e-03,
 -3.49102465e-05,-1.53456824e-03,-4.16702551e-04,-1.62138532e-03,
  5.04696830e-06,-1.14112628e-03,-2.79219912e-04,-1.44103794e-03,
 -5.79709114e-05,-3.90163484e-05,-3.26854596e-05,-9.74285250e-05,
 -1.77461582e-05, 1.24835491e-04,-1.21647271e+00, 1.55149831e-03,
  5.90240838e-04, 2.33499749e-05]


--- Step 1259 ---
qpos:
[-0.00806959, 0.95452441,-0.01620841, 0.89434584, 0.00422658, 0.91837121,
 -0.02840786, 0.84873659, 0.01627505, 0.98661931,-0.02152053, 0.87745374,
  1.26887567,-0.00240694, 1.0161561 , 0.06427937,-0.00142377,-0.09981167,
  0.08492484, 0.53192323, 0.01582411,-0.04216354, 0.84559417]

qacc:
[ 7.25550088e-01,-7.16060915e+01, 2.41682284e+02,-4.43799721e+02,
 -1.18111209e-01,-6.14116807e+01, 2.53723090e+02,-5.73135335e+02,
 -9.10873992e-02,-3.98066231e+01, 1.75559845e+02,-4.30742641e+02,
 -1.46710657e-01,-1.19207002e-01, 6.01604315e+00,-2.12161631e+01,
  4.55667199e-01, 1.25862739e+00,-5.07244370e+00, 3.90921429e+01,
  4.28596192e+01,-2.54281910e+00]

qfrc_actuator:
[ 1.40993300e-03, 1.23104737e-01, 8.74709841e-03, 5.46432944e-02,
  4.51464818e-05, 1.27209989e-01, 8.93916351e-03, 9.52047740e-02,
 -2.43476724e-03, 1.26944167e-01, 8.79198754e-03, 7.69250082e-02,
  7.90144288e-03,-1.65151626e-03, 0.00000000e+00,-2.70371700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.46276775,  -7.39394894,  -4.46276775,
        40.01765375, -18.94081369,  -7.39394894, -18.94081369,
        20.06847564,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002158334746239096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14388709e-14,  3.85791532e-14,  1.00000000e+00,  1.98446808e-27,
        1.00000000e+00, -3.85791532e-14, -1.00000000e+00,  0.00000000e+00,
       -5.14388709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03338793, -0.15046063,  0.06183882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54515867e-04,-3.02174116e-03,-6.26451980e-04,-1.16727258e-03,
 -2.58417031e-05,-1.42906854e-03,-4.21258565e-04,-1.53907687e-03,
 -2.11334338e-05,-7.30789666e-04,-3.41542758e-04,-1.21676516e-03,
 -6.32716864e-05,-3.80444786e-05,-2.94169012e-05,-1.11447262e-04,
 -1.57381509e-05, 1.59169815e-04,-1.21648203e+00, 1.55275918e-03,
  5.89014771e-04, 6.37190511e-05]


--- Step 1260 ---
qpos:
[-0.00809399, 0.95640494,-0.01621468, 0.89537737, 0.00422756, 0.92034501,
 -0.02841338, 0.85056944, 0.01627914, 0.98856188,-0.02153983, 0.87892874,
  1.26911166,-0.00240872, 1.0163835 , 0.06427166,-0.00143031,-0.09974399,
  0.08491038, 0.53189826, 0.01505157,-0.04099365, 0.84568151]

qacc:
[ 4.39204635e-01,-6.77493467e+01, 2.28508025e+02,-4.30815049e+02,
 -8.25777422e-02,-5.80469646e+01, 2.44917487e+02,-5.61198357e+02,
 -1.91930311e-01,-3.41868673e+01, 1.58165798e+02,-3.94038858e+02,
 -2.48883931e-01, 9.42178260e-02, 4.45322797e+00,-1.58632024e+01,
  4.54035605e-01, 1.24515130e+00,-5.13394724e+00, 3.88287658e+01,
  4.26349917e+01,-2.40440309e+00]

qfrc_actuator:
[ 1.42607511e-03, 1.21891033e-01, 8.73521109e-03, 5.36126504e-02,
  4.00099827e-05, 1.27016858e-01, 8.97156916e-03, 9.37903527e-02,
 -2.47026426e-03, 1.27221902e-01, 8.83453990e-03, 7.58863802e-02,
  7.88074020e-03,-1.66041965e-03, 0.00000000e+00,-2.77838562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.00556279,  -6.20644765,  -6.00556279,
        28.92190255, -19.62895435,  -6.20644765, -19.62895435,
        27.62998518,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00201431983028022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75582608e-14,  1.37791304e-14,  1.00000000e+00,  3.79728869e-28,
        1.00000000e+00, -1.37791304e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75582608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03356586, -0.15074094,  0.06184878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.28205232e-05,-3.08325370e-03,-7.22259900e-04,-1.16831110e-03,
 -1.83625959e-05,-1.16000418e-03,-3.56605101e-04,-1.50702856e-03,
 -4.36625533e-05,-2.68596024e-04,-1.86287517e-04,-1.09781181e-03,
 -6.64051958e-05,-3.17746003e-05,-2.97695531e-05,-8.55306736e-05,
 -1.25220543e-05, 1.97096246e-04,-1.21649250e+00, 1.55456308e-03,
  5.87304335e-04, 1.08176216e-04]


--- Step 1261 ---
qpos:
[-0.0081181 , 0.95826232,-0.01622153, 0.89638886, 0.00422826, 0.92231215,
 -0.02841961, 0.85237098, 0.01628299, 0.99050604,-0.0215601 , 0.8803806 ,
  1.26934707,-0.0024103 , 1.01661021, 0.06426708,-0.00143504,-0.09967138,
  0.08487519, 0.5318783 , 0.01424837,-0.0397129 , 0.84576908]

qacc:
[ 1.40538211e-01,-6.41824148e+01, 2.17066990e+02,-4.15701053e+02,
 -1.41269659e-01,-6.15526882e+01, 2.64943513e+02,-6.14013885e+02,
 -1.09246606e-01,-3.59192317e+01, 1.72240812e+02,-4.31536348e+02,
 -3.94378643e-01, 5.22480651e-01,-1.04468583e+01, 3.51471319e+01,
  4.52265491e-01, 1.23323375e+00,-5.18102572e+00, 3.86873054e+01,
  4.25439909e+01,-2.26800114e+00]

qfrc_actuator:
[ 1.40947460e-03, 1.20815529e-01, 8.73056182e-03, 5.26116910e-02,
  1.88869611e-05, 1.26808578e-01, 8.97595152e-03, 9.22256508e-02,
 -2.47519976e-03, 1.27535232e-01, 8.86873742e-03, 7.47391658e-02,
  7.85451951e-03,-1.64718611e-03, 0.00000000e+00,-2.60614505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.10949735,  4.9032463 ,  7.10949735, 15.29546194,
       -9.65540763,  4.9032463 , -9.65540763, 22.63629158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018761312968092747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95880951e-14,  1.47940476e-14,  1.00000000e+00, -4.37727686e-28,
        1.00000000e+00, -1.47940476e-14, -1.00000000e+00,  0.00000000e+00,
        2.95880951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03373641, -0.1510098 ,  0.06185833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81640054e-05,-2.99734966e-03,-7.37902436e-04,-1.14335198e-03,
 -3.05439286e-05,-1.01169757e-03,-3.22778221e-04,-1.64583970e-03,
 -2.49928598e-05, 5.77263370e-05,-8.19902765e-05,-1.18441305e-03,
 -7.21885823e-05,-8.97228669e-06,-2.69588913e-05, 1.62807116e-04,
 -8.12724584e-06, 2.38648107e-04,-1.21650420e+00, 1.55685496e-03,
  5.85133791e-04, 1.56775073e-04]


--- Step 1262 ---
qpos:
[-0.0081433 , 0.96009838,-0.01622886, 0.89737966, 0.00422884, 0.92427182,
 -0.02842563, 0.85413911, 0.01628688, 0.99245168,-0.02158039, 0.88180741,
  1.26958194,-0.00241171, 1.01683664, 0.06426521,-0.00143798,-0.09959387,
  0.08481913, 0.53186292, 0.01341442,-0.03832134, 0.84585659]

qacc:
[-5.09597479e-01,-6.32962470e+01, 2.18430028e+02,-4.25759770e+02,
 -4.40316784e-02,-6.87179685e+01, 2.91928655e+02,-6.62662263e+02,
  1.63078496e-02,-4.19524633e+01, 1.96065983e+02,-4.75451759e+02,
 -3.76864377e-01, 4.84548567e-01,-8.56928889e+00, 2.94267734e+01,
  4.50103772e-01, 1.22205613e+00,-5.21642439e+00, 3.86469991e+01,
  4.25647568e+01,-2.13125447e+00]

qfrc_actuator:
[ 1.28472741e-03, 1.19920480e-01, 8.76637665e-03, 5.15830345e-02,
  2.38683527e-05, 1.26433339e-01, 8.98150033e-03, 9.05495025e-02,
 -2.46180943e-03, 1.27654720e-01, 8.88018854e-03, 7.34839730e-02,
  7.83034371e-03,-1.63873423e-03, 0.00000000e+00,-2.46734664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.82080092, -3.66358429, -7.82080092, 10.84827753,
       -4.72186167, -3.66358429, -4.72186167, 18.71631189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001743958959326039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18305376e-14,  1.59152688e-14,  1.00000000e+00, -5.06591562e-28,
        1.00000000e+00, -1.59152688e-14, -1.00000000e+00,  0.00000000e+00,
        3.18305376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03389949, -0.15126703,  0.06186746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13494726e-04,-2.77097909e-03,-6.81346634e-04,-1.16821141e-03,
 -1.06194520e-05,-1.09394172e-03,-2.92454092e-04,-1.75454421e-03,
  3.21117292e-06, 6.26036320e-05,-3.10093189e-05,-1.28094125e-03,
 -6.75668638e-05,-1.01990063e-05, 2.88624896e-06, 1.43783968e-04,
 -2.56905510e-06, 2.83886961e-04,-1.21651719e+00, 1.55958464e-03,
  5.82522747e-04, 2.09601812e-04]


--- Step 1263 ---
qpos:
[-0.00817089, 0.96191805,-0.01623821, 0.89834938, 0.00422976, 0.92622165,
 -0.02843038, 0.85587497, 0.0162912 , 0.99439636,-0.02159865, 0.88320926,
  1.26981641,-0.00241308, 1.01706376, 0.06425898,-0.00143912,-0.09951153,
  0.08474211, 0.53185164, 0.01254955,-0.03681877, 0.84594369]

qacc:
[-1.13909907e+00,-5.32392257e+01, 1.94104278e+02,-4.11513344e+02,
  1.65897007e-01,-7.26602019e+01, 2.98153577e+02,-6.52235663e+02,
  2.09895499e-01,-5.05625463e+01, 2.20029394e+02,-4.93760511e+02,
 -6.17396032e-01, 8.34783726e-01, 1.42343554e+01,-4.82115503e+01,
  4.47325553e-01, 1.21092042e+00,-5.24246038e+00, 3.86901535e+01,
  4.26786123e+01,-1.99218229e+00]

qfrc_actuator:
[ 1.09633780e-03, 1.19460694e-01, 8.79107742e-03, 5.05464366e-02,
  6.21883458e-05, 1.25837111e-01, 9.00486032e-03, 8.89276210e-02,
 -2.41984185e-03, 1.27515344e-01, 8.94844770e-03, 7.22284252e-02,
  7.81806370e-03,-1.63319398e-03, 0.00000000e+00,-2.70449215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.23400064, -2.60538103, -8.23400064, 10.34428342,
       -5.39767982, -2.60538103, -5.39767982, 25.69509657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016179047521914514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43105187e-14,  5.14657780e-14,  1.00000000e+00, -1.76581754e-27,
        1.00000000e+00, -5.14657780e-14, -1.00000000e+00,  0.00000000e+00,
        3.43105187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03405508, -0.15151257,  0.06187616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50800428e-04,-2.19943095e-03,-6.41988513e-04,-1.16795530e-03,
  3.28220471e-05,-1.35771250e-03,-2.90538925e-04,-1.70442429e-03,
  4.67071158e-05,-1.86458748e-04, 2.97560706e-05,-1.28181431e-03,
 -5.30352381e-05,-1.24593595e-05, 1.28741916e-05,-2.29770140e-04,
  4.14768073e-06, 3.32894418e-04,-1.21653155e+00, 1.56270433e-03,
  5.79487701e-04, 2.66766640e-04]


--- Step 1264 ---
qpos:
[-0.00820071, 0.963728  ,-0.01625134, 0.89929864, 0.00423071, 0.92815929,
 -0.02843415, 0.85758057, 0.016296  , 0.99633915,-0.02161539, 0.88458428,
  1.27005057,-0.00241441, 1.01729052, 0.06425334,-0.00143849,-0.09942439,
  0.08464404, 0.53184396, 0.01165351,-0.03520479, 0.84603004]

qacc:
[-1.06577240e+00,-3.86142614e+01, 1.55429806e+02,-3.74015740e+02,
  2.58049355e-02,-7.14935109e+01, 2.85683111e+02,-6.14629472e+02,
  2.28438066e-01,-5.36529416e+01, 2.32770672e+02,-5.26680523e+02,
 -2.25504413e-01, 2.46226536e-01,-2.29432767e+00, 7.26888039e+00,
  4.43731252e-01, 1.19922923e+00,-5.26108646e+00, 3.88016958e+01,
  4.28696142e+01,-1.84911634e+00]

qfrc_actuator:
[ 9.95775129e-04, 1.19460931e-01, 8.77534359e-03, 4.95492337e-02,
  4.91157110e-05, 1.25095911e-01, 9.00227161e-03, 8.74037738e-02,
 -2.39665325e-03, 1.27364538e-01, 8.99548695e-03, 7.08760672e-02,
  7.80760150e-03,-1.62935609e-03, 0.00000000e+00,-2.66414378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.45478968, -1.76162095, -8.45478968,  9.553195  ,
       -4.40027482, -1.76162095, -4.40027482, 29.75520768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014979984603127813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.41137627e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.41137627e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03420323, -0.15174648,  0.06188446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34494559e-04,-1.41469337e-03,-5.65379902e-04,-1.10964243e-03,
  3.50890869e-06,-1.64643503e-03,-3.66666863e-04,-1.61365422e-03,
  5.09566496e-05,-3.23722382e-04,-3.34782582e-05,-1.38464809e-03,
 -4.41000199e-05,-1.09452510e-05,-2.63549428e-05, 2.76648573e-05,
  1.20257929e-05, 3.85765751e-04,-1.21654739e+00, 1.56616659e-03,
  5.76043273e-04, 3.28397171e-04]


--- Step 1265 ---
qpos:
[-0.00823201, 0.96553294,-0.01626783, 0.90022846, 0.00423125, 0.93008368,
 -0.02843742, 0.85925619, 0.01630086, 0.99827809,-0.02163114, 0.885933  ,
  1.27028451,-0.0024162 , 1.01751654, 0.06425252,-0.0014361 ,-0.0993325 ,
  0.08452487, 0.53183935, 0.01072603,-0.03347883, 0.84611525]

qacc:
[-7.02116366e-01,-3.17621503e+01, 1.38184654e+02,-3.49330659e+02,
 -1.91948630e-01,-7.10368969e+01, 2.81648653e+02,-6.06565959e+02,
  3.18699545e-02,-5.38861697e+01, 2.29066465e+02,-5.15402560e+02,
  5.10520486e-01,-1.19151932e+00,-1.56915052e+01, 5.32264429e+01,
  4.39143910e-01, 1.18646950e+00,-5.27394505e+00, 3.89687908e+01,
  4.31241666e+01,-1.70064738e+00]

qfrc_actuator:
[ 9.66461408e-04, 1.19612802e-01, 8.75567404e-03, 4.86012442e-02,
  5.36440473e-06, 1.24380520e-01, 9.00162546e-03, 8.58963883e-02,
 -2.42045203e-03, 1.27048400e-01, 8.99399344e-03, 6.95484996e-02,
  7.78758637e-03,-1.66204847e-03, 0.00000000e+00,-2.40724296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56559132, -1.1033686 , -8.56559132,  9.01635586,
       -2.94992814, -1.1033686 , -2.94992814, 31.53703244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001384211040944626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.01546472e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.01546472e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03434407, -0.15196889,  0.06189234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54759949e-04,-8.11282314e-04,-4.04415506e-04,-1.03250797e-03,
 -4.21212225e-05,-1.79227273e-03,-4.27579595e-04,-1.60667650e-03,
  6.22547384e-06,-5.80652231e-04,-1.19361353e-04,-1.36840766e-03,
 -4.81169487e-05,-4.50731234e-05,-1.22823088e-05, 2.54323291e-04,
  2.10735214e-05, 4.42604904e-04,-1.21656479e+00, 1.56992272e-03,
  5.72203183e-04, 3.94633294e-04]


--- Step 1266 ---
qpos:
[-0.00826415, 0.96733395,-0.01628515, 0.90114016, 0.00423133, 0.93199491,
 -0.02844101, 0.86090042, 0.01630563, 1.00021008,-0.0216455 , 0.88725838,
  1.27051809,-0.00241831, 1.01774288, 0.06425105,-0.00143198,-0.09923592,
  0.08438457, 0.53183726, 0.00976679,-0.03164021, 0.84619893]

qacc:
[-3.96721090e-01,-3.48515156e+01, 1.47137973e+02,-3.42429997e+02,
 -2.19285071e-01,-7.11407283e+01, 2.85165624e+02,-6.26120819e+02,
 -3.84400561e-02,-5.37883981e+01, 2.17042374e+02,-4.66865964e+02,
 -7.73524493e-02,-2.43431927e-01, 2.41091367e+00,-7.75459600e+00,
  4.33406720e-01, 1.17219889e+00,-5.28241418e+00, 3.91805135e+01,
  4.34306887e+01,-1.54558144e+00]

qfrc_actuator:
[ 9.62277190e-04, 1.19606297e-01, 8.78798355e-03, 4.77076861e-02,
 -2.08583485e-05, 1.23739812e-01, 8.98450144e-03, 8.43219532e-02,
 -2.43671053e-03, 1.26529267e-01, 8.99879843e-03, 6.83702787e-02,
  7.76184092e-03,-1.68066623e-03, 0.00000000e+00,-2.45094948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61617528, -0.59016986, -8.61617528,  8.74523856,
       -1.58951766, -0.59016986, -1.58951766, 31.84250099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001276465897128251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34881585e-14,  6.52322377e-14,  1.00000000e+00, -2.83682989e-27,
        1.00000000e+00, -6.52322377e-14, -1.00000000e+00,  0.00000000e+00,
        4.34881585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03447775, -0.15218001,  0.06189982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.80288843e-05,-6.01205903e-04,-2.12966340e-04,-9.52836003e-04,
 -4.78921260e-05,-1.80974460e-03,-4.79463642e-04,-1.68002643e-03,
 -1.00094438e-05,-9.42141455e-04,-1.72943501e-04,-1.22931310e-03,
 -6.35284257e-05,-4.00165689e-05, 1.99738753e-05,-3.17306031e-05,
  3.13026926e-05, 5.03520541e-04,-1.21658389e+00, 1.57392147e-03,
  5.67981053e-04, 4.65623181e-04]


--- Step 1267 ---
qpos:
[-0.00829682, 0.96913026,-0.01630142, 0.90203302, 0.00423119, 0.93389259,
 -0.02844483, 0.86251408, 0.01631027, 1.00213308,-0.02165839, 0.88856025,
  1.27075111,-0.00242033, 1.0179695 , 0.06424743,-0.00142616,-0.09913472,
  0.08422313, 0.53183709, 0.00877544,-0.02968812, 0.84628064]

qacc:
[-2.48946902e-01,-4.22259447e+01, 1.71632447e+02,-3.72226407e+02,
 -9.74507570e-02,-7.04614767e+01, 2.80214958e+02,-6.11071591e+02,
 -5.52651756e-02,-5.69841270e+01, 2.24559211e+02,-4.74139372e+02,
 -6.42594405e-01, 8.38500609e-01, 6.96403629e+00,-2.36734553e+01,
  4.26380756e-01, 1.15603459e+00,-5.28764644e+00, 3.94275691e+01,
  4.37793291e+01,-1.38290393e+00]

qfrc_actuator:
[ 9.55370942e-04, 1.19399185e-01, 8.85030618e-03, 4.67644846e-02,
 -1.85923447e-05, 1.23078108e-01, 8.97585459e-03, 8.27916878e-02,
 -2.44831742e-03, 1.25963990e-01, 9.02434634e-03, 6.71826952e-02,
  7.73267853e-03,-1.67304831e-03, 0.00000000e+00,-2.56496542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6343528 , -0.18635596, -8.6343528 ,  8.64691062,
       -0.48866903, -0.18635596, -0.48866903, 31.27766143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011746484087310632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.08865106e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.08865106e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03460446, -0.1523801 ,  0.06190691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.59101859e-05,-6.45121212e-04,-1.17216101e-04,-9.88430820e-04,
 -2.23786989e-05,-1.85257602e-03,-4.82437572e-04,-1.63957093e-03,
 -1.40419510e-05,-1.19433553e-03,-2.25193101e-04,-1.24840704e-03,
 -7.47574279e-05,-1.61394826e-05,-3.75149976e-07,-1.14605993e-04,
  4.27272375e-05, 5.68622921e-04,-1.21660479e+00, 1.57810794e-03,
  5.63391042e-04, 5.41520174e-04]


--- Step 1268 ---
qpos:
[-0.00832886, 0.97092994,-0.01632076, 0.90290678, 0.00423113, 0.9357774 ,
 -0.02844961, 0.86409962, 0.01631478, 1.00404661,-0.02167041, 0.88984064,
  1.27098374,-0.00242279, 1.018196  , 0.06424314,-0.00141866,-0.09902896,
  0.08404052, 0.5318382 , 0.0077516 ,-0.02762168, 0.8463599 ]

qacc:
[ 2.97346891e-01,-2.08894874e+01, 1.15034505e+02,-3.29751983e+02,
  4.42348958e-02,-6.33140544e+01, 2.52036630e+02,-5.56439622e+02,
 -5.25556251e-02,-5.24689738e+01, 2.04367074e+02,-4.31356494e+02,
  3.03704189e-02,-5.07106637e-01, 1.82734170e+00,-6.68512855e+00,
  4.17942911e-01, 1.13764393e+00,-5.29060199e+00, 3.97020532e+01,
  4.41617190e+01,-1.21175023e+00]

qfrc_actuator:
[ 1.05337566e-03, 1.20085930e-01, 8.87582523e-03, 4.58349762e-02,
  7.03164545e-07, 1.22515985e-01, 8.95457871e-03, 8.13884216e-02,
 -2.45705947e-03, 1.25482357e-01, 9.06170708e-03, 6.61055254e-02,
  7.70682293e-03,-1.70323697e-03, 0.00000000e+00,-2.59512642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63529928,  0.13558439, -8.63529928,  8.64168853,
        0.33913958,  0.13558439,  0.33913958, 30.23598706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010786139815569945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03472442, -0.15256946,  0.06191362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57724376e-05, 2.42357433e-04,-1.52648416e-04,-9.74035198e-04,
  7.66855375e-06,-1.77547703e-03,-5.02405243e-04,-1.51304412e-03,
 -1.33744389e-05,-1.26094564e-03,-2.69468692e-04,-1.14785583e-03,
 -7.26324307e-05,-5.09482505e-05,-1.85599103e-05,-3.78766647e-05,
  5.53619766e-05, 6.38021381e-04,-1.21662764e+00, 1.58242270e-03,
  5.58448377e-04, 6.22480351e-04]


--- Step 1269 ---
qpos:
[-0.00835841, 0.97274034,-0.01634382, 0.90376336, 0.00423122, 0.93765015,
 -0.02845478, 0.86565833, 0.0163192 , 1.00595276,-0.0216829 , 0.89110015,
  1.27121567,-0.00242476, 1.01842199, 0.0642415 ,-0.00140932,-0.09891859,
  0.08383799, 0.53184004, 0.00669684,-0.02543476, 0.84643629]

qacc:
[ 1.18254067e+00,-6.12385542e+00, 7.42490097e+01,-2.75639856e+02,
  8.00746285e-02,-6.15144891e+01, 2.44288656e+02,-5.33935299e+02,
 -4.47577446e-02,-4.49751329e+01, 1.81707793e+02,-4.05160383e+02,
 -7.58600700e-01, 1.23449208e+00,-8.69055521e+00, 2.94584623e+01,
  4.59511335e-01, 1.15598263e+00,-4.97942947e+00, 4.27218077e+01,
  4.51244330e+01,-1.11100600e+00]

qfrc_actuator:
[ 1.28439468e-03, 1.21196297e-01, 8.90071744e-03, 4.50102313e-02,
  1.22570162e-05, 1.22036103e-01, 8.97981086e-03, 8.00533939e-02,
 -2.46403746e-03, 1.25268021e-01, 9.08840004e-03, 6.50664709e-02,
  7.68295527e-03,-1.66683832e-03, 0.00000000e+00,-2.45133148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009932008926929262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79455806e-14,  1.11782322e-13,  1.00000000e+00, -3.12382190e-27,
        1.00000000e+00, -1.11782322e-13, -1.00000000e+00,  0.00000000e+00,
        2.79455806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03558629, -0.15108521,  0.06191958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62602041e-04, 1.15088184e-03, 1.74215746e-05,-8.42653049e-04,
  1.53104799e-05,-1.64981230e-03,-4.38906641e-04,-1.43999349e-03,
 -1.12925876e-05,-1.03571254e-03,-2.95159208e-04,-1.11081290e-03,
 -7.76352694e-05, 8.23526050e-06,-1.68025539e-05, 1.38376834e-04,
  6.92216140e-05, 7.11822314e-04,-1.21665255e+00, 1.58680104e-03,
  5.53169783e-04, 7.08660609e-04]


--- Step 1270 ---
qpos:
[-0.00838511, 0.97455791,-0.01636554, 0.90460415, 0.00423129, 0.9395106 ,
 -0.02845974, 0.86718894, 0.01632369, 1.00785173,-0.02169624, 0.89233882,
  1.27144691,-0.00242605, 1.01864763, 0.06424323,-0.00139822,-0.09880372,
  0.0836154 , 0.53184182, 0.00561098,-0.02312726, 0.84650926]

qacc:
[ 1.35948546e+00,-2.19935444e+01, 1.17507835e+02,-2.95267273e+02,
 -7.15418243e-03,-6.56825965e+01, 2.60381231e+02,-5.63349399e+02,
  4.18087732e-02,-4.36475106e+01, 1.77493158e+02,-4.00747999e+02,
 -8.51886353e-01, 1.51954031e+00,-1.06129359e+01, 3.65341851e+01,
  4.42980324e-01, 1.12289528e+00,-5.01607067e+00, 4.27231490e+01,
  4.52149668e+01,-8.96947488e-01]

qfrc_actuator:
[ 1.45108551e-03, 1.21469220e-01, 8.94485150e-03, 4.42185714e-02,
  1.30809533e-06, 1.21450120e-01, 8.99724703e-03, 7.86449851e-02,
 -2.45217444e-03, 1.24949476e-01, 9.05644623e-03, 6.40227748e-02,
  7.66032363e-03,-1.62675422e-03, 0.00000000e+00,-2.27722747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.50433837, -8.46623608,  0.8041255 , -8.46623608,  8.55769892,
        0.56180656,  0.8041255 ,  0.56180656, 14.4193193 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009141606192282908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03568729, -0.15123595,  0.06192511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01600246e-04, 8.53907642e-04, 2.38531727e-04,-7.73515589e-04,
 -3.25622858e-06,-1.67085828e-03,-4.12141082e-04,-1.50570889e-03,
  8.65102278e-06,-1.01874659e-03,-3.11203055e-04,-1.10830710e-03,
 -6.49981813e-05, 2.40374681e-05, 4.01739595e-06, 1.78841692e-04,
  8.60210158e-05, 7.93521241e-04,-1.21668048e+00, 1.59142186e-03,
  5.47387440e-04, 8.04242288e-04]


--- Step 1271 ---
qpos:
[-0.00840913, 0.97637831,-0.0163849 , 0.90542825, 0.00423145, 0.94135806,
 -0.02846463, 0.86869223, 0.01632814, 1.00974186,-0.02170989, 0.89355621,
  1.27167801,-0.00242799, 1.01887368, 0.06424334,-0.00138541,-0.0986845 ,
  0.08337262, 0.53184273, 0.00449382,-0.02069895, 0.84657821]

qacc:
[ 1.27162116e+00,-3.20698014e+01, 1.45501822e+02,-3.27920271e+02,
  5.22547671e-02,-6.47568631e+01, 2.54249540e+02,-5.47320867e+02,
 -1.70116110e-02,-4.80143666e+01, 1.90051886e+02,-4.15999052e+02,
  2.88442556e-01,-9.51259882e-01, 5.46784165e+00,-1.83395916e+01,
  4.25285582e-01, 1.08801469e+00,-5.04905094e+00, 4.27618593e+01,
  4.53486010e+01,-6.74932869e-01]

qfrc_actuator:
[ 1.57781555e-03, 1.21345463e-01, 8.96146842e-03, 4.33634715e-02,
  1.24824111e-05, 1.20787798e-01, 8.99181172e-03, 7.72755754e-02,
 -2.46465630e-03, 1.24429127e-01, 9.00760339e-03, 6.29490941e-02,
  7.64378236e-03,-1.67360689e-03, 0.00000000e+00,-2.37075564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.18841789, -8.13796504,  0.90758611, -8.13796504,  8.2742916 ,
        0.76999555,  0.90758611,  0.76999555, 15.09266286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008390220558321393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.44319469e-14,  4.96212980e-14,  1.00000000e+00, -3.69340982e-27,
        1.00000000e+00, -4.96212980e-14, -1.00000000e+00,  0.00000000e+00,
        7.44319469e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03578386, -0.15137987,  0.0619304 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82198714e-04, 3.38418144e-04, 1.80135590e-04,-8.37921327e-04,
  9.34342235e-06,-1.75524949e-03,-4.37875070e-04,-1.46800172e-03,
 -5.07273914e-06,-1.21392642e-03,-3.26398420e-04,-1.13815414e-03,
 -4.76964884e-05,-5.64993625e-05, 1.72358390e-05,-8.40695988e-05,
  1.04163031e-04, 8.79501438e-04,-1.21671072e+00, 1.59589613e-03,
  5.41319755e-04, 9.05005166e-04]


--- Step 1272 ---
qpos:
[-0.00843048, 0.97819838,-0.01640254, 0.90623571, 0.00423172, 0.9431908 ,
 -0.02846843, 0.87016998, 0.01633218, 1.01162279,-0.02172392, 0.89475168,
  1.27190885,-0.00243043, 1.0190999 , 0.06424134,-0.00137134,-0.09855966,
  0.0831173 , 0.53184236, 0.00331674,-0.01812498, 0.84664289]

qacc:
[ 1.27201033e+00,-3.43937031e+01, 1.47911440e+02,-3.27308890e+02,
  6.19558006e-02,-6.67620168e+01, 2.53899266e+02,-5.24430086e+02,
 -1.88485614e-01,-4.94283754e+01, 1.95376545e+02,-4.27703761e+02,
  7.42557297e-02,-5.70995307e-01, 6.58807962e+00,-2.26985828e+01,
  3.15728221e-01, 1.40460572e+00,-3.13167259e+00, 4.56797777e+01,
  6.40820769e+01,-2.95741773e-01]

qfrc_actuator:
[ 1.71511701e-03, 1.21109436e-01, 8.96001296e-03, 4.25130321e-02,
  1.90670307e-05, 1.19996509e-01, 9.02597372e-03, 7.59932620e-02,
 -2.50940326e-03, 1.23969756e-01, 8.98395105e-03, 6.18484568e-02,
  7.62554592e-03,-1.70055501e-03, 0.00000000e+00,-2.47919682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000773189992605984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48718554e-14,  1.79487421e-14,  1.00000000e+00,  8.05393362e-28,
        1.00000000e+00, -1.79487421e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48718554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02363837, -0.14559971,  0.06193502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82677305e-04,-7.26856361e-05, 5.22163099e-05,-8.52341126e-04,
  1.12188600e-05,-1.93436481e-03,-4.16546668e-04,-1.38345480e-03,
 -4.47065367e-05,-1.26464966e-03,-3.42108808e-04,-1.17229879e-03,
 -5.88029510e-05,-5.06998163e-05,-7.31691890e-06,-1.12286366e-04,
  1.23640947e-04, 9.69815554e-04,-1.21674342e+00, 1.60013323e-03,
  5.34996985e-04, 1.01105978e-03]


--- Step 1273 ---
qpos:
[-0.0084501 , 0.980015  ,-0.0164185 , 0.90702668, 0.00423209, 0.9450073 ,
 -0.02847104, 0.87162034, 0.01633625, 1.01349501,-0.02173803, 0.89592705,
  1.27213928,-0.00243294, 1.01932598, 0.06423872,-0.00135414,-0.09842887,
  0.0828645 , 0.53183935, 0.00211376,-0.01537297, 0.84670308]

qacc:
[ 8.18531387e-01,-3.81063741e+01, 1.54717329e+02,-3.29454869e+02,
  5.39436678e-02,-7.21625888e+01, 2.73203298e+02,-5.62322102e+02,
  2.15712123e-02,-4.64060069e+01, 1.82197467e+02,-3.94562688e+02,
 -2.89548330e-01, 2.44093430e-01, 1.67974829e+00,-6.16620728e+00,
  7.81824217e-01, 1.48738892e+00, 6.27199011e-01, 6.84450227e+01,
  5.82681573e+01,-1.44316751e-01]

qfrc_actuator:
[ 1.75117422e-03, 1.20737064e-01, 8.96516407e-03, 4.16720165e-02,
  2.28418187e-05, 1.19099265e-01, 9.04733170e-03, 7.46126016e-02,
 -2.48436028e-03, 1.23621887e-01, 9.01110564e-03, 6.08473033e-02,
  7.61163393e-03,-1.69768691e-03, 0.00000000e+00,-2.50669810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007723999889646116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39012999e-14,  1.43736800e-13,  1.00000000e+00,  7.74760034e-27,
        1.00000000e+00, -1.43736800e-13, -1.00000000e+00,  0.00000000e+00,
       -5.39012999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02802203, -0.13210984,  0.06193436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81792907e-04,-4.62103396e-04,-3.69667418e-05,-8.59695830e-04,
  9.36015154e-06,-2.13211542e-03,-4.59447249e-04,-1.48488434e-03,
  3.85692650e-06,-1.18507704e-03,-3.03975446e-04,-1.07561121e-03,
 -5.97625574e-05,-2.19962602e-05,-2.07442541e-05,-3.58295803e-05,
  1.41406987e-04, 1.08682374e-03,-1.21678732e+00, 1.60510861e-03,
  5.27615209e-04, 1.14513361e-03]


--- Step 1274 ---
qpos:
[-8.46892271e-03, 9.81827543e-01,-1.64335711e-02, 9.07801205e-01,
  4.23252085e-03, 9.46809264e-01,-2.84743977e-02, 8.73042846e-01,
  1.63406578e-02, 1.01536009e+00,-2.17529260e-02, 8.97082592e-01,
  1.27236910e+00,-2.43463396e-03, 1.01955187e+00, 6.42360852e-02,
 -1.35074790e-03,-9.82935827e-02, 8.26333811e-02, 5.31820617e-01,
  5.39078291e-04,-1.26532785e-02, 8.46762325e-01]

qacc:
[ 3.87083640e-01,-3.67298576e+01, 1.49061037e+02,-3.23323186e+02,
  3.96653142e-02,-6.55430703e+01, 2.55164037e+02,-5.52649928e+02,
  1.58902658e-01,-4.19361847e+01, 1.69405441e+02,-3.80874929e+02,
 -1.10117546e+00, 2.02129555e+00,-1.52952746e-01, 3.39287921e-01,
 -3.45259974e+00, 1.12599519e+00, 5.42207487e+00,-1.12513696e+02,
  1.48653009e+02, 9.29984753e+00]

qfrc_actuator:
[ 1.74412332e-03, 1.20499169e-01, 8.99138978e-03, 4.08431623e-02,
  2.49034963e-05, 1.18483167e-01, 9.04273604e-03, 7.32204907e-02,
 -2.45323404e-03, 1.23397362e-01, 9.01533519e-03, 5.98595318e-02,
  7.60033897e-03,-1.64166756e-03, 0.00000000e+00,-2.50402218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009976540419910987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.56416843e-14,  1.11283369e-13,  1.00000000e+00,  6.19199406e-27,
        1.00000000e+00, -1.11283369e-13, -1.00000000e+00,  0.00000000e+00,
       -5.56416843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05432359, -0.10765211,  0.06191509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.57013580e-05,-5.60792773e-04,-1.02732655e-04,-8.62311678e-04,
  6.67737282e-06,-1.97178773e-03,-5.32209296e-04,-1.50615912e-03,
  3.58973959e-05,-1.00676303e-03,-3.03828561e-04,-1.05636657e-03,
 -5.09515160e-05, 3.74769706e-05,-1.74897636e-05,-2.89190379e-06,
  1.81833686e-04, 1.23385801e-03,-1.21683914e+00, 1.60983792e-03,
  5.18800668e-04, 1.31690919e-03]


--- Step 1275 ---
qpos:
[-0.00848732, 0.98363928,-0.0164497 , 0.90855926, 0.00423266, 0.94860149,
 -0.0284802 , 0.87443761, 0.01634493, 1.01721981,-0.02176907, 0.89821927,
  1.27259838,-0.00243564, 1.01977758, 0.06423381,-0.00135956,-0.09815443,
  0.08241753, 0.53178706,-0.00136699,-0.0099612 , 0.84681842]

qacc:
[ 2.02745709e-01,-2.71756820e+01, 1.22986575e+02,-3.02437470e+02,
 -1.40008055e-01,-5.44065007e+01, 2.25861126e+02,-5.27888787e+02,
 -5.97779790e-02,-3.66609189e+01, 1.52718328e+02,-3.55455004e+02,
 -9.30648698e-01, 1.70017884e+00,-1.25200339e+00, 4.17462342e+00,
 -3.05073291e+00, 9.65790041e-01, 3.81724973e+00,-9.98292634e+01,
  1.32863181e+02, 7.54071737e+00]

qfrc_actuator:
[ 1.74693412e-03, 1.20681264e-01, 9.01261398e-03, 4.00281532e-02,
 -9.57941684e-06, 1.18342325e-01, 9.04175965e-03, 7.18506914e-02,
 -2.48977992e-03, 1.23284256e-01, 9.00655145e-03, 5.89230698e-02,
  7.57466995e-03,-1.60786797e-03, 0.00000000e+00,-2.48360427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60153333, -0.77485567, -8.60153333,  8.70734832,
       -0.78798815, -0.77485567, -0.78798815, 17.38367824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011806651367642085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.70168463e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.70168463e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05387125, -0.10755978,  0.06189928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50343236e-05,-2.08257988e-04,-1.34663414e-04,-8.53505111e-04,
 -3.12268925e-05,-1.42224289e-03,-5.05785718e-04,-1.48134458e-03,
 -1.46105377e-05,-7.95664001e-04,-2.81070613e-04,-9.99041212e-04,
 -4.62597361e-05, 3.08372618e-05,-1.25871505e-05, 1.70571277e-05,
  4.04603981e-05, 1.24055994e-03,-1.21688152e+00, 1.59040172e-03,
  5.24235566e-04, 1.28374121e-03]


--- Step 1276 ---
qpos:
[-0.0085056 , 0.98545195,-0.0164672 , 0.90930119, 0.00423244, 0.95038855,
 -0.02848841, 0.87580571, 0.01634911, 1.01907662,-0.0217866 , 0.89933569,
  1.27282734,-0.00243648, 1.02000355, 0.06422875,-0.00137922,-0.09801194,
  0.08221145, 0.53173928,-0.00357067,-0.0072929 , 0.84686917]

qacc:
[ 5.39918641e-02,-2.34116715e+01, 1.12653119e+02,-2.90250683e+02,
 -1.67616142e-01,-4.65913963e+01, 2.04975930e+02,-4.98953483e+02,
 -4.46042669e-02,-3.54844350e+01, 1.55786384e+02,-3.76140750e+02,
 -5.31815115e-01, 8.04822391e-01, 8.80529551e+00,-3.01705470e+01,
 -2.70997401e+00, 8.33086518e-01, 2.44057532e+00,-8.92315737e+01,
  1.19621165e+02, 6.06780916e+00]

qfrc_actuator:
[ 1.73797040e-03, 1.20882929e-01, 8.99692803e-03, 3.92280542e-02,
 -3.01440120e-05, 1.18469913e-01, 9.06271734e-03, 7.05408107e-02,
 -2.49558406e-03, 1.23345611e-01, 9.00848974e-03, 5.79178368e-02,
  7.55636960e-03,-1.60535551e-03, 0.00000000e+00,-2.63042760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54195716, -1.2734774 , -8.54195716,  8.81767245,
       -1.2161442 , -1.2734774 , -1.2161442 , 16.79375352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013101939047060335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23686532e-14,  4.23686532e-14,  1.00000000e+00,  1.79510278e-27,
        1.00000000e+00, -4.23686532e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23686532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354238, -0.10749025,  0.06188779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19050777e-05, 5.95821792e-07,-1.05730254e-04,-8.28528794e-04,
 -3.68144112e-05,-8.42872933e-04,-3.71509613e-04,-1.40253517e-03,
 -1.09363495e-05,-4.97758911e-04,-2.24406220e-04,-1.05924025e-03,
 -3.76816259e-05,-9.23292524e-07,-8.17837116e-06,-1.48462230e-04,
 -7.41438962e-05, 1.24078299e-03,-1.21693131e+00, 1.57201429e-03,
  5.27320223e-04, 1.22112162e-03]


--- Step 1277 ---
qpos:
[-0.0085245 , 0.9872644 ,-0.01648469, 0.91002816, 0.00423209, 0.95217597,
 -0.02849974, 0.8771477 , 0.01635337, 1.02093469,-0.02180561, 0.90043034,
  1.27305603,-0.00243726, 1.02022928, 0.0642233 ,-0.00140855,-0.09786657,
  0.08201041, 0.53167768,-0.00604357,-0.00464518, 0.84691248]

qacc:
[-2.90147897e-01,-2.66486082e+01, 1.18891334e+02,-2.81233899e+02,
 -6.09910360e-02,-3.64853618e+01, 1.79322241e+02,-4.73075915e+02,
  4.19312338e-02,-3.23996502e+01, 1.55570376e+02,-3.96453133e+02,
 -2.67887361e-01, 3.47931752e-01, 8.43761822e-01,-3.42204892e+00,
 -2.41982593e+00, 7.21856424e-01, 1.26047680e+00,-8.03465944e+01,
  1.08491944e+02, 4.81898775e+00]

qfrc_actuator:
[ 1.66882704e-03, 1.20864140e-01, 8.99534693e-03, 3.84786518e-02,
 -2.44307339e-05, 1.18917646e-01, 9.06226740e-03, 6.92591357e-02,
 -2.48292312e-03, 1.23742104e-01, 9.05299924e-03, 5.68447757e-02,
  7.54248938e-03,-1.60360620e-03, 0.00000000e+00,-2.64381965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.46359471, -1.7188198 , -8.46359471,  8.93797976,
       -1.48517991, -1.7188198 , -1.48517991, 15.94949836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013954747775421564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.97794013e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.97794013e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331451, -0.10743967,  0.06187983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57104549e-05,-9.76826779e-05,-4.65300760e-05,-7.69994049e-04,
 -1.33824068e-05,-1.72341887e-04,-2.60698134e-04,-1.35006139e-03,
  9.50635147e-06, 1.18019807e-05,-1.18503637e-04,-1.11750030e-03,
 -3.61088498e-05,-6.78589695e-06,-2.53576802e-05,-2.38793776e-05,
 -1.67858439e-04, 1.23614214e-03,-1.21698625e+00, 1.55561321e-03,
  5.28718628e-04, 1.13884833e-03]


--- Step 1278 ---
qpos:
[-0.00854407, 0.98907432,-0.01650065, 0.910741  , 0.00423188, 0.95396653,
 -0.02851324, 0.87846255, 0.01635775, 1.02279526,-0.02182429, 0.90150585,
  1.27328438,-0.00243796, 1.02045491, 0.06421701,-0.00144657,-0.09771868,
  0.08181036, 0.53160248,-0.00876182,-0.00201538, 0.84694626]

qacc:
[-3.12185825e-01,-3.23243489e+01, 1.31967508e+02,-2.81521132e+02,
  6.77373613e-02,-3.71550720e+01, 1.88198096e+02,-4.94819975e+02,
  5.98976598e-02,-3.10593844e+01, 1.47340115e+02,-3.58666886e+02,
 -3.64605543e-01, 4.82783293e-01, 2.40316617e+00,-8.55370423e+00,
 -2.17163536e+00, 6.27382334e-01, 2.49629570e-01,-7.28773854e+01,
  9.91276156e+01, 3.74547951e+00]

qfrc_actuator:
[ 1.63527202e-03, 1.20642843e-01, 9.03688704e-03, 3.77649494e-02,
 -3.03403167e-06, 1.19340989e-01, 9.05065092e-03, 6.79157500e-02,
 -2.47708361e-03, 1.24052631e-01, 9.14145099e-03, 5.59004125e-02,
  7.52061734e-03,-1.60228102e-03, 0.00000000e+00,-2.68494645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.37310696, -2.1160947 , -8.37310696,  9.03838203,
       -1.59073365, -2.1160947 , -1.59073365, 14.93068639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014443331487094119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84337584e-14,  3.84337584e-14,  1.00000000e+00,  1.47715378e-27,
        1.00000000e+00, -3.84337584e-14, -1.00000000e+00,  0.00000000e+00,
       -3.84337584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316929, -0.10740489,  0.06187478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.11282580e-05,-3.41025557e-04,-1.41078577e-05,-7.34190511e-04,
  1.44712613e-05, 1.98542273e-04,-1.25250684e-04,-1.38595885e-03,
  1.36988025e-05, 2.27124752e-04, 3.60347293e-05,-9.71184405e-04,
 -4.45166487e-05,-8.21100628e-06,-1.77984929e-05,-4.65084240e-05,
 -2.45062831e-04, 1.22777673e-03,-1.21704481e+00, 1.54175037e-03,
  5.28898512e-04, 1.04364412e-03]


--- Step 1279 ---
qpos:
[-8.56362432e-03, 9.90877708e-01,-1.65139485e-02, 9.11440777e-01,
  4.23186974e-03, 9.55757647e-01,-2.85259989e-02, 8.79752559e-01,
  1.63624136e-02, 1.02465487e+00,-2.18417357e-02, 9.02563705e-01,
  1.27351236e+00,-2.43859939e-03, 1.02068017e+00, 6.42122646e-02,
 -1.49500184e-03,-9.75877325e-02, 8.16585113e-02, 5.31536979e-01,
 -1.14738812e-02, 1.13218220e-04, 8.46957365e-01]

qacc:
[ 8.92805550e-03,-3.87722541e+01, 1.44435659e+02,-2.77500216e+02,
  9.70528527e-02,-4.44008114e+01, 2.02544502e+02,-4.78167241e+02,
  1.28890276e-01,-3.54250437e+01, 1.52851726e+02,-3.43590759e+02,
 -2.29994472e-01, 2.52848050e-01,-5.17539432e+00, 1.73237169e+01,
 -2.60313567e+00,-4.23388783e+00, 1.20487949e+01,-2.10578880e+02,
 -1.35733770e+02,-1.23431169e+01]

qfrc_actuator:
[ 1.67662507e-03, 1.20089417e-01, 9.08503191e-03, 3.70955730e-02,
  9.80425483e-06, 1.19302947e-01, 9.06813258e-03, 6.66710731e-02,
 -2.45765761e-03, 1.23812775e-01, 9.13078813e-03, 5.50038390e-02,
  7.49929184e-03,-1.60125283e-03, 0.00000000e+00,-2.60009287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014651607212202988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78874143e-14,  1.89437071e-14,  1.00000000e+00, -7.17728080e-28,
        1.00000000e+00, -1.89437071e-14, -1.00000000e+00,  0.00000000e+00,
        3.78874143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0416348 , -0.05321957,  0.06187195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67180157e-07,-8.00211646e-04,-5.04112294e-05,-6.95516084e-04,
  2.03674268e-05,-3.16718193e-05,-8.49453361e-06,-1.27224819e-03,
  2.95552651e-05,-1.68921596e-04, 1.39987853e-06,-9.08766002e-04,
 -4.90480866e-05,-1.08321858e-05,-1.74294826e-05, 7.90524531e-05,
 -3.09053806e-04, 1.21649230e-03,-1.21710595e+00, 1.53074573e-03,
  5.28194683e-04, 9.40090354e-04]


--- Step 1280 ---
qpos:
[-0.0085834 , 0.99267183,-0.01652537, 0.91212707, 0.00423203, 0.95754542,
 -0.02853629, 0.88101964, 0.01636701, 1.02650859,-0.02185739, 0.90360306,
  1.27374011,-0.00243973, 1.02090465, 0.06421355,-0.00155243,-0.09747137,
  0.08154418, 0.53148144,-0.01418162, 0.00180956, 0.84694928]

qacc:
[-9.61983974e-02,-4.09808136e+01, 1.48123774e+02,-2.83718769e+02,
  8.87916602e-02,-5.08499553e+01, 2.13023202e+02,-4.61722558e+02,
 -2.64837410e-02,-4.49164181e+01, 1.77805178e+02,-3.72342219e+02,
  5.87921491e-01,-1.33467735e+00,-1.93998509e+01, 6.61063918e+01,
 -2.24872733e+00,-3.64582813e+00, 9.38064263e+00,-1.81844843e+02,
 -1.16601422e+02,-1.17947271e+01]

qfrc_actuator:
[ 1.65599672e-03, 1.19430475e-01, 9.09988765e-03, 3.64041266e-02,
  1.73950570e-05, 1.18936144e-01, 9.11878701e-03, 6.55119312e-02,
 -2.48353467e-03, 1.23191876e-01, 9.09512566e-03, 5.40533461e-02,
  7.47830935e-03,-1.63592341e-03, 0.00000000e+00,-2.28191122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.22371909,  -5.98766211,  -6.22371909,
        19.95353276, -11.76333603,  -5.98766211, -11.76333603,
        20.86345621,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018175261927157044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05421465e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.05421465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0409668 , -0.05389816,  0.0618425 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30688326e-05,-1.16559366e-03,-1.76725789e-04,-7.31808980e-04,
  1.81582224e-05,-4.61145820e-04,-3.75653313e-06,-1.18791152e-03,
 -7.25348475e-06,-7.73957874e-04,-1.03464078e-04,-9.74536259e-04,
 -5.16400124e-05,-4.83272793e-05,-2.70081633e-06, 3.19561021e-04,
 -2.94331959e-04, 8.01539918e-04,-1.21700382e+00, 1.56807411e-03,
  5.33039563e-04, 4.23736771e-04]


--- Step 1281 ---
qpos:
[-0.00860318, 0.99445524,-0.01653591, 0.91279859, 0.00423233, 0.95932727,
 -0.02854395, 0.8822629 , 0.01637127, 1.02835203,-0.02187054, 0.90462335,
  1.27396735,-0.00244092, 1.02112946, 0.06421525,-0.0016177 ,-0.09736764,
  0.08145825, 0.53143567,-0.01688645, 0.00313007, 0.84692454]

qacc:
[-1.70860651e-03,-4.24253690e+01, 1.53271822e+02,-3.02528813e+02,
  6.95639434e-02,-5.62688224e+01, 2.28588186e+02,-4.84415521e+02,
 -1.48530570e-01,-5.35914199e+01, 2.00375458e+02,-3.95952364e+02,
 -3.39351446e-01, 2.88068477e-01,-7.69080569e-01, 3.43470932e+00,
 -1.95970978e+00,-3.15995515e+00, 7.09899832e+00,-1.58299869e+02,
 -1.00994872e+02,-1.12240660e+01]

qfrc_actuator:
[ 1.66941017e-03, 1.18784587e-01, 9.09448648e-03, 3.56518180e-02,
  2.17796803e-05, 1.18482280e-01, 9.18732409e-03, 6.43056125e-02,
 -2.51861179e-03, 1.22400935e-01, 9.11442160e-03, 5.30784111e-02,
  7.44688178e-03,-1.63822127e-03, 0.00000000e+00,-2.27266319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.931457  ,  -6.27730792,  -5.931457  ,
        24.26899998, -14.77134967,  -6.27730792, -14.77134967,
        22.59387958,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020757278453439956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67429814e-14, -1.33714907e-14,  1.00000000e+00, -3.57593528e-28,
        1.00000000e+00,  1.33714907e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67429814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04048288, -0.05438639,  0.06182122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72409678e-06,-1.38043982e-03,-2.84139841e-04,-8.08417661e-04,
  1.37715013e-05,-7.82299530e-04,-6.73304043e-05,-1.24659929e-03,
 -3.63337016e-05,-1.30146055e-03,-1.81293381e-04,-1.02229974e-03,
 -7.17112261e-05,-2.54599272e-05, 3.14649413e-05, 2.60471006e-05,
 -2.46944793e-04, 5.02061018e-04,-1.21693276e+00, 1.60053453e-03,
  5.38380712e-04, 3.77985036e-05]


--- Step 1282 ---
qpos:
[-0.00862252, 0.99622781,-0.01654668, 0.91345631, 0.00423255, 0.96110283,
 -0.02855058, 0.88348081, 0.0163755 , 1.03018378,-0.02188153, 0.90562387,
  1.27419399,-0.00244185, 1.02135477, 0.06421409,-0.00168985,-0.09727494,
  0.08139293, 0.5313992 ,-0.01958946, 0.0041212 , 0.84688497]

qacc:
[ 2.15013610e-01,-3.78986392e+01, 1.36109889e+02,-2.75493180e+02,
 -3.22051920e-02,-5.50260853e+01, 2.27218139e+02,-5.00864441e+02,
 -1.06899806e-02,-5.56907237e+01, 2.06429365e+02,-4.08537512e+02,
 -8.48440732e-01, 1.24373552e+00, 9.46408712e+00,-3.19104472e+01,
 -1.72278671e+00,-2.75715593e+00, 5.15190295e+00,-1.38894190e+02,
 -8.81838890e+01,-1.06629002e+01]

qfrc_actuator:
[ 1.72088644e-03, 1.18240453e-01, 9.07719270e-03, 3.49584487e-02,
  6.45958511e-06, 1.18122118e-01, 9.21217217e-03, 6.30278044e-02,
 -2.50565828e-03, 1.21727736e-01, 9.18300632e-03, 5.20790193e-02,
  7.41987191e-03,-1.62134175e-03, 0.00000000e+00,-2.42782223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.65800479,  -6.52485698,  -5.65800479,
        29.50347057, -18.094832  ,  -6.52485698, -18.094832  ,
        24.32722803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002256297255959293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46027650e-14,  2.46027650e-14,  1.00000000e+00,  6.05296047e-28,
        1.00000000e+00, -2.46027650e-14, -1.00000000e+00,  0.00000000e+00,
       -2.46027650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04014577, -0.05472374,  0.06180644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76516478e-05,-1.42076145e-03,-3.52679786e-04,-7.60983657e-04,
 -8.23386648e-06,-8.80698537e-04,-1.83289743e-04,-1.33146049e-03,
 -4.05078904e-06,-1.49227574e-03,-2.45873205e-04,-1.06643589e-03,
 -7.35566410e-05,-5.66690479e-06, 1.08653927e-05,-1.51161346e-04,
 -1.79482188e-04, 2.85434089e-04,-1.21688422e+00, 1.62867732e-03,
  5.44417042e-04,-2.53039393e-04]


--- Step 1283 ---
qpos:
[-0.00864146, 0.99798909,-0.01655729, 0.9141017 , 0.00423264, 0.96287128,
 -0.02855761, 0.88467273, 0.01637979, 1.03200517,-0.02189245, 0.90660604,
  1.27442026,-0.00244291, 1.02157985, 0.0642131 ,-0.00176727,-0.09719597,
  0.08134448, 0.53137735,-0.02220067, 0.00475007, 0.84683096]

qacc:
[ 1.94340374e-01,-3.69549784e+01, 1.29172652e+02,-2.51925605e+02,
 -5.70244164e-02,-5.33325422e+01, 2.21626929e+02,-5.02522659e+02,
  3.24948549e-02,-4.58598698e+01, 1.73232980e+02,-3.63063518e+02,
 -1.62543918e-01, 1.73911173e-02,-8.61941503e-01, 2.55067343e+00,
 -1.31408100e+00,-3.43035053e+00, 4.21765342e+00,-1.28828762e+02,
 -1.35015073e+02,-1.33801474e+01]

qfrc_actuator:
[ 1.74148562e-03, 1.17690767e-01, 9.08900622e-03, 3.43408685e-02,
 -2.77330134e-06, 1.17696646e-01, 9.15810792e-03, 6.17181607e-02,
 -2.49955611e-03, 1.21290486e-01, 9.20951677e-03, 5.11620481e-02,
  7.40619130e-03,-1.62874820e-03, 0.00000000e+00,-2.41221021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.56606233,  7.33061059, -4.56606233, 39.89464287,
       19.47003589,  7.33061059, 19.47003589, 20.76378417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024358185066047228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27895268e-14,  2.27895268e-14,  1.00000000e+00,  5.19362534e-28,
        1.00000000e+00, -2.27895268e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27895268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03430017, -0.04373001,  0.06179205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30060939e-05,-1.46029325e-03,-3.37803590e-04,-6.87353104e-04,
 -1.35898254e-05,-1.02584886e-03,-2.97387442e-04,-1.37178861e-03,
  6.45794857e-06,-1.37570750e-03,-3.34034728e-04,-9.92810153e-04,
 -5.72091268e-05,-2.55669119e-05,-1.82760150e-05, 7.10911407e-06,
 -1.00122256e-04, 1.28917830e-04,-1.21685200e+00, 1.65309588e-03,
  5.51168890e-04,-4.73690526e-04]


--- Step 1284 ---
qpos:
[-0.00866002, 0.99973746,-0.01656682, 0.9147348 , 0.00423278, 0.96463168,
 -0.02856556, 0.88584052, 0.01638399, 1.03381706,-0.02190415, 0.90757131,
  1.2746462 ,-0.00244431, 1.02180504, 0.06421025,-0.00184932,-0.09712904,
  0.08130656, 0.53136901,-0.02473149, 0.00505974, 0.84676427]

qacc:
[ 1.80313469e-01,-4.14975019e+01, 1.41353587e+02,-2.61105924e+02,
  2.84815477e-02,-4.99189934e+01, 2.04676937e+02,-4.64426587e+02,
 -3.73118941e-02,-3.98650756e+01, 1.51751706e+02,-3.27294379e+02,
 -8.77495773e-02,-2.31095116e-01, 5.74221879e+00,-1.98712298e+01,
 -1.15944576e+00,-3.01116993e+00, 2.63297070e+00,-1.13620275e+02,
 -1.18734715e+02,-1.24469314e+01]

qfrc_actuator:
[ 1.76117556e-03, 1.16982769e-01, 9.11799698e-03, 3.37195660e-02,
  9.48061803e-06, 1.17253077e-01, 9.09321621e-03, 6.05067017e-02,
 -2.51539974e-03, 1.20891630e-01, 9.19423589e-03, 5.03187710e-02,
  7.38453153e-03,-1.65044507e-03, 0.00000000e+00,-2.50906963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.72497244,  -7.7917493 ,  -3.72497244,
        38.16445762, -14.11638541,  -7.7917493 , -14.11638541,
        15.38493119,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025626425073170186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16616836e-14,  2.16616836e-14,  1.00000000e+00,  4.69228537e-28,
        1.00000000e+00, -2.16616836e-14, -1.00000000e+00,  0.00000000e+00,
       -2.16616836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0341001 , -0.0440232 ,  0.06178196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96733283e-05,-1.63495531e-03,-3.24357619e-04,-6.90122790e-04,
  5.09151920e-06,-1.14784999e-03,-3.51025059e-04,-1.28249299e-03,
 -9.82862162e-06,-1.28747355e-03,-3.60712045e-04,-9.16427602e-04,
 -6.05594060e-05,-4.05646552e-05,-1.14299801e-05,-9.96892894e-05,
  1.86185476e-06, 3.77032910e-07,-1.21680465e+00, 1.67614441e-03,
  5.59281559e-04,-6.20749236e-04]


--- Step 1285 ---
qpos:
[-0.00867839, 1.00147165,-0.0165757 , 0.91535673, 0.00423301, 0.9663844 ,
 -0.0285744 , 0.88698677, 0.01638822, 1.03562091,-0.02191647, 0.90851747,
  1.27487179,-0.00244598, 1.02203038, 0.06420425,-0.00193549,-0.09707276,
  0.08127376, 0.53137307,-0.02719141, 0.005086  , 0.84668614]

qacc:
[ 9.18075926e-02,-4.00254763e+01, 1.32077268e+02,-2.38736940e+02,
  4.95996004e-02,-4.50344234e+01, 1.83378806e+02,-4.14632074e+02,
  2.02606345e-02,-4.22165038e+01, 1.66518209e+02,-3.67216893e+02,
 -2.38153703e-01, 4.62505755e-02, 9.79208994e+00,-3.39033612e+01,
 -1.03071653e+00,-2.66269445e+00, 1.28142654e+00,-1.00969193e+02,
 -1.05205795e+02,-1.16127651e+01]

qfrc_actuator:
[ 1.76243663e-03, 1.16203666e-01, 9.12080171e-03, 3.31541779e-02,
  1.67463570e-05, 1.16944452e-01, 9.07576931e-03, 5.94337034e-02,
 -2.50878058e-03, 1.20625623e-01, 9.20797106e-03, 4.93658236e-02,
  7.36874519e-03,-1.66269569e-03, 0.00000000e+00,-2.67145276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.49623208,  -7.8970335 ,  -3.49623208,
        42.48838272, -14.98721199,  -7.8970335 , -14.98721199,
        15.27161108,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0026328240031686795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10842621e-14,  2.10842621e-14,  1.00000000e+00,  4.44546106e-28,
        1.00000000e+00, -2.10842621e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10842621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03398705, -0.04418643,  0.0617763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95032872e-05,-1.79982699e-03,-3.83224781e-04,-6.39177726e-04,
  9.81730074e-06,-1.08788045e-03,-3.30946953e-04,-1.14741505e-03,
  3.81957610e-06,-1.10831249e-03,-3.15016329e-04,-1.02239153e-03,
 -6.02453138e-05,-3.52669781e-05,-2.10112181e-05,-1.70479402e-04,
  1.02279502e-04,-7.91282070e-05,-1.21677319e+00, 1.69333142e-03,
  5.68076377e-04,-7.13223226e-04]


--- Step 1286 ---
qpos:
[-0.00869662, 1.00319665,-0.01658661, 0.91596574, 0.00423317, 0.96813274,
 -0.02858501, 0.88810893, 0.01639236, 1.03742309,-0.02193189, 0.9094441 ,
  1.27509687,-0.0024475 , 1.02225501, 0.064201  ,-0.00202536,-0.09702597,
  0.08124149, 0.53138844,-0.02958832, 0.00485871, 0.84659745]

qacc:
[ 7.15865489e-02,-2.92845880e+01, 1.08581472e+02,-2.41766899e+02,
 -3.54800853e-02,-4.27212201e+01, 1.86652251e+02,-4.49844926e+02,
 -4.49389512e-02,-2.79093847e+01, 1.30680445e+02,-3.44604343e+02,
 -3.28408805e-01, 4.06069731e-01,-9.36033932e+00, 3.12756222e+01,
 -9.22629769e-01,-2.37224260e+00, 1.30830884e-01,-9.04175032e+01,
 -9.39266206e+01,-1.08762353e+01]

qfrc_actuator:
[ 1.77043193e-03, 1.16062935e-01, 9.12564173e-03, 3.25196083e-02,
  3.20131861e-06, 1.16968179e-01, 9.06936879e-03, 5.82378123e-02,
 -2.52427859e-03, 1.20974224e-01, 9.20375643e-03, 4.84092996e-02,
  7.34584464e-03,-1.65146584e-03, 0.00000000e+00,-2.51604381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.22847473,  -8.01022645,  -3.22847473,
        45.50931424, -14.86142621,  -8.01022645, -14.86142621,
        14.6261742 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002656930848482446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08929605e-14,  2.08929605e-14,  1.00000000e+00,  4.36515798e-28,
        1.00000000e+00, -2.08929605e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08929605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394363, -0.04424634,  0.06177418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55337868e-05,-1.26231405e-03,-4.18614624e-04,-7.13937650e-04,
 -8.52106420e-06,-7.13714178e-04,-3.01581736e-04,-1.26470592e-03,
 -1.09241968e-05,-3.88564931e-04,-2.95621796e-04,-1.02150742e-03,
 -6.61809769e-05,-1.03717514e-05,-3.31678040e-05, 1.42175097e-04,
  1.99837702e-04,-1.23288897e-04,-1.21675329e+00, 1.70587818e-03,
  5.77411518e-04,-7.66201627e-04]


--- Step 1287 ---
qpos:
[-0.00871468, 1.00491877,-0.01660095, 0.91656089, 0.00423303, 0.9698808 ,
 -0.02859792, 0.88920701, 0.01639637, 1.0392273 ,-0.0219496 , 0.910351  ,
  1.27532145,-0.00244911, 1.02247957, 0.06419823,-0.00211855,-0.09698769,
  0.08120583, 0.53141407,-0.03192881, 0.00440281, 0.84649882]

qacc:
[ 7.74145646e-02,-1.88258412e+01, 8.63540189e+01,-2.36939653e+02,
 -1.36715728e-01,-3.58959033e+01, 1.70763428e+02,-4.38261029e+02,
 -5.96863229e-02,-2.55173089e+01, 1.29096575e+02,-3.47560252e+02,
 -2.80068747e-01, 1.73987058e-01,-1.52907997e+00, 5.23700591e+00,
 -8.30985928e-01,-2.12958813e+00,-8.46877502e-01,-8.16036246e+01,
 -8.45018544e+01,-1.02341258e+01]

qfrc_actuator:
[ 1.78243190e-03, 1.16376925e-01, 9.11637997e-03, 3.18497627e-02,
 -2.26926717e-05, 1.17279857e-01, 9.07083483e-03, 5.70503582e-02,
 -2.53517272e-03, 1.21404410e-01, 9.20925536e-03, 4.74409584e-02,
  7.31337814e-03,-1.66196318e-03, 0.00000000e+00,-2.49416714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.87086449,  -8.14523873,  -2.87086449,
        46.42107878, -13.31757121,  -8.14523873, -13.31757121,
        13.33026439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002643852018522727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09963155e-14,  1.04981578e-14,  1.00000000e+00,  2.20422633e-28,
        1.00000000e+00, -1.04981578e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09963155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03395581, -0.04422427,  0.06177488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75124690e-05,-5.19073759e-04,-3.33501116e-04,-7.35595725e-04,
 -3.03999652e-05,-2.16220932e-04,-2.20110879e-04,-1.24628075e-03,
 -1.42505429e-05, 9.54898159e-05,-1.42288631e-04,-1.01058441e-03,
 -7.27829407e-05,-2.80452738e-05,-1.94557508e-06, 2.49807738e-05,
  2.93932373e-04,-1.41779443e-04,-1.21674181e+00, 1.71474797e-03,
  5.87170809e-04,-7.90402574e-04]


--- Step 1288 ---
qpos:
[-0.00873288, 1.00664084,-0.01661738, 0.91714342, 0.0042326 , 0.97163066,
 -0.02861264, 0.89028349, 0.01640042, 1.04103041,-0.02196637, 0.91123938,
  1.2755454 ,-0.00245029, 1.02270462, 0.06419138,-0.0022004 ,-0.09695596,
  0.08121848, 0.53143668,-0.03398006, 0.0039721 , 0.8464069 ]

qacc:
[-6.26222508e-02,-1.65747457e+01, 8.08705841e+01,-2.19401253e+02,
 -1.40890414e-01,-3.01735400e+01, 1.49714020e+02,-3.91081125e+02,
  2.16723012e-02,-3.62770305e+01, 1.56683781e+02,-3.55633186e+02,
 -1.07038267e+00, 1.69132297e+00, 1.31069235e+01,-4.46333567e+01,
  2.83399249e+00,-1.63480865e+00, 1.20774864e+01, 8.74502695e+01,
 -1.15831373e+02, 4.10224441e+00]

qfrc_actuator:
[ 1.76125367e-03, 1.16659315e-01, 9.11862014e-03, 3.12358620e-02,
 -3.80020105e-05, 1.17584426e-01, 9.06050470e-03, 5.59841189e-02,
 -2.52548092e-03, 1.21241411e-01, 9.22101491e-03, 4.65090264e-02,
  7.29116607e-03,-1.63205882e-03, 0.00000000e+00,-2.71100479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002767938804987005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50412875e-14, -2.00550500e-14,  1.00000000e+00, -3.01653774e-28,
        1.00000000e+00,  2.00550500e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50412875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03092644, -0.08985622,  0.06176523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45141275e-05,-1.23114429e-04,-1.67095760e-04,-6.54981266e-04,
 -3.12037826e-05, 6.90444851e-05,-1.23987375e-04,-1.10657067e-03,
  4.56221987e-06,-1.99146951e-04,-2.30689981e-05,-9.54492930e-04,
 -7.03179415e-05, 6.69519453e-06,-2.83643142e-06,-2.16767766e-04,
  3.84399130e-04,-1.41465154e-04,-1.21673645e+00, 1.72069275e-03,
  5.97268964e-04,-7.93475734e-04]


--- Step 1289 ---
qpos:
[-0.00875172, 1.0083661 ,-0.01663566, 0.91771377, 0.00423193, 0.97338604,
 -0.02862918, 0.8913378 , 0.01640439, 1.04282808,-0.02198111, 0.91211318,
  1.27576894,-0.00245143, 1.02292901, 0.06418702,-0.0022695 ,-0.09692902,
  0.08126788, 0.53145386,-0.03572488, 0.0036175 , 0.84632585]

qacc:
[-3.00150049e-01,-1.21909495e+01, 7.07078557e+01,-2.07186535e+02,
 -1.14448991e-01,-2.62201294e+01, 1.43896437e+02,-3.95048166e+02,
 -3.20472587e-02,-3.80908378e+01, 1.47241488e+02,-2.98210048e+02,
 -1.74695856e-01, 1.39014093e-01,-8.45182598e+00, 2.81785867e+01,
  3.18774756e+00,-1.19893401e+00, 9.18679232e+00, 1.13520378e+02,
 -1.09626153e+02, 7.08561079e+00]

qfrc_actuator:
[ 1.70264925e-03, 1.17098588e-01, 9.12778868e-03, 3.06420843e-02,
 -4.68369013e-05, 1.18166805e-01, 9.07902716e-03, 5.48912350e-02,
 -2.53906312e-03, 1.20724822e-01, 9.23421346e-03, 4.57653954e-02,
  7.27513648e-03,-1.63165400e-03, 0.00000000e+00,-2.56963150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.90567399,   7.10782242,   4.90567399,
        50.13587291, -28.64211447,   7.10782242, -28.64211447,
        28.40456658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002927273570665037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89634313e-14,  2.84451469e-14,  1.00000000e+00,  5.39417590e-28,
        1.00000000e+00, -2.84451469e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89634313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0425694 , -0.09360118,  0.06175354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.89768102e-05, 2.88174937e-04,-6.10206494e-05,-6.16001662e-04,
 -2.51386437e-05, 5.28372000e-04,-2.36858736e-05,-1.11819629e-03,
 -8.55342897e-06,-6.90518588e-04,-6.40719144e-05,-7.70405078e-04,
 -5.50724333e-05,-1.40209530e-05,-3.15010489e-05, 1.27558693e-04,
  3.08881914e-04,-1.08553765e-04,-1.21666824e+00, 1.69218074e-03,
  5.80283509e-04,-5.83324975e-04]


--- Step 1290 ---
qpos:
[-0.00877118, 1.01009525,-0.01665513, 0.91827319, 0.00423126, 0.97515032,
 -0.02864717, 0.89237014, 0.01640825, 1.04461728,-0.02199333, 0.91297018,
  1.27599239,-0.0024534 , 1.02315325, 0.06418364,-0.00232748,-0.09690617,
  0.08134525, 0.53146685,-0.0372    , 0.00332967, 0.84625532]

qacc:
[-2.89675177e-01,-1.08603077e+01, 6.48172974e+01,-1.87869423e+02,
 -2.70070017e-03,-2.24297670e+01, 1.36394600e+02,-3.88049069e+02,
 -4.44421356e-02,-4.71893842e+01, 1.76847074e+02,-3.48186808e+02,
  6.47383737e-01,-1.60043031e+00,-3.27053068e+00, 1.09762720e+01,
  2.77984495e+00,-1.02189090e+00, 6.99419536e+00, 9.98308563e+01,
 -9.65636426e+01, 6.25105708e+00]

qfrc_actuator:
[ 1.67540803e-03, 1.17397992e-01, 9.10620136e-03, 3.01004874e-02,
 -3.39726422e-05, 1.18911440e-01, 9.11560861e-03, 5.38093308e-02,
 -2.54875491e-03, 1.20107374e-01, 9.28231106e-03, 4.49074427e-02,
  7.26281910e-03,-1.68423870e-03, 0.00000000e+00,-2.52005493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.06532772,   4.9666811 ,   7.06532772,
        23.48309823, -21.12014913,   4.9666811 , -21.12014913,
        38.6807277 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030364389416683915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82816623e-14,  1.82816623e-14,  1.00000000e+00,  3.34219175e-28,
        1.00000000e+00, -1.82816623e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82816623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04239707, -0.09360576,  0.06174606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66656524e-05, 3.97994679e-04, 2.19101329e-06,-5.47261020e-04,
 -2.34382463e-07, 9.64462443e-04, 9.59552348e-05,-1.09009092e-03,
 -1.18362697e-05,-1.06548816e-03,-1.24722239e-04,-8.96775151e-04,
 -4.71786203e-05,-6.83650335e-05,-2.81890964e-06, 5.20738179e-05,
  2.19996430e-04,-7.88753682e-05,-1.21660399e+00, 1.66360032e-03,
  5.61685985e-04,-3.83779838e-04]


--- Step 1291 ---
qpos:
[-0.0087914 , 1.01182575,-0.01667341, 0.91882293, 0.00423066, 0.97692242,
 -0.02866495, 0.89338152, 0.01641218, 1.04639606,-0.02200343, 0.91380875,
  1.27621548,-0.00245567, 1.02337792, 0.06417685,-0.00237568,-0.09688684,
  0.08144324, 0.53147657,-0.03843559, 0.00310098, 0.84619486]

qacc:
[-3.53367174e-01,-1.84313759e+01, 8.29053537e+01,-1.87485597e+02,
  3.54230527e-02,-2.66013341e+01, 1.46021326e+02,-3.83787765e+02,
  3.28280717e-02,-5.15710457e+01, 1.91523180e+02,-3.78993287e+02,
 -2.49124983e-01, 2.96154166e-02, 1.09498055e+01,-3.73537080e+01,
  2.44729573e+00,-8.79225242e-01, 5.15237149e+00, 8.85964807e+01,
 -8.58261861e+01, 5.56085383e+00]

qfrc_actuator:
[ 1.63171434e-03, 1.17380722e-01, 9.13726088e-03, 2.96115832e-02,
 -2.59813744e-05, 1.19304006e-01, 9.12786737e-03, 5.27604314e-02,
 -2.53829975e-03, 1.19452372e-01, 9.33230909e-03, 4.39711836e-02,
  7.24206333e-03,-1.69675056e-03, 0.00000000e+00,-2.70258320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.16566239,   4.82079448,   7.16566239,
        23.68091125, -22.36232003,   4.82079448, -22.36232003,
        41.87587139,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003092394614602048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79508627e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79508627e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04232396, -0.09360577,  0.06174283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.19015522e-05, 1.56659172e-04, 8.56728134e-05,-4.87769355e-04,
  7.97395005e-06, 8.78351262e-04, 1.72014750e-04,-1.03922805e-03,
  6.47449034e-06,-1.32620223e-03,-2.07048917e-04,-9.91270927e-04,
 -6.37210771e-05,-3.89746352e-05, 4.79448903e-07,-1.80920284e-04,
  1.54114161e-04,-5.65682134e-05,-1.21655645e+00, 1.64227728e-03,
  5.47714482e-04,-2.34471676e-04]


--- Step 1292 ---
qpos:
[-0.00881238, 1.01355408,-0.01668965, 0.91936422, 0.00423031, 0.97869816,
 -0.02868052, 0.89437346, 0.0164162 , 1.0481638 ,-0.02201274, 0.91462974,
  1.27643793,-0.00245752, 1.02360196, 0.06417296,-0.00241516,-0.09687056,
  0.08155565, 0.53148371,-0.03945647, 0.00292514, 0.84614401]

qacc:
[-3.51044267e-01,-2.31939864e+01, 9.02404820e+01,-1.77246496e+02,
  1.23428528e-01,-3.48308994e+01, 1.62869251e+02,-3.77679438e+02,
  4.95279814e-02,-4.72639189e+01, 1.74555460e+02,-3.53372701e+02,
 -6.35563892e-01, 1.01709968e+00,-9.63218136e+00, 3.24442593e+01,
  2.17643723e+00,-7.64265745e-01, 3.60748394e+00, 7.93480960e+01,
 -7.69721679e+01, 4.98963558e+00]

qfrc_actuator:
[ 1.59629019e-03, 1.17067901e-01, 9.16249222e-03, 2.91751620e-02,
 -3.23762355e-06, 1.19269834e-01, 9.15996056e-03, 5.17746239e-02,
 -2.53363388e-03, 1.18851186e-01, 9.34731844e-03, 4.30850588e-02,
  7.21627225e-03,-1.66765982e-03, 0.00000000e+00,-2.54104796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.38691162,   4.4744065 ,   7.38691162,
        23.22360953, -24.08245566,   4.4744065 , -24.08245566,
        48.39470286,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0031054103176684777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78756253e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78756253e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04232882, -0.09360226,  0.06174295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.18338391e-05,-2.54166759e-04, 4.38903886e-05,-4.38768817e-04,
  2.70222316e-05, 4.20480157e-04, 1.85151597e-04,-9.75421537e-04,
  1.05894065e-05,-1.43551931e-03,-3.05351047e-04,-9.53725000e-04,
 -7.16849503e-05, 5.70029593e-06,-2.56339737e-05, 1.50210844e-04,
  1.05339883e-04,-3.97782492e-05,-1.21652120e+00, 1.62634964e-03,
  5.37212426e-04,-1.22606391e-04]


--- Step 1293 ---
qpos:
[-0.00883308, 1.01527827,-0.01670524, 0.91989671, 0.00423039, 0.98047365,
 -0.0286934 , 0.89534624, 0.01642015, 1.04992097,-0.02202285, 0.91543313,
  1.27665993,-0.00245932, 1.02382521, 0.06417566,-0.00244683,-0.09685697,
  0.08167732, 0.53148881,-0.04028319, 0.00279698, 0.84610229]

qacc:
[ 1.31666087e-01,-2.26663897e+01, 8.61323007e+01,-1.76540454e+02,
  2.08374297e-01,-4.07461223e+01, 1.75370791e+02,-3.82749199e+02,
 -3.08808053e-02,-4.24186006e+01, 1.59448665e+02,-3.40650439e+02,
  3.17749424e-02,-1.85314863e-01,-2.10535389e+01, 7.19795795e+01,
  1.95621342e+00,-6.71695980e-01, 2.31372112e+00, 7.17194995e+01,
 -6.96564317e+01, 4.51686762e+00]

qfrc_actuator:
[ 1.67264562e-03, 1.16705008e-01, 9.12964976e-03, 2.87196108e-02,
  2.81467467e-05, 1.19016177e-01, 9.20187396e-03, 5.07980246e-02,
 -2.55025620e-03, 1.18340329e-01, 9.30631321e-03, 4.22000231e-02,
  7.19815029e-03,-1.66747322e-03, 0.00000000e+00,-2.19577014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.73157244,   3.84831969,   7.73157244,
        21.30615405, -25.45459068,   3.84831969, -25.45459068,
        59.77660872,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030840457205411065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79994579e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79994579e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04239457, -0.09359603,  0.06174569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99135789e-05,-5.38153119e-04,-9.79935843e-05,-4.70482165e-04,
  4.56222500e-05,-4.79475150e-05, 1.08322883e-04,-9.78697847e-04,
 -8.48973466e-06,-1.42352516e-03,-3.92837448e-04,-9.58015888e-04,
 -5.76728404e-05,-1.50229360e-05, 1.91483818e-06, 3.49692945e-04,
  6.94417960e-05,-2.71669363e-05,-1.21649510e+00, 1.61447801e-03,
  5.29347318e-04,-3.90110507e-05]


--- Step 1294 ---
qpos:
[-0.008853  , 1.01699808,-0.01672052, 0.9204176 , 0.00423055, 0.98224734,
 -0.02870472, 0.89629999, 0.01642398, 1.05166762,-0.0220334 , 0.91622105,
  1.27688174,-0.00246168, 1.02404889, 0.06417843,-0.00247138,-0.09684577,
  0.08180392, 0.53149225,-0.04093268, 0.00271224, 0.84606924]

qacc:
[ 3.69173375e-01,-2.69534277e+01, 1.05624385e+02,-2.26204609e+02,
  3.48030150e-02,-3.95142055e+01, 1.68457424e+02,-3.73824277e+02,
 -5.29439510e-02,-3.95521528e+01, 1.45569916e+02,-3.03114135e+02,
  2.77354693e-01,-8.86482692e-01, 3.82678568e-01,-5.07526588e-01,
  1.77761726e+00,-5.97259283e-01, 1.23216963e+00, 6.54214522e+01,
 -6.36060409e+01, 4.12576374e+00]

qfrc_actuator:
[ 1.74432531e-03, 1.16474676e-01, 9.13354038e-03, 2.81320532e-02,
  1.11788133e-05, 1.18810777e-01, 9.23055942e-03, 4.98344492e-02,
 -2.56176459e-03, 1.17869878e-01, 9.30398741e-03, 4.14292254e-02,
  7.18463467e-03,-1.70217404e-03, 0.00000000e+00,-2.20667091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.17466967,   2.78595631,   8.17466967,
        16.75266665, -23.81519616,   2.78595631, -23.81519616,
        78.51590941,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030354320102188095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82877268e-14,  3.65754535e-14,  1.00000000e+00,  6.68881901e-28,
        1.00000000e+00, -3.65754535e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82877268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04250744, -0.09358774,  0.06175046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.50744370e-05,-5.91390181e-04,-1.34057722e-04,-6.16046353e-04,
  7.01350827e-06,-2.74248907e-04,-5.94087738e-06,-9.82684206e-04,
 -1.37785160e-05,-1.39348409e-03,-3.61836757e-04,-8.46086216e-04,
 -4.92682722e-05,-5.17346659e-05, 3.66021702e-05, 8.10176561e-06,
  4.33574996e-05,-1.77597533e-05,-1.21647592e+00, 1.60569156e-03,
  5.23515054e-04, 2.29506580e-05]


--- Step 1295 ---
qpos:
[-0.00887139, 1.01871779,-0.01673698, 0.92092539, 0.00423047, 0.98402002,
 -0.02871625, 0.89723656, 0.01642785, 1.05340599,-0.02204429, 0.91699516,
  1.27710319,-0.00246417, 1.02427317, 0.06417741,-0.00248854,-0.09683867,
  0.08192823, 0.53149445,-0.04137352, 0.00263159, 0.84604666]

qacc:
[ 7.08085650e-01,-1.99209028e+01, 9.25713762e+01,-2.34909554e+02,
 -1.07021553e-01,-3.04845036e+01, 1.36044748e+02,-3.23638735e+02,
  2.11356267e-02,-3.40091870e+01, 1.27408536e+02,-2.69058146e+02,
 -4.18379790e-01, 4.11446365e-01, 1.23402738e+01,-4.18172790e+01,
  1.84649127e+00,-1.02503468e+00,-5.71247403e-01, 5.71374293e+01,
 -8.73948985e+01, 3.67334360e+00]

qfrc_actuator:
[ 1.86583604e-03, 1.16769598e-01, 9.17730558e-03, 2.74893576e-02,
 -1.68554371e-05, 1.18813521e-01, 9.23360952e-03, 4.89749836e-02,
 -2.55237396e-03, 1.17658611e-01, 9.36033144e-03, 4.07496184e-02,
  7.16855039e-03,-1.70396016e-03, 0.00000000e+00,-2.40963877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029720615895726804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40082438e-14,  2.80164877e-14,  1.00000000e+00, -3.92461790e-28,
        1.00000000e+00, -2.80164877e-14, -1.00000000e+00,  0.00000000e+00,
        1.40082438e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04954386, -0.08297061,  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:
[ 1.64515876e-04,-1.06978223e-04,-1.13038442e-04,-6.77223409e-04,
 -2.43623000e-05,-2.13919699e-04,-8.92774197e-05,-8.89136295e-04,
  4.21440181e-06,-1.10779708e-03,-2.90266901e-04,-7.50458591e-04,
 -5.59845591e-05,-2.51151097e-05, 1.12754376e-05,-1.99322158e-04,
  2.48564302e-05,-1.08423237e-05,-1.21646204e+00, 1.59928229e-03,
  5.19274374e-04, 6.81153047e-05]


--- Step 1296 ---
qpos:
[-0.00888744, 1.0204413 ,-0.016755  , 0.92142053, 0.00423028, 0.98579083,
 -0.02872718, 0.89815595, 0.0164318 , 1.05513807,-0.02205559, 0.91775427,
  1.27732417,-0.00246641, 1.02449703, 0.06417768,-0.00249888,-0.09683533,
  0.08204732, 0.53149565,-0.04162176, 0.00255465, 0.84603397]

qacc:
[ 1.08868355e+00,-1.29820340e+01, 7.51170857e+01,-2.16713462e+02,
 -4.97407589e-02,-3.37749753e+01, 1.45349644e+02,-3.31013803e+02,
  3.91693133e-02,-3.32803396e+01, 1.30739508e+02,-2.87208414e+02,
 -4.69008941e-01, 7.06084440e-01,-4.45399407e+00, 1.47681697e+01,
  1.70769871e+00,-9.38327934e-01,-1.30710796e+00, 5.27157171e+01,
 -8.06880711e+01, 3.38277497e+00]

qfrc_actuator:
[ 2.03394991e-03, 1.17270627e-01, 9.21085679e-03, 2.68729784e-02,
 -1.57542775e-05, 1.18710285e-01, 9.25792837e-03, 4.81127446e-02,
 -2.54831033e-03, 1.17516082e-01, 9.39870550e-03, 4.00049921e-02,
  7.15094705e-03,-1.68620739e-03, 0.00000000e+00,-2.33346383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028977395132406616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91567085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91567085e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04972419, -0.08292086,  0.0617629 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53858563e-04, 3.69545220e-04,-2.77074339e-05,-6.37000909e-04,
 -1.17393834e-05,-2.99793592e-04,-6.28485215e-05,-8.90364200e-04,
  8.69393180e-06,-8.63642074e-04,-2.41057508e-04,-8.02405736e-04,
 -5.57597092e-05,-6.87204324e-07,-2.33980606e-05, 6.50361467e-05,
  1.33800879e-05,-5.10079420e-06,-1.21645021e+00, 1.59365860e-03,
  5.16202648e-04, 1.04659431e-04]


--- Step 1297 ---
qpos:
[-0.00890176, 1.02216588,-0.01677188, 0.9219049 , 0.00423038, 0.98755583,
 -0.02873543, 0.89905641, 0.01643582, 1.05686631,-0.02206828, 0.91849841,
  1.27754458,-0.00246814, 1.02472085, 0.0641778 ,-0.00250284,-0.09683545,
  0.08215871, 0.53149599,-0.04169073, 0.00248111, 0.84603058]

qacc:
[ 8.00048215e-01,-2.05651823e+01, 9.16024760e+01,-2.07435023e+02,
  1.39435524e-01,-4.75969089e+01, 1.88112634e+02,-3.86892448e+02,
  3.46786783e-02,-2.73702878e+01, 1.15135022e+02,-2.74415007e+02,
 -8.35661176e-01, 1.41582802e+00, 4.25894492e-01,-1.44464327e+00,
  1.59501637e+00,-8.68328668e-01,-1.92249625e+00, 4.90552077e+01,
 -7.51269972e+01, 3.13809277e+00]

qfrc_actuator:
[ 2.08657327e-03, 1.17234617e-01, 9.23913239e-03, 2.63304415e-02,
  2.05531906e-05, 1.18207431e-01, 9.31203827e-03, 4.71491874e-02,
 -2.54749906e-03, 1.17504858e-01, 9.39098786e-03, 3.92635785e-02,
  7.12712991e-03,-1.65705740e-03, 0.00000000e+00,-2.34189379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002807762811665254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88529925e-15,  3.95411970e-14,  1.00000000e+00,  3.90876565e-28,
        1.00000000e+00, -3.95411970e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88529925e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04993323, -0.08286366,  0.06177054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86487451e-04, 1.14220168e-04, 7.13756599e-05,-5.45254647e-04,
  3.00994467e-05,-7.41648624e-04,-4.68938415e-05,-9.93593365e-04,
  7.89081185e-06,-5.88923421e-04,-2.35105432e-04,-7.91463619e-04,
 -5.59579273e-05, 1.62969382e-05,-6.89465152e-06,-8.58299382e-06,
  5.84436612e-06,-1.50081459e-06,-1.21644336e+00, 1.59042511e-03,
  5.14346098e-04, 1.26596345e-04]


--- Step 1298 ---
qpos:
[-0.00891567, 1.02388575,-0.01678551, 0.92238014, 0.00423066, 0.98931251,
 -0.02874243, 0.89993729, 0.01643988, 1.05859302,-0.02208215, 0.91922941,
  1.27776448,-0.00246947, 1.02494467, 0.06417714,-0.00250078,-0.09683883,
  0.08226036, 0.53149555,-0.04159141, 0.00241074, 0.84603595]

qacc:
[ 1.97317521e-01,-3.10051641e+01, 1.13110777e+02,-2.03636685e+02,
  9.29060055e-02,-4.81643354e+01, 1.87334373e+02,-3.92186239e+02,
  2.39055631e-02,-2.16523672e+01, 9.62301365e+01,-2.37761528e+02,
 -7.53612417e-01, 1.22416784e+00, 2.44512822e+00,-8.40701553e+00,
  1.50368638e+00,-8.11895008e-01,-2.43609827e+00, 4.60317118e+01,
 -7.05266955e+01, 2.93081170e+00]

qfrc_actuator:
[ 2.03408288e-03, 1.16664557e-01, 9.27991827e-03, 2.58531354e-02,
  2.43753045e-05, 1.17593764e-01, 9.29293890e-03, 4.61512125e-02,
 -2.54866346e-03, 1.17643515e-01, 9.41001428e-03, 3.86188165e-02,
  7.09960904e-03,-1.63918465e-03, 0.00000000e+00,-2.38242079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002706048861534638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05016307, -0.08280107,  0.06177894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52398572e-05,-5.38795806e-04, 4.79493073e-05,-4.82705175e-04,
  1.96390998e-05,-1.09705554e-03,-2.08177454e-04,-1.04365416e-03,
  5.48900986e-06,-2.85299432e-04,-1.53413234e-04,-6.85993521e-04,
 -5.57510299e-05, 8.84667416e-06,-8.84289320e-06,-4.29689022e-05,
  1.47199719e-06, 3.80096077e-07,-1.21644047e+00, 1.58909484e-03,
  5.13484297e-04, 1.36762592e-04]


--- Step 1299 ---
qpos:
[-0.00892979, 1.02559535,-0.01679541, 0.92284613, 0.00423073, 0.99105883,
 -0.02874919, 0.90080032, 0.01644382, 1.06031888,-0.02209629, 0.91994484,
  1.27798391,-0.00247054, 1.02516866, 0.06417397,-0.002493  ,-0.09684526,
  0.08235055, 0.53149437,-0.04133287, 0.00234334, 0.84604955]

qacc:
[-8.87810950e-02,-3.98249544e+01, 1.33321549e+02,-2.19177156e+02,
 -9.73118859e-02,-4.50682907e+01, 1.70048496e+02,-3.54716003e+02,
 -5.93492769e-02,-2.75087743e+01, 1.21579480e+02,-2.88906405e+02,
 -7.05021033e-01, 1.07448434e+00, 7.85914301e+00,-2.70281734e+01,
  1.42976703e+00,-7.66469294e-01,-2.86378156e+00, 4.35429525e+01,
 -6.67345577e+01, 2.75380327e+00]

qfrc_actuator:
[ 1.99014916e-03, 1.15779418e-01, 9.32564662e-03, 2.53643829e-02,
 -9.06226004e-06, 1.16936196e-01, 9.24802361e-03, 4.52473335e-02,
 -2.56877253e-03, 1.17693789e-01, 9.42769510e-03, 3.78409259e-02,
  7.07520839e-03,-1.62816679e-03, 0.00000000e+00,-2.51251501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.57145508, -8.49219087,  1.57145508, 88.53803546,
       14.78557068, -8.49219087, 14.78557068, 11.37239025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025958484369437568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06922944e-14,  4.27691775e-14,  1.00000000e+00,  4.57300635e-28,
        1.00000000e+00, -4.27691775e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06922944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05040733, -0.08273473,  0.06178787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21790061e-05,-1.21775005e-03,-7.58295491e-05,-5.13176965e-04,
 -2.31617032e-05,-1.37082366e-03,-3.23775408e-04,-9.66555351e-04,
 -1.47517277e-05,-1.86190777e-04,-8.26748513e-05,-8.05006702e-04,
 -5.43493058e-05, 3.66776058e-07,-1.35873675e-05,-1.34708515e-04,
 -3.13585452e-07, 8.54985283e-07,-1.21644082e+00, 1.58930880e-03,
  5.13453699e-04, 1.37239947e-04]


--- Step 1300 ---
qpos:
[-0.00894422, 1.0272914 ,-0.01680222, 0.92330372, 0.00423083, 0.99279253,
 -0.02875463, 0.90164669, 0.01644758, 1.06204285,-0.02211033, 0.92064274,
  1.27820292,-0.00247123, 1.02539242, 0.06417025,-0.00247974,-0.09685462,
  0.08242787, 0.53149245,-0.04092254, 0.00227874, 0.84607088]

qacc:
[-1.43306227e-01,-4.09421302e+01, 1.29998333e+02,-2.04453689e+02,
  2.08128292e-02,-4.89738616e+01, 1.76613190e+02,-3.45056493e+02,
 -7.72700807e-02,-3.32450693e+01, 1.42804649e+02,-3.29919957e+02,
 -6.53190252e-01, 1.10362842e+00, 1.37437856e+00,-5.17352589e+00,
  1.36997908e+00,-7.29961246e-01,-3.21901940e+00, 4.15041168e+01,
 -6.36238236e+01, 2.60104603e+00]

qfrc_actuator:
[ 1.96955507e-03, 1.14872450e-01, 9.39030726e-03, 2.49257830e-02,
  6.48253505e-06, 1.16204395e-01, 9.27689873e-03, 4.44060005e-02,
 -2.58233248e-03, 1.17548944e-01, 9.40860508e-03, 3.69553362e-02,
  7.06334508e-03,-1.60352811e-03, 0.00000000e+00,-2.53454135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.93836621, -8.58523417,  0.93836621, 87.96355891,
        8.67046349, -8.58523417,  8.67046349,  9.58404541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024798508764314053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23848747e-14,  4.47697495e-14,  1.00000000e+00,  1.00216523e-27,
        1.00000000e+00, -4.47697495e-14, -1.00000000e+00,  0.00000000e+00,
       -2.23848747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05066083, -0.08266602,  0.06179713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51703556e-05,-1.64024275e-03,-2.04921080e-04,-4.87945792e-04,
  3.18211650e-06,-1.61665026e-03,-3.14630124e-04,-9.14176940e-04,
 -1.92684312e-05,-3.16135995e-04,-9.54318842e-05,-9.10333190e-04,
 -4.32396299e-05, 1.24827655e-05,-2.61211099e-05,-3.23935810e-05,
  6.00594551e-08, 1.55538368e-07,-1.21644386e+00, 1.59080173e-03,
  5.14132757e-04, 1.29552002e-04]


--- Step 1301 ---
qpos:
[-0.00895939, 1.02897217,-0.01680768, 0.92375277, 0.00423104, 0.99451166,
 -0.02875824, 0.90247727, 0.01645135, 1.06376222,-0.02212349, 0.92132622,
  1.27842177,-0.00247218, 1.02561538, 0.06417127,-0.00246119,-0.09686679,
  0.08249114, 0.53148976,-0.04036646, 0.00221684, 0.84609944]

qacc:
[-3.39241318e-01,-3.86918835e+01, 1.20097333e+02,-1.95838836e+02,
  5.53007632e-02,-5.13412235e+01, 1.79291782e+02,-3.35608549e+02,
  3.00478696e-03,-3.34948014e+01, 1.32683055e+02,-2.82646445e+02,
  4.00532820e-01,-8.55758337e-01,-1.55257803e+01, 5.25187858e+01,
  1.32158370e+00,-7.00656069e-01,-3.51325173e+00, 3.98444616e+01,
 -6.10885957e+01, 2.46742931e+00]

qfrc_actuator:
[ 1.90990638e-03, 1.13959775e-01, 9.39446897e-03, 2.44846402e-02,
  1.57494009e-05, 1.15381203e-01, 9.33110560e-03, 4.36081601e-02,
 -2.57411648e-03, 1.17181896e-01, 9.40271445e-03, 3.62263560e-02,
  7.05369168e-03,-1.62421254e-03, 0.00000000e+00,-2.27965136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.73811807, -8.60476371,  0.73811807, 91.70165416,
        7.12535451, -8.60476371,  7.12535451,  9.24757774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002360272386154237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.61470743e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.61470743e-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([-0.05091938, -0.082596  ,  0.06180658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.12497730e-05,-1.90395827e-03,-3.62114346e-04,-5.06506896e-04,
  1.08060433e-05,-1.84034700e-03,-3.34868606e-04,-8.76824606e-04,
  1.04228029e-08,-6.15880439e-04,-1.12266651e-04,-7.60488707e-04,
 -3.18087221e-05,-2.74813412e-05,-1.92657926e-05, 2.48900860e-04,
  2.27653576e-06,-1.54734800e-06,-1.21644923e+00, 1.59337712e-03,
  5.15431073e-04, 1.14806718e-04]


--- Step 1302 ---
qpos:
[-0.00897526, 1.03063408,-0.01681163, 0.9241934 , 0.00423135, 0.9962154 ,
 -0.02876127, 0.90329201, 0.01645532, 1.06547482,-0.02213569, 0.92199727,
  1.27864027,-0.00247326, 1.02583826, 0.06417462,-0.00243758,-0.09688056,
  0.08254567, 0.53148596,-0.03968375, 0.00218577, 0.84613421]

qacc:
[-3.14097247e-01,-4.36657145e+01, 1.30448752e+02,-2.01476185e+02,
  5.56468507e-02,-4.91356625e+01, 1.70804308e+02,-3.28069830e+02,
  9.99445916e-02,-3.31528195e+01, 1.23890587e+02,-2.50274261e+02,
 -3.37094806e-02,-1.78116287e-01,-7.13413528e+00, 2.47737700e+01,
  1.26818514e+00,-4.03751113e-01,-2.18382185e+00, 4.66668517e+01,
 -4.55010669e+01, 2.88777996e+00]

qfrc_actuator:
[ 1.88063407e-03, 1.12784537e-01, 9.38058883e-03, 2.40454478e-02,
  2.11644344e-05, 1.14545671e-01, 9.32847106e-03, 4.28066972e-02,
 -2.55294016e-03, 1.16720491e-01, 9.40391957e-03, 3.55952359e-02,
  7.02405172e-03,-1.63608002e-03, 0.00000000e+00,-2.16547538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002253179039603731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46368133e-14,  4.92736265e-14,  1.00000000e+00,  1.21394513e-27,
        1.00000000e+00, -4.92736265e-14, -1.00000000e+00,  0.00000000e+00,
       -2.46368133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0440205 , -0.09349538,  0.06181502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.57391966e-05,-2.34348852e-03,-4.50242187e-04,-5.17608578e-04,
  1.09718385e-05,-1.97896285e-03,-4.36737758e-04,-8.87109720e-04,
  2.34812007e-05,-8.74614527e-04,-1.61329802e-04,-6.68789213e-04,
 -5.40505246e-05,-2.54915457e-05, 1.66108997e-05, 1.25047858e-04,
  6.10266099e-06,-4.12836156e-06,-1.21645665e+00, 1.59688883e-03,
  5.17281403e-04, 9.38007333e-05]


--- Step 1303 ---
qpos:
[-0.00899179, 1.03227378,-0.01681373, 0.92462567, 0.00423191, 0.99790349,
 -0.02876476, 0.90409057, 0.01645938, 1.06717978,-0.02214648, 0.92265597,
  1.2788583 ,-0.00247442, 1.02606167, 0.06417529,-0.00240904,-0.09689589,
  0.08259022, 0.53148101,-0.03887897, 0.00218437, 0.84617468]

qacc:
[-2.96929824e-01,-4.88449816e+01, 1.41902338e+02,-2.08688015e+02,
  1.23427784e-01,-4.72512808e+01, 1.64894557e+02,-3.26465661e+02,
  3.81400244e-02,-3.53100543e+01, 1.29325776e+02,-2.53305086e+02,
 -4.75279012e-01, 4.96839878e-01, 8.85453849e+00,-2.97709806e+01,
  1.23040286e+00,-3.87133083e-01,-2.49532366e+00, 4.49638798e+01,
 -4.38710582e+01, 2.72110437e+00]

qfrc_actuator:
[ 1.85208044e-03, 1.11461447e-01, 9.39068203e-03, 2.36107343e-02,
  4.19774209e-05, 1.13744898e-01, 9.29225430e-03, 4.19916781e-02,
 -2.55970551e-03, 1.16313002e-01, 9.46219826e-03, 3.49733619e-02,
  6.99309531e-03,-1.64268595e-03, 0.00000000e+00,-2.31273155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.43625699, -7.92331463,  3.43625699, 71.38303462,
       27.21256149, -7.92331463, 27.21256149, 20.43816111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021441759900203486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58892700e-14,  2.58892700e-14,  1.00000000e+00,  6.70254304e-28,
        1.00000000e+00, -2.58892700e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58892700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04422087, -0.0934834 ,  0.06182357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.20871705e-05,-2.75174810e-03,-5.22651809e-04,-5.29276104e-04,
  2.64511864e-05,-2.04091102e-03,-5.09400136e-04,-9.08201090e-04,
  8.36337778e-06,-9.70466197e-04,-1.57779966e-04,-6.66740530e-04,
 -6.73744517e-05,-2.50824586e-05, 1.65488419e-05,-1.39315623e-04,
  1.36601255e-05,-8.50708457e-06,-1.21646468e+00, 1.60080362e-03,
  5.19787415e-04, 6.68622938e-05]


--- Step 1304 ---
qpos:
[-0.00900911, 1.03389197,-0.01681633, 0.92504912, 0.00423256, 0.9995775 ,
 -0.02876949, 0.90487308, 0.01646328, 1.06888192,-0.02215889, 0.92330219,
  1.27907627,-0.00247677, 1.02628508, 0.06417457,-0.0023757 ,-0.09691271,
  0.08262376, 0.53147488,-0.03795576, 0.00221172, 0.84622038]

qacc:
[-3.61667585e-01,-4.24096159e+01, 1.22888766e+02,-1.97599907e+02,
  4.20253522e-02,-4.28861381e+01, 1.52779209e+02,-3.15211807e+02,
 -6.69294326e-02,-2.10280784e+01, 9.05496147e+01,-2.23725812e+02,
  8.04699332e-01,-2.07769608e+00, 4.18292688e+00,-1.47961384e+01,
  1.19983631e+00,-3.73988103e-01,-2.75060964e+00, 4.36047825e+01,
 -4.25722901e+01, 2.57379035e+00]

qfrc_actuator:
[ 1.80644725e-03, 1.10397845e-01, 9.36097150e-03, 2.31642630e-02,
  3.63363014e-05, 1.13166671e-01, 9.27219550e-03, 4.11929464e-02,
 -2.58318479e-03, 1.16474022e-01, 9.48288616e-03, 3.43619148e-02,
  6.97734885e-03,-1.71715537e-03, 0.00000000e+00,-2.38200581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002033860425743897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7293491e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7293491e-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([-0.04442304, -0.09347136,  0.06183219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72249031e-05,-2.73224095e-03,-6.50911237e-04,-5.55775933e-04,
  8.20929487e-06,-1.86719850e-03,-5.14221183e-04,-8.96446213e-04,
 -1.66566356e-05,-4.54016997e-04,-2.13618313e-04,-6.59063784e-04,
 -6.01563972e-05,-9.57171161e-05,-1.43816086e-05,-7.64086633e-05,
  2.33586140e-05,-1.34915904e-05,-1.21647406e+00, 1.60522143e-03,
  5.22762993e-04, 3.53435667e-05]


--- Step 1305 ---
qpos:
[-0.00902706, 1.03548938,-0.01682002, 0.92546393, 0.00423321, 1.00123969,
 -0.02877513, 0.90563835, 0.01646714, 1.07058447,-0.02217376, 0.92393723,
  1.27929422,-0.00248057, 1.02650752, 0.06418002,-0.00233766,-0.09693099,
  0.08264548, 0.53146751,-0.03691695, 0.00226706, 0.84627081]

qacc:
[-2.87721374e-01,-3.95011516e+01, 1.14206446e+02,-1.88396313e+02,
  7.56997956e-03,-4.28070543e+01, 1.58710028e+02,-3.35914838e+02,
 -1.91783157e-02,-1.22544010e+01, 6.42670012e+01,-1.87609042e+02,
  1.51373283e+00,-3.32004941e+00,-2.02364788e+01, 6.83885502e+01,
  1.17500611e+00,-3.63640136e-01,-2.95880678e+00, 4.25349560e+01,
 -4.15532568e+01, 2.44138451e+00]

qfrc_actuator:
[ 1.78647265e-03, 1.09427118e-01, 9.32672901e-03, 2.27322886e-02,
  3.26461198e-05, 1.12779929e-01, 9.29829590e-03, 4.03393227e-02,
 -2.58099162e-03, 1.16743592e-01, 9.44797102e-03, 3.38150505e-02,
  6.97070915e-03,-1.79568616e-03, 0.00000000e+00,-2.04962937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019235657946238133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88584624e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.88584624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04462476, -0.09345936,  0.06184078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.97397900e-05,-2.65406054e-03,-6.66927920e-04,-5.45086201e-04,
  5.04377906e-07,-1.57971155e-03,-4.33982445e-04,-9.45794654e-04,
 -4.68131966e-06,-7.02236386e-05,-1.74103810e-04,-5.80259329e-04,
 -6.37511227e-05,-1.14213700e-04,-1.91536835e-05, 3.25321074e-04,
  3.50130343e-05,-1.90395918e-05,-1.21648473e+00, 1.61008196e-03,
  5.26166816e-04,-4.57376711e-07]


--- Step 1306 ---
qpos:
[-0.00904542, 1.03706515,-0.01682372, 0.92587143, 0.00423367, 1.00289174,
 -0.0287811 , 0.9063897 , 0.016471  , 1.07228454,-0.02218719, 0.92455844,
  1.27951166,-0.00248452, 1.02672974, 0.06418969,-0.002295  ,-0.09695069,
  0.08265468, 0.53145884,-0.03576475, 0.00234983, 0.8463255 ]

qacc:
[-1.81139461e-01,-4.12651068e+01, 1.15778410e+02,-1.73645256e+02,
 -8.34339907e-02,-3.64863739e+01, 1.33427598e+02,-2.75442664e+02,
  4.57880975e-04,-3.11679027e+01, 1.27019716e+02,-2.71673906e+02,
 -2.86160005e-02,-2.50064407e-01,-1.30347368e+01, 4.51485960e+01,
  1.15465034e+00,-3.55535196e-01,-3.12765527e+00, 4.17083445e+01,
 -4.07704261e+01, 2.32011874e+00]

qfrc_actuator:
[ 1.78205055e-03, 1.08342444e-01, 9.32606731e-03, 2.23656264e-02,
  1.24145057e-05, 1.12458174e-01, 9.35226574e-03, 3.96556545e-02,
 -2.58119515e-03, 1.16525863e-01, 9.48770681e-03, 3.31153640e-02,
  6.95888058e-03,-1.78715348e-03, 0.00000000e+00,-1.83834024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018143621897230844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05954079e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.05954079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04482425, -0.09344749,  0.06184927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.47168466e-05,-2.72709856e-03,-6.19398255e-04,-4.77626140e-04,
 -2.01002139e-05,-1.34096748e-03,-3.41783701e-04,-7.65653418e-04,
 -4.86615414e-07,-3.34843191e-04,-1.73329911e-05,-7.18437910e-04,
 -7.45666280e-05,-3.26193443e-05, 2.57112361e-05, 2.26540148e-04,
  4.84973147e-05,-2.51251924e-05,-1.21649663e+00, 1.61533997e-03,
  5.29968510e-04,-4.03593984e-05]


--- Step 1307 ---
qpos:
[-0.00906398, 1.0386193 ,-0.01682751, 0.92627174, 0.00423376, 1.00453652,
 -0.02878831, 0.90712819, 0.01647486, 1.07398043,-0.0221992 , 0.92516491,
  1.27972838,-0.00248763, 1.02695308, 0.06419346,-0.0022478 ,-0.09697178,
  0.08265082, 0.53144878,-0.0345008 , 0.00245959, 0.84638398]

qacc:
[-8.44375676e-02,-4.07424943e+01, 1.13824539e+02,-1.70390127e+02,
 -1.75263284e-01,-2.83620793e+01, 1.09087603e+02,-2.43098585e+02,
  4.31952846e-03,-3.49858971e+01, 1.38738142e+02,-2.91665961e+02,
 -1.58925918e+00, 2.72312855e+00, 1.95532220e+01,-6.57405007e+01,
  1.13769097e+00,-3.49218231e-01,-3.26371627e+00, 4.10860172e+01,
 -4.01869292e+01, 2.20679767e+00]

qfrc_actuator:
[ 1.78698405e-03, 1.07287350e-01, 9.32715048e-03, 2.20047710e-02,
 -1.75519954e-05, 1.12320499e-01, 9.36947845e-03, 3.90242820e-02,
 -2.58285803e-03, 1.16213765e-01, 9.51606509e-03, 3.23665976e-02,
  6.94398303e-03,-1.72711121e-03, 0.00000000e+00,-2.16177878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017070988002728868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04502011, -0.09343582,  0.0618576 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18086569e-05,-2.72607564e-03,-6.24366972e-04,-4.71045183e-04,
 -4.07729104e-05,-1.00059814e-03,-3.15571248e-04,-6.99067853e-04,
  3.26075310e-07,-5.49015832e-04,-6.67189743e-05,-7.74100567e-04,
 -6.43128639e-05, 3.49837434e-05, 3.18682989e-05,-3.08717925e-04,
  6.37291751e-05,-3.17345745e-05,-1.21650976e+00, 1.62096049e-03,
  5.34145522e-04,-8.42686999e-05]


--- Step 1308 ---
qpos:
[-0.0090824 , 1.04015277,-0.01683208, 0.9266646 , 0.00423364, 1.00617696,
 -0.02879716, 0.90785211, 0.01647904, 1.07567175,-0.02221157, 0.9257613 ,
  1.27994466,-0.00249056, 1.02717674, 0.06419206,-0.0021961 ,-0.09699425,
  0.08263348, 0.53143723,-0.03312626, 0.002596  , 0.84644573]

qacc:
[ 6.55222599e-02,-3.81614867e+01, 1.07444297e+02,-1.68518023e+02,
 -9.31574570e-02,-2.64223647e+01, 1.11072129e+02,-2.66955938e+02,
  1.46080548e-01,-2.25458074e+01, 8.75589087e+01,-1.91611183e+02,
 -7.82470942e-01, 1.13922028e+00, 1.61602395e+01,-5.57196351e+01,
  1.12320588e+00,-3.44314568e-01,-3.37254864e+00, 4.06350105e+01,
 -3.97714926e+01, 2.09870610e+00]

qfrc_actuator:
[ 1.81523562e-03, 1.06329650e-01, 9.31162598e-03, 2.16324418e-02,
 -1.75865281e-05, 1.12329946e-01, 9.36568139e-03, 3.83045151e-02,
 -2.54989730e-03, 1.15954241e-01, 9.48376915e-03, 3.18611300e-02,
  6.91662960e-03,-1.72585037e-03, 0.00000000e+00,-2.42482576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016024398371140836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.46416445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.46416445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04521124, -0.09342443,  0.06186571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39443502e-05,-2.62842344e-03,-6.41001257e-04,-4.82470309e-04,
 -2.18227846e-05,-6.57529338e-04,-2.64632693e-04,-7.74603767e-04,
  3.53678048e-05,-6.26200095e-04,-1.76594530e-04,-5.40041628e-04,
 -5.60811221e-05,-5.31260568e-06,-2.81964037e-05,-2.78116121e-04,
  8.06586433e-05,-3.88627723e-05,-1.21652412e+00, 1.62691512e-03,
  5.38680743e-04,-1.32156688e-04]


--- Step 1309 ---
qpos:
[-0.00910039, 1.04166827,-0.01683817, 0.92704907, 0.00423359, 1.00781437,
 -0.02880751, 0.90855994, 0.01648358, 1.07735553,-0.0222233 , 0.9263476 ,
  1.28016053,-0.00249366, 1.02739958, 0.06419284,-0.00213995,-0.09701809,
  0.0826023 , 0.53142408,-0.03164191, 0.00275882, 0.84651026]

qacc:
[ 2.03677689e-01,-3.41909061e+01, 1.00699087e+02,-1.75087481e+02,
  2.90783517e-02,-2.76839715e+01, 1.20564412e+02,-2.94010131e+02,
  1.64183771e-01,-2.91825747e+01, 1.04563299e+02,-2.04948440e+02,
 -2.48265189e-02,-2.27545490e-01,-7.80771161e+00, 2.55428305e+01,
  1.11040533e+00,-3.40514974e-01,-3.45885915e+00, 4.03273800e+01,
 -3.94975611e+01, 1.99353273e+00]

qfrc_actuator:
[ 1.85722932e-03, 1.05633370e-01, 9.30460073e-03, 2.12208690e-02,
  3.13244895e-07, 1.12303391e-01, 9.33242364e-03, 3.75030664e-02,
 -2.53198388e-03, 1.15408783e-01, 9.45179733e-03, 3.13430835e-02,
  6.88712971e-03,-1.74177581e-03, 0.00000000e+00,-2.29494347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015008949419884343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69853676e-14,  3.69853676e-14,  1.00000000e+00,  1.36791742e-27,
        1.00000000e+00, -3.69853676e-14, -1.00000000e+00,  0.00000000e+00,
       -3.69853676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04539681, -0.09341334,  0.06187359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71136417e-05,-2.31613359e-03,-6.15478565e-04,-5.19511708e-04,
  6.22130627e-06,-4.95744978e-04,-2.23058969e-04,-8.45885755e-04,
  3.95824032e-05,-9.69013142e-04,-1.96924451e-04,-5.52797047e-04,
 -6.36166582e-05,-2.95410559e-05,-4.87471675e-05, 1.09646925e-04,
  9.92593384e-05,-4.65112448e-05,-1.21653973e+00, 1.63317929e-03,
  5.43560719e-04,-1.84043331e-04]


--- Step 1310 ---
qpos:
[-0.00911803, 1.04317094,-0.01684694, 0.92742525, 0.00423366, 1.00944717,
 -0.0288178 , 0.90925137, 0.01648825, 1.07902818,-0.02223301, 0.92692205,
  1.28037603,-0.00249693, 1.02762198, 0.06419608,-0.00207942,-0.09704327,
  0.08255701, 0.53140921,-0.0300482 , 0.0029479 , 0.84657703]

qacc:
[ 1.61286223e-01,-2.41581990e+01, 7.58574609e+01,-1.55428510e+02,
  6.41572807e-02,-3.45217456e+01, 1.41044210e+02,-3.14621058e+02,
  6.54449621e-02,-4.06555827e+01, 1.40065447e+02,-2.54380768e+02,
  1.54699657e-02,-2.87943433e-01,-8.07773195e+00, 2.73196403e+01,
  1.09861209e+00,-3.37563617e-01,-3.52663027e+00, 4.01394155e+01,
 -3.93425711e+01, 1.88930677e+00]

qfrc_actuator:
[ 1.87160816e-03, 1.05365791e-01, 9.30373352e-03, 2.08251656e-02,
  1.10407695e-05, 1.12024866e-01, 9.31750904e-03, 3.66777079e-02,
 -2.54101692e-03, 1.14643313e-01, 9.47242896e-03, 3.07327820e-02,
  6.87233189e-03,-1.74999801e-03, 0.00000000e+00,-2.16537800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.4559855 , -5.73646478, -6.4559855 , 14.467521  ,
       -6.56255531, -5.73646478, -6.56255531, 16.02205561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014028449284498312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47315073e-14,  3.95704116e-14,  1.00000000e+00,  9.78635921e-28,
        1.00000000e+00, -3.95704116e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47315073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0455762 , -0.09340261,  0.06188119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75679330e-05,-1.71037049e-03,-5.46221347e-04,-4.94310829e-04,
  1.40074386e-05,-6.52035371e-04,-1.70247944e-04,-8.65191496e-04,
  1.49263007e-05,-1.38288410e-03,-2.14114279e-04,-6.56325550e-04,
 -5.83203749e-05,-2.94746828e-05,-1.19241497e-05, 1.29020561e-04,
  1.19521813e-04,-5.46860427e-05,-1.21655663e+00, 1.63973013e-03,
  5.48774261e-04,-2.39984596e-04]


--- Step 1311 ---
qpos:
[-0.00913569, 1.04466576,-0.01685819, 0.92779297, 0.0042337 , 1.01107313,
 -0.02882652, 0.90992837, 0.01649295, 1.08068827,-0.02224064, 0.92748384,
  1.2805909 ,-0.00249948, 1.02784445, 0.06419948,-0.00201444,-0.09707084,
  0.08250625, 0.53139302,-0.02833458, 0.00314674, 0.84664556]

qacc:
[-5.76184564e-03,-1.84068512e+01, 6.53234387e+01,-1.51127511e+02,
 -1.30484524e-02,-3.80758510e+01, 1.44834652e+02,-2.93132484e+02,
  1.73294596e-02,-4.41175134e+01, 1.50689697e+02,-2.71929333e+02,
 -1.04170005e+00, 1.84079903e+00,-3.02809710e-01, 1.37551547e+00,
  1.11025180e+00,-5.96151821e-01,-1.36939328e+00, 3.59738878e+01,
 -4.81938021e+01, 1.35026913e+00]

qfrc_actuator:
[ 1.85158032e-03, 1.05375246e-01, 9.32608394e-03, 2.04245004e-02,
 -3.83885732e-07, 1.11597960e-01, 9.36589776e-03, 3.59512671e-02,
 -2.54838714e-03, 1.13929947e-01, 9.54074248e-03, 3.00906796e-02,
  6.85571504e-03,-1.70025780e-03, 0.00000000e+00,-2.16142393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013272035307755614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56846190e-14,  4.18256507e-14,  1.00000000e+00,  6.56019395e-28,
        1.00000000e+00, -4.18256507e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56846190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03297832, -0.08939838,  0.06188701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92205865e-06,-1.08351218e-03,-3.95608699e-04,-4.78360162e-04,
 -4.00175030e-06,-8.76980735e-04,-1.32101013e-04,-7.69970702e-04,
  2.96542027e-06,-1.56607920e-03,-2.52470482e-04,-7.03548721e-04,
 -5.66754531e-05, 2.95189024e-05, 5.37604910e-06, 8.79832772e-06,
  1.41448440e-04,-6.33964178e-05,-1.21657487e+00, 1.64654492e-03,
  5.54311382e-04,-3.00062908e-04]


--- Step 1312 ---
qpos:
[-0.00915359, 1.04615861,-0.01687234, 0.92815253, 0.00423365, 1.0126924 ,
 -0.02883466, 0.91059217, 0.01649747, 1.08233718,-0.02224821, 0.92803394,
  1.28080513,-0.00250092, 1.02806736, 0.06419922,-0.00194518,-0.0971007 ,
  0.08244897, 0.5313754 ,-0.0265039 , 0.00335501, 0.8467151 ]

qacc:
[-1.08262549e-01,-9.03293882e+00, 4.33802485e+01,-1.31967866e+02,
 -3.55595504e-02,-3.31662218e+01, 1.26340107e+02,-2.62552042e+02,
 -7.83447389e-02,-3.51933901e+01, 1.21729033e+02,-2.36266435e+02,
 -1.59457851e+00, 2.94823333e+00, 1.18296196e+01,-4.01382148e+01,
  1.06995350e+00,-5.71785318e-01,-1.62823654e+00, 3.50734137e+01,
 -4.70541043e+01, 1.18900094e+00]

qfrc_actuator:
[ 1.82888421e-03, 1.05728585e-01, 9.34548282e-03, 2.00420875e-02,
 -7.23259238e-06, 1.11281368e-01, 9.39748413e-03, 3.52887605e-02,
 -2.57245966e-03, 1.13449027e-01, 9.56578295e-03, 2.95060390e-02,
  6.83804367e-03,-1.63432089e-03, 0.00000000e+00,-2.35578366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.73314454,   5.40846942,   6.73314454,
        28.49570455, -24.72341109,   5.40846942, -24.72341109,
        39.41518247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012636358473245568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64736397e-14,  4.39297060e-14,  1.00000000e+00,  7.23682150e-28,
        1.00000000e+00, -4.39297060e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64736397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0330608 , -0.08938041,  0.06189189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59598925e-05,-3.62565796e-04,-2.58045307e-04,-4.36373552e-04,
 -9.05903112e-06,-8.80505614e-04,-1.85790728e-04,-7.09650652e-04,
 -2.03629913e-05,-1.44368160e-03,-3.37325845e-04,-6.53844676e-04,
 -4.29892311e-05, 5.97215843e-05,-1.90425230e-06,-1.94408781e-04,
  1.61575431e-04,-7.30137856e-05,-1.21659605e+00, 1.65419733e-03,
  5.59940151e-04,-3.67148494e-04]


--- Step 1313 ---
qpos:
[-0.00917169, 1.04765886,-0.01689125, 0.92850364, 0.00423386, 1.01430638,
 -0.0288434 , 0.91124386, 0.01650193, 1.0839776 ,-0.02225655, 0.92857397,
  1.28101907,-0.00250209, 1.02829036, 0.06419563,-0.00187974,-0.09714113,
  0.08238999, 0.53137167,-0.02461209, 0.00331082, 0.84677472]

qacc:
[-9.75326796e-02, 7.83027449e+00, 3.74485459e+00,-1.06487214e+02,
  1.17659750e-01,-2.61993266e+01, 1.03360197e+02,-2.30099556e+02,
 -2.76742471e-02,-2.65402455e+01, 9.43076127e+01,-1.94837761e+02,
 -6.05378926e-01, 9.89818215e-01, 1.02179401e+01,-3.54589005e+01,
 -9.55055716e-01,-2.64258852e+00,-4.25812084e-01,-9.04454688e+01,
 -9.28490078e+01,-1.17561566e+01]

qfrc_actuator:
[ 1.82256624e-03, 1.06764835e-01, 9.34676247e-03, 1.96559532e-02,
  2.42307981e-05, 1.11122321e-01, 9.40158463e-03, 3.46869241e-02,
 -2.57085087e-03, 1.13235477e-01, 9.60154554e-03, 2.90132450e-02,
  6.81976358e-03,-1.63036005e-03, 0.00000000e+00,-2.52335740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012367503347273379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48846866e-14,  2.24423433e-14,  1.00000000e+00,  1.00731755e-27,
        1.00000000e+00, -2.24423433e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48846866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03629404, -0.04069705,  0.0618938 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25778797e-05, 7.47597482e-04,-1.17979952e-04,-4.13317209e-04,
  2.65480990e-05,-7.33360815e-04,-2.18242683e-04,-6.49284351e-04,
 -7.56441016e-06,-1.12341974e-03,-3.10754423e-04,-5.59641573e-04,
 -2.92305836e-05, 8.16640440e-06,-2.85392226e-05,-1.80031168e-04,
  1.82338470e-04,-8.30060753e-05,-1.21661828e+00, 1.66186931e-03,
  5.65736236e-04,-4.37367595e-04]


--- Step 1314 ---
qpos:
[-0.00918989, 1.04917514,-0.01691489, 0.92884696, 0.00423437, 1.01591588,
 -0.02885315, 0.91188255, 0.01650636, 1.08561072,-0.02226466, 0.92910342,
  1.28123291,-0.00250369, 1.02851276, 0.06419337,-0.00181786,-0.09719106,
  0.08232611, 0.53137968,-0.02266361, 0.00303574, 0.84682512]

qacc:
[-5.07440113e-02, 2.02206310e+01,-2.44234522e+01,-7.93495333e+01,
  1.44089061e-01,-2.55585101e+01, 1.04437086e+02,-2.42013714e+02,
 -8.67841022e-03,-2.86039498e+01, 1.03951674e+02,-2.09947284e+02,
  3.36786460e-01,-8.41790098e-01,-4.91220973e+00, 1.58435166e+01,
 -8.89157813e-01,-2.37589945e+00,-1.22429703e+00,-8.25333463e+01,
 -8.52445447e+01,-1.01709018e+01]

qfrc_actuator:
[ 1.82614040e-03, 1.08237767e-01, 9.35796113e-03, 1.93066563e-02,
  4.28788882e-05, 1.10970309e-01, 9.37239409e-03, 3.40369039e-02,
 -2.57162796e-03, 1.13006595e-01, 9.66230731e-03, 2.84898453e-02,
  6.80110848e-03,-1.66317093e-03, 0.00000000e+00,-2.44294311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.46422576,  5.72717751,  6.46422576, 10.32029767,
       -1.90064473,  5.72717751, -1.90064473, 10.78160823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001298880618308712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.54753708e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.54753708e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0361866 , -0.04084838,  0.06188847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07555811e-05, 1.82663310e-03, 1.26005144e-04,-3.38347541e-04,
  3.27886855e-05,-6.49152481e-04,-2.24488251e-04,-6.92495713e-04,
 -2.88608507e-06,-9.53201459e-04,-2.17112011e-04,-5.77590559e-04,
 -3.41793223e-05,-3.71329430e-05,-3.72441792e-05, 6.57730012e-05,
  1.10411186e-04,-6.93934238e-05,-1.21662534e+00, 1.65346721e-03,
  5.57863575e-04,-4.18843269e-04]


--- Step 1315 ---
qpos:
[-0.00920776, 1.05070916,-0.01694015, 0.92918518, 0.00423481, 1.01752226,
 -0.02886373, 0.91250768, 0.01651046, 1.08723631,-0.02227294, 0.92962221,
  1.28144644,-0.00250557, 1.02873468, 0.06419402,-0.00175931,-0.0972496 ,
  0.08225462, 0.53139754,-0.0206622 , 0.00254785, 0.84686672]

qacc:
[ 1.49336781e-01, 1.87913256e+01,-2.26280405e+01,-5.06492575e+01,
 -2.91275902e-02,-2.52258476e+01, 1.06724924e+02,-2.51468338e+02,
 -1.47337827e-01,-2.79334346e+01, 1.01589171e+02,-2.08664793e+02,
  1.85020030e-01,-5.92965216e-01,-9.55609416e+00, 3.23353550e+01,
 -8.32156371e-01,-2.15312118e+00,-1.90321680e+00,-7.59190233e+01,
 -7.88699060e+01,-8.83664380e+00]

qfrc_actuator:
[ 1.87113191e-03, 1.09375275e-01, 9.37696893e-03, 1.90709395e-02,
  1.81759713e-05, 1.10948101e-01, 9.37714258e-03, 3.33637080e-02,
 -2.60935704e-03, 1.12628719e-01, 9.64861219e-03, 2.79526194e-02,
  6.77689800e-03,-1.68197277e-03, 0.00000000e+00,-2.28807105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.54001747,  5.64047412,  6.54001747, 10.412494  ,
       -2.05938781,  5.64047412, -2.05938781, 11.02418281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013326289902091878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16553682e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16553682e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03612477, -0.04093419,  0.06188543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71733866e-05, 2.13813655e-03, 3.75149209e-04,-1.83313203e-04,
 -7.20193895e-06,-4.75126255e-04,-1.75957123e-04,-7.14246418e-04,
 -3.72600290e-05,-9.89987083e-04,-2.48001075e-04,-5.83914099e-04,
 -5.27804394e-05,-3.49429675e-05,-1.19648852e-05, 1.53248269e-04,
  5.01861376e-05,-3.96427284e-05,-1.21663731e+00, 1.64356005e-03,
  5.52367346e-04,-3.84346044e-04]


--- Step 1316 ---
qpos:
[-0.00922516, 1.05225576,-0.01696284, 0.92951684, 0.00423508, 1.01912643,
 -0.02887463, 0.91312049, 0.01651434, 1.08885477,-0.02228219, 0.93013127,
  1.28165934,-0.00250704, 1.02895702, 0.06419215,-0.00170389,-0.09731601,
  0.08217321, 0.53142354,-0.018611  , 0.00186228, 0.84689975]

qacc:
[ 2.15108043e-01,-1.92438498e+00, 3.99465025e+01,-1.19688879e+02,
 -7.94995536e-02,-2.32899007e+01, 9.91244146e+01,-2.30757145e+02,
 -9.77607041e-02,-2.36441966e+01, 8.62270771e+01,-1.84601034e+02,
 -9.68597882e-01, 1.50876746e+00, 8.35463035e+00,-2.81542540e+01,
 -7.82783525e-01,-1.96575623e+00,-2.48054708e+00,-7.03804797e+01,
 -7.35256199e+01,-7.70070392e+00]

qfrc_actuator:
[ 1.90507375e-03, 1.09753072e-01, 9.41720146e-03, 1.87262665e-02,
  3.21684024e-06, 1.10950935e-01, 9.40247190e-03, 3.27533776e-02,
 -2.61568282e-03, 1.12306598e-01, 9.60830348e-03, 2.74646704e-02,
  6.74404893e-03,-1.65682470e-03, 0.00000000e+00,-2.42794733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.64631294,  5.51482558,  6.64631294, 10.43238973,
       -2.16452021,  5.51482558, -2.16452021, 11.24498262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013432594048655294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13257119e-14,  2.06628560e-14,  1.00000000e+00,  8.53907234e-28,
        1.00000000e+00, -2.06628560e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13257119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03609951, -0.04096725,  0.06188421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22401358e-05, 1.60410526e-03, 4.90377545e-04,-2.71938555e-04,
 -1.88532562e-05,-3.44734654e-04,-1.16252527e-04,-6.45075609e-04,
 -2.48801781e-05,-9.60624850e-04,-2.85465269e-04,-5.36800119e-04,
 -7.09889961e-05, 4.90287260e-06, 8.29054170e-06,-1.33627527e-04,
 -7.07745928e-07, 2.50169756e-06,-1.21665298e+00, 1.63296212e-03,
  5.48652577e-04,-3.37762568e-04]


--- Step 1317 ---
qpos:
[-9.24207261e-03, 1.05380947e+00,-1.69815975e-02, 9.29841195e-01,
  4.23533310e-03, 1.02072754e+00,-2.88850730e-02, 9.13721971e-01,
  1.65180646e-02, 1.09046589e+00,-2.22921872e-02, 9.30629171e-01,
  1.28187167e+00,-2.50797192e-03, 1.02917942e+00, 6.41882892e-02,
 -1.65216471e-03,-9.73897869e-02, 8.20946209e-02, 5.31455194e-01,
 -1.65342328e-02, 9.78176119e-04, 8.46924459e-01]

qacc:
[ 2.22280977e-01,-1.40769637e+01, 7.24801249e+01,-1.53246858e+02,
 -3.59556863e-03,-2.47668655e+01, 1.00490068e+02,-2.19690664e+02,
 -6.54898290e-02,-2.69893039e+01, 9.97688127e+01,-2.12744535e+02,
 -9.65856794e-01, 1.62129353e+00, 6.13353523e+00,-2.11638843e+01,
 -9.23691638e-01,-1.84374720e+00, 7.05554730e-01,-7.72192776e+01,
 -6.35068369e+01,-6.43307678e+00]

qfrc_actuator:
[ 1.93211463e-03, 1.09761877e-01, 9.48438363e-03, 1.83374873e-02,
  1.19910623e-05, 1.10791625e-01, 9.42222357e-03, 3.21849544e-02,
 -2.62089740e-03, 1.11949547e-01, 9.57065427e-03, 2.69031118e-02,
  6.72736103e-03,-1.62363909e-03, 0.00000000e+00,-2.52735242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013602079732379438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04053911e-14, -4.08107821e-14,  1.00000000e+00, -8.32759969e-28,
        1.00000000e+00,  4.08107821e-14, -1.00000000e+00,  0.00000000e+00,
       -2.04053911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02981521, -0.05889281,  0.06188242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35041228e-05, 9.59377950e-04, 4.23251285e-04,-3.30771481e-04,
 -1.35898758e-06,-4.20670435e-04,-8.72917799e-05,-5.95789126e-04,
 -1.69482137e-05,-9.84998817e-04,-2.79864387e-04,-6.09533015e-04,
 -5.61336238e-05, 1.80274400e-05,-1.72727009e-05,-1.07201425e-04,
 -4.40739566e-05, 5.43855774e-05,-1.21667144e+00, 1.62223578e-03,
  5.46281095e-04,-2.81840715e-04]


--- Step 1318 ---
qpos:
[-9.25837406e-03, 1.05536648e+00,-1.69970011e-02, 9.30159130e-01,
  4.23579522e-03, 1.02232483e+00,-2.88949298e-02, 9.14312055e-01,
  1.65215310e-02, 1.09206881e+00,-2.23029403e-02, 9.31116936e-01,
  1.28208373e+00,-2.50906186e-03, 1.02940132e+00, 6.41862561e-02,
 -1.60387876e-03,-9.74703003e-02, 8.20157138e-02, 5.31491120e-01,
 -1.44330773e-02,-9.00673306e-05, 8.46940888e-01]

qacc:
[ 2.81044259e-01,-1.59847227e+01, 7.08453553e+01,-1.39268429e+02,
  9.77564348e-02,-2.62516372e+01, 1.04208892e+02,-2.23160887e+02,
 -1.16275972e-01,-2.63292151e+01, 9.41210708e+01,-1.95470153e+02,
  3.16542869e-02,-2.63303562e-01,-6.25196899e+00, 2.07826018e+01,
 -8.60045721e-01,-1.68308204e+00,-7.92361557e-02,-7.14536118e+01,
 -5.91930994e+01,-5.51838204e+00]

qfrc_actuator:
[ 1.97256672e-03, 1.09656233e-01, 9.54758568e-03, 1.79966039e-02,
  3.49127867e-05, 1.10572246e-01, 9.43797603e-03, 3.16101068e-02,
 -2.64318057e-03, 1.11503579e-01, 9.51700163e-03, 2.63914553e-02,
  6.70973468e-03,-1.63918132e-03, 0.00000000e+00,-2.42449139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.23678177,  4.71336042,  7.23678177, 13.21564026,
       -7.03091269,  4.71336042, -7.03091269, 19.4314602 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013737077974006057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02048614e-14, -4.04097227e-14,  1.00000000e+00, -8.16472846e-28,
        1.00000000e+00,  4.04097227e-14, -1.00000000e+00,  0.00000000e+00,
       -2.02048614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02979054, -0.05892142,  0.06188093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75595208e-05, 4.73213951e-04, 2.83602259e-04,-3.05629969e-04,
  2.21602880e-05,-5.15403589e-04,-1.01364576e-04,-6.02553096e-04,
 -2.96527817e-05,-1.08832005e-03,-3.02092256e-04,-5.61878721e-04,
 -4.57965959e-05,-2.40617359e-05,-2.45173018e-05, 9.36175194e-05,
 -8.36026839e-05, 1.19938352e-04,-1.21668921e+00, 1.61220704e-03,
  5.44432177e-04,-2.00788170e-04]


--- Step 1319 ---
qpos:
[-0.00927425, 1.05692263,-0.01700988, 0.93047062, 0.00423649, 1.02391841,
 -0.02890511, 0.914889  , 0.01652474, 1.09366315,-0.02231424, 0.93159553,
  1.28229544,-0.00251052, 1.02962279, 0.06418743,-0.00155881,-0.09755701,
  0.08193383, 0.53153004,-0.0123085 ,-0.00133043, 0.84694896]

qacc:
[ 1.98209309e-01,-1.92553457e+01, 7.49538182e+01,-1.40480552e+02,
  1.10822148e-01,-2.66277023e+01, 1.09340728e+02,-2.48164812e+02,
 -1.13561343e-01,-2.57281128e+01, 8.95040877e+01,-1.79867022e+02,
  2.31267597e-01,-7.30010047e-01,-1.03306498e+01, 3.51651998e+01,
 -8.05248642e-01,-1.54867910e+00,-7.43432515e-01,-6.66421078e+01,
 -5.55956704e+01,-4.73151031e+00]

qfrc_actuator:
[ 1.98523891e-03, 1.09305361e-01, 9.55415184e-03, 1.76510021e-02,
  4.83575977e-05, 1.10389840e-01, 9.41551357e-03, 3.09472392e-02,
 -2.65777946e-03, 1.11079069e-01, 9.48956574e-03, 2.59309452e-02,
  6.68088867e-03,-1.66573011e-03, 0.00000000e+00,-2.25654020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.35886499,  4.52038526,  7.35886499, 13.04794837,
       -7.1817455 ,  4.52038526, -7.1817455 , 20.32773341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00136810404979619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02876204e-14,  4.05752408e-14,  1.00000000e+00, -8.23175082e-28,
        1.00000000e+00, -4.05752408e-14, -1.00000000e+00,  0.00000000e+00,
        2.02876204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02979132, -0.05891958,  0.06188098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74281764e-05,-6.75829800e-05, 1.16578180e-04,-3.28523763e-04,
  2.53041376e-05,-5.33689627e-04,-1.59934889e-04,-6.94053411e-04,
 -2.90367238e-05,-1.12670463e-03,-2.97155503e-04,-5.13397990e-04,
 -6.07232877e-05,-4.25258058e-05,-3.73680350e-06, 1.69357925e-04,
 -1.15595347e-04, 1.91494343e-04,-1.21670879e+00, 1.60301623e-03,
  5.43448424e-04,-1.15437451e-04]


--- Step 1320 ---
qpos:
[-0.00928962, 1.058474  ,-0.01702049, 0.9307756 , 0.00423722, 1.02550689,
 -0.02891531, 0.91545331, 0.01652821, 1.0952471 ,-0.02232511, 0.93206433,
  1.28250676,-0.00251202, 1.02984463, 0.06418689,-0.00151678,-0.09764946,
  0.08184673, 0.53157078,-0.01016131,-0.00273289, 0.84694852]

qacc:
[ 2.31056683e-01,-2.38077431e+01, 8.37171255e+01,-1.46358624e+02,
  1.75885580e-02,-2.84015285e+01, 1.11846355e+02,-2.43511667e+02,
  1.20792358e-01,-3.17750434e+01, 1.07690655e+02,-2.01776289e+02,
 -3.85369697e-01, 3.92069187e-01, 5.72245072e+00,-1.91586908e+01,
 -7.58042998e-01,-1.43546748e+00,-1.30520272e+00,-6.26280271e+01,
 -5.26055642e+01,-4.04488314e+00]

qfrc_actuator:
[ 2.01668571e-03, 1.08792442e-01, 9.56172850e-03, 1.73051611e-02,
  3.82525197e-05, 1.10071256e-01, 9.38855214e-03, 3.03088704e-02,
 -2.61441062e-03, 1.10475828e-01, 9.47795404e-03, 2.54332013e-02,
  6.66662870e-03,-1.66310594e-03, 0.00000000e+00,-2.35343970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.49547305,  4.29006534,  7.49547305, 12.69654463,
       -7.09382602,  4.29006534, -7.09382602, 21.03048296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013472439871325403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06017439e-14, -4.12034878e-14,  1.00000000e+00, -8.48863705e-28,
        1.00000000e+00,  4.12034878e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06017439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02981236, -0.05889335,  0.06188228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51888669e-05,-5.62175861e-04,-8.01908766e-06,-3.50496309e-04,
  3.45255592e-06,-6.94192017e-04,-1.77400277e-04,-6.73952151e-04,
  2.92410261e-05,-1.32399667e-03,-2.86769584e-04,-5.50515923e-04,
 -5.85469773e-05,-2.13282630e-05, 1.34812870e-05,-8.87835705e-05,
 -1.41481471e-04, 2.67834412e-04,-1.21672965e+00, 1.59479810e-03,
  5.43087068e-04,-2.68216738e-05]


--- Step 1321 ---
qpos:
[-0.00930451, 1.0600177 ,-0.01702935, 0.93107405, 0.00423775, 1.0270877 ,
 -0.02892473, 0.9160065 , 0.01653191, 1.09682034,-0.0223359 , 0.93252396,
  1.28271764,-0.00251328, 1.0300666 , 0.06418456,-0.00147762,-0.09774727,
  0.08175251, 0.53161221,-0.00799214,-0.00428911, 0.84693931]

qacc:
[ 2.21044297e-01,-2.62910214e+01, 8.72959392e+01,-1.48031832e+02,
 -9.16354399e-02,-3.13590251e+01, 1.14106006e+02,-2.25947142e+02,
  1.03062452e-01,-3.02385167e+01, 1.00832243e+02,-1.88417696e+02,
 -6.33745426e-01, 9.71467741e-01, 5.67421218e+00,-1.94842919e+01,
 -7.17295787e-01,-1.33930446e+00,-1.78002344e+00,-5.92825166e+01,
 -5.01320472e+01,-3.43651294e+00]

qfrc_actuator:
[ 2.04140209e-03, 1.08204311e-01, 9.56915932e-03, 1.69618125e-02,
  1.41252515e-05, 1.09549556e-01, 9.37646586e-03, 2.97432121e-02,
 -2.60768771e-03, 1.09930340e-01, 9.47507803e-03, 2.49706567e-02,
  6.65581325e-03,-1.64314423e-03, 0.00000000e+00,-2.44584911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.64305406,  4.0212562 ,  7.64305406, 12.17373841,
       -6.72335839,  4.0212562 , -6.72335839, 21.41520414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001314355023248323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02984939, -0.05884777,  0.06188456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26867079e-05,-9.35958163e-04,-1.19828514e-04,-3.67066624e-04,
 -2.23253335e-05,-9.88779727e-04,-1.95360646e-04,-6.06221806e-04,
  2.48692870e-05,-1.37424737e-03,-3.16498038e-04,-5.21811055e-04,
 -4.92164529e-05, 1.58722203e-06,-9.64926125e-06,-9.69995649e-05,
 -1.62343709e-04, 3.48172596e-04,-1.21675141e+00, 1.58764403e-03,
  5.43163139e-04, 6.44346869e-05]


--- Step 1322 ---
qpos:
[-0.00931898, 1.06155313,-0.01703789, 0.93136692, 0.00423803, 1.02866095,
 -0.02893395, 0.91654866, 0.01653545, 1.09838913,-0.02234839, 0.93297507,
  1.28292815,-0.00251431, 1.03028794, 0.06418547,-0.00145239,-0.09783895,
  0.08168442, 0.53163638,-0.00621727,-0.00587875, 0.84692948]

qacc:
[ 1.97245137e-01,-2.14711923e+01, 6.86025971e+01,-1.20042338e+02,
 -1.10294923e-01,-2.94549609e+01, 1.07896848e+02,-2.19488429e+02,
 -6.80997506e-02,-1.60538814e+01, 6.30832863e+01,-1.51649264e+02,
 -2.48305323e-01, 3.87940182e-01,-1.07012469e+01, 3.61484333e+01,
 -3.48352208e+00, 1.53106278e+00, 6.53306258e+00,-1.19027715e+02,
  1.58062560e+02, 7.85609937e+00]

qfrc_actuator:
[ 2.06190247e-03, 1.07735630e-01, 9.55835077e-03, 1.66758510e-02,
 -4.38738770e-07, 1.09194666e-01, 9.39026659e-03, 2.91892140e-02,
 -2.64077080e-03, 1.10151860e-01, 9.54862937e-03, 2.45680428e-02,
  6.64175532e-03,-1.63081701e-03, 0.00000000e+00,-2.26849235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015047137620652906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68915023e-14,  3.68915023e-14,  1.00000000e+00,  1.36098294e-27,
        1.00000000e+00, -3.68915023e-14, -1.00000000e+00,  0.00000000e+00,
       -3.68915023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05297787, -0.10729703,  0.06186842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71062220e-05,-1.04551734e-03,-2.24442195e-04,-3.24602316e-04,
 -2.66610163e-05,-9.86236850e-04,-2.27242881e-04,-6.02572165e-04,
 -1.73764389e-05,-6.39735416e-04,-2.52369623e-04,-4.63600383e-04,
 -4.20584091e-05, 1.58530363e-06,-2.00541608e-05, 1.69607759e-04,
 -1.79005115e-04, 4.32031370e-04,-1.21677378e+00, 1.58162232e-03,
  5.43531779e-04, 1.57993494e-04]


--- Step 1323 ---
qpos:
[-0.00933291, 1.06307946,-0.01704591, 0.93165522, 0.00423826, 1.03022645,
 -0.02894242, 0.91708067, 0.01653873, 1.0999588 ,-0.02236168, 0.93341699,
  1.28313819,-0.00251488, 1.03050941, 0.0641861 ,-0.00143945,-0.09792523,
  0.08163528, 0.53164546,-0.00478974,-0.00749832, 0.84692027]

qacc:
[ 2.46803017e-01,-2.13898104e+01, 6.49203837e+01,-1.04554606e+02,
 -1.92838958e-02,-2.96872939e+01, 1.06390818e+02,-2.07557234e+02,
 -1.14916009e-01,-1.25736459e+01, 6.15425696e+01,-1.61352618e+02,
 -7.37527205e-01, 1.25706881e+00, 1.07641383e+00,-3.36641908e+00,
 -3.07304821e+00, 1.35023803e+00, 4.73765139e+00,-1.05050455e+02,
  1.39080383e+02, 7.48588764e+00]

qfrc_actuator:
[ 2.09748534e-03, 1.07253519e-01, 9.57284983e-03, 1.64437314e-02,
  8.60931664e-06, 1.08836276e-01, 9.43761731e-03, 2.86820771e-02,
 -2.66194499e-03, 1.10636320e-01, 9.66977907e-03, 2.41333925e-02,
  6.62043671e-03,-1.60538971e-03, 0.00000000e+00,-2.28865898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63012268,  0.3282673 ,  8.63012268,  8.6970239 ,
       -1.59475375,  0.3282673 , -1.59475375, 50.5623196 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016963343776661977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27241798e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.27241798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05252073, -0.10720897,  0.06185248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91619018e-05,-1.13855222e-03,-2.31203420e-04,-2.76158634e-04,
 -5.39270059e-06,-9.94255349e-04,-1.96659636e-04,-5.56483174e-04,
 -2.88738893e-05, 4.40903545e-05,-5.18821762e-05,-4.70267664e-04,
 -4.48421505e-05, 1.61522697e-05, 6.80680994e-06,-1.39453147e-05,
 -1.29862043e-04, 4.49672098e-04,-1.21670781e+00, 1.59542483e-03,
  5.40922674e-04, 3.13666045e-04]


--- Step 1324 ---
qpos:
[-0.00934664, 1.06459518,-0.01705305, 0.93193864, 0.00423852, 1.03178328,
 -0.02894961, 0.91760151, 0.01654161, 1.10152935,-0.02237422, 0.93384883,
  1.28334787,-0.00251514, 1.03073063, 0.0641885 ,-0.00143745,-0.09800671,
  0.081599  , 0.53164114,-0.0036708 ,-0.00914494, 0.84691239]

qacc:
[ 9.14451518e-02,-2.48587200e+01, 7.44809853e+01,-1.15513703e+02,
  1.43788563e-02,-3.40412223e+01, 1.21363136e+02,-2.32087008e+02,
 -1.81051816e-01,-1.83987447e+01, 8.24302474e+01,-1.90117436e+02,
 -4.05987903e-01, 6.89304159e-01,-5.67712146e+00, 1.93955283e+01,
 -2.73333369e+00, 1.19992298e+00, 3.21334691e+00,-9.35073009e+01,
  1.23432449e+02, 7.12074414e+00]

qfrc_actuator:
[ 2.08858018e-03, 1.06643224e-01, 9.58444133e-03, 1.61918841e-02,
  1.39735968e-05, 1.08372508e-01, 9.48671867e-03, 2.81178197e-02,
 -2.69356217e-03, 1.10742415e-01, 9.73052339e-03, 2.36303329e-02,
  6.60543498e-03,-1.59018060e-03, 0.00000000e+00,-2.19433024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.6336052 ,  0.21826175,  8.6336052 ,  8.66785405,
       -1.24564116,  0.21826175, -1.24564116, 57.90919208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018292129994186695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03470133e-14,  6.06940266e-14,  1.00000000e+00,  1.84188243e-27,
        1.00000000e+00, -6.06940266e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03470133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05220662, -0.10714928,  0.06184152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13045875e-05,-1.31783396e-03,-2.51587243e-04,-2.97756397e-04,
  2.37568242e-06,-1.09640763e-03,-1.91540267e-04,-6.11873867e-04,
 -4.56659900e-05, 8.32146907e-05, 4.42780472e-05,-5.12328913e-04,
 -3.67495732e-05, 8.67548654e-06,-3.73282841e-06, 9.32051153e-05,
 -7.42867469e-05, 4.58584949e-04,-1.21666119e+00, 1.60623335e-03,
  5.38153485e-04, 4.11561118e-04]


--- Step 1325 ---
qpos:
[-0.00936093, 1.06609964,-0.01705934, 0.93221624, 0.00423882, 1.03333183,
 -0.02895686, 0.91811057, 0.01654442, 1.10310039,-0.02238676, 0.93427173,
  1.28355744,-0.00251577, 1.03095139, 0.06419501,-0.00144525,-0.0980839 ,
  0.08157039, 0.53162476,-0.00282835,-0.01081618, 0.84690621]

qacc:
[-2.48245815e-01,-2.72900641e+01, 8.33380535e+01,-1.33864248e+02,
  2.18940179e-02,-3.10203407e+01, 1.13379395e+02,-2.32477527e+02,
 -3.03132194e-02,-1.48294206e+01, 6.77507880e+01,-1.63571503e+02,
  4.44598292e-01,-9.64837648e-01,-1.30884305e+01, 4.47392396e+01,
 -2.45127979e+00, 1.07494076e+00, 1.92059379e+00,-8.39411003e+01,
  1.10480964e+02, 6.77436181e+00]

qfrc_actuator:
[ 2.01760428e-03, 1.06049930e-01, 9.61147742e-03, 1.58948259e-02,
  1.70751787e-05, 1.07973785e-01, 9.48278907e-03, 2.75243708e-02,
 -2.67793591e-03, 1.10745409e-01, 9.71826953e-03, 2.31795666e-02,
  6.59423086e-03,-1.61663962e-03, 0.00000000e+00,-1.97998073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63552351,  0.12045995,  8.63552351,  8.64727126,
       -0.78194457,  0.12045995, -0.78194457, 64.69234369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019139161776933408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90039616e-14,  2.90039616e-14,  1.00000000e+00,  8.41229786e-28,
        1.00000000e+00, -2.90039616e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90039616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05200686, -0.10711195,  0.06183456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14878174e-05,-1.40442453e-03,-2.74129916e-04,-3.49451793e-04,
  4.29288986e-06,-1.08838789e-03,-2.65603612e-04,-6.45312625e-04,
 -7.76864108e-06, 1.93790231e-05,-1.13199500e-05,-4.56999223e-04,
 -3.00264099e-05,-3.28729773e-05, 4.57270776e-06, 2.18117224e-04,
 -1.52434131e-05, 4.61370681e-04,-1.21662867e+00, 1.61443394e-03,
  5.35133504e-04, 4.67800687e-04]


--- Step 1326 ---
qpos:
[-0.00937571, 1.06759246,-0.01706507, 0.93248752, 0.00423899, 1.03487436,
 -0.02896496, 0.91860842, 0.01654729, 1.10467148,-0.02239923, 0.93468567,
  1.2837668 ,-0.00251667, 1.03117261, 0.06419999,-0.00146191,-0.09815719,
  0.08154509, 0.53159739,-0.00223575,-0.01251003, 0.84690184]

qacc:
[-2.19970621e-01,-2.78790028e+01, 8.57233709e+01,-1.41634251e+02,
 -5.60004596e-02,-2.49146685e+01, 9.57647129e+01,-2.11675104e+02,
  2.43739100e-02,-1.56860492e+01, 6.98996376e+01,-1.65520827e+02,
 -4.15814539e-02,-2.04562071e-01, 5.24418445e+00,-1.73771653e+01,
 -2.21635706e+00, 9.71133766e-01, 8.25355794e-01,-7.59939526e+01,
  9.97279516e+01, 6.45519419e+00]

qfrc_actuator:
[ 1.99881789e-03, 1.05453983e-01, 9.62970619e-03, 1.55735356e-02,
  1.03949732e-06, 1.07847957e-01, 9.50111371e-03, 2.69717468e-02,
 -2.66964301e-03, 1.10739835e-01, 9.71593807e-03, 2.27275529e-02,
  6.57997033e-03,-1.63205099e-03, 0.00000000e+00,-2.06946689e-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,  8.63618461e+00, -5.56075564e-02,  8.63618461e+00,
        8.63890736e+00,  3.95055090e-01, -5.56075564e-02,  3.95055090e-01,
        6.99907714e+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: -0.001959297659616936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83321684e-14,  2.83321684e-14,  1.00000000e+00,  8.02711766e-28,
        1.00000000e+00, -2.83321684e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83321684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05189856, -0.10709228,  0.06183079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46812786e-05,-1.46072115e-03,-3.03920758e-04,-3.78144461e-04,
 -1.38067517e-05,-8.26404745e-04,-2.51166154e-04,-6.07195020e-04,
  5.95099012e-06,-3.36374606e-05,-1.85758002e-05,-4.60526441e-04,
 -3.86988386e-05,-3.00346566e-05, 2.27992541e-05,-7.75978321e-05,
  4.54177804e-05, 4.59825419e-04,-1.21660652e+00, 1.62040532e-03,
  5.31829472e-04, 4.93725752e-04]


--- Step 1327 ---
qpos:
[-0.0093905 , 1.06907371,-0.01707118, 0.93275291, 0.00423917, 1.03641268,
 -0.02897335, 0.91909561, 0.01655023, 1.10624141,-0.02241151, 0.9350918 ,
  1.28397585,-0.00251771, 1.03139401, 0.06420324,-0.00148666,-0.09822695,
  0.08151938, 0.53155986,-0.00187084,-0.01422482, 0.84689921]

qacc:
[-3.32511776e-03,-2.44767379e+01, 7.37701240e+01,-1.25969128e+02,
  4.75819294e-03,-2.30912056e+01, 9.15132936e+01,-2.02721476e+02,
  3.70096016e-02,-1.55769701e+01, 6.52047067e+01,-1.47137284e+02,
 -2.41003587e-01, 1.45217373e-01, 5.53515375e+00,-1.89649712e+01,
 -2.02002960e+00, 8.85109737e-01,-1.01555512e-01,-6.93824942e+01,
  9.07803642e+01, 6.16801810e+00]

qfrc_actuator:
[ 2.02925691e-03, 1.04879073e-01, 9.60709647e-03, 1.52760482e-02,
  9.17687525e-06, 1.07815907e-01, 9.55135933e-03, 2.64477559e-02,
 -2.66584417e-03, 1.10622850e-01, 9.70172906e-03, 2.23316547e-02,
  6.55856162e-03,-1.64077066e-03, 0.00000000e+00,-2.15975007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62653478, -0.41191574,  8.62653478,  8.78238344,
        3.05801606, -0.41191574,  3.05801606, 72.67878617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019727816341034016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81385179e-14,  4.22077768e-14,  1.00000000e+00, -1.18766428e-27,
        1.00000000e+00, -4.22077768e-14, -1.00000000e+00,  0.00000000e+00,
        2.81385179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05186329, -0.10708649,  0.06182957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72477607e-06,-1.47727683e-03,-3.59956422e-04,-3.57574959e-04,
  6.13435853e-07,-5.83402499e-04,-1.65002633e-04,-5.69222903e-04,
  9.07942559e-06,-1.75828654e-04,-4.17397770e-05,-4.06302149e-04,
 -5.04819900e-05,-2.45266254e-05,-4.30241395e-06,-9.31249868e-05,
  1.06579511e-04, 4.55195584e-04,-1.21659207e+00, 1.62448713e-03,
  5.28235413e-04, 4.97362293e-04]


--- Step 1328 ---
qpos:
[-0.00940542, 1.07054389,-0.01707761, 0.933013  , 0.00423972, 1.03794557,
 -0.0289813 , 0.91957663, 0.01655324, 1.10780862,-0.02242321, 0.93549018,
  1.28418456,-0.00251908, 1.03161502, 0.06420805,-0.00150665,-0.09828524,
  0.08152575, 0.53152792,-0.00154628,-0.01565376, 0.8468947 ]

qacc:
[-5.53205428e-02,-2.29831389e+01, 6.85046923e+01,-1.14909128e+02,
  1.74095864e-01,-1.89197290e+01, 6.63518565e+01,-1.27107872e+02,
  3.34395676e-02,-1.85770289e+01, 7.23945143e+01,-1.51720255e+02,
  1.00190962e-01,-5.04434481e-01,-5.30200957e+00, 1.76914067e+01,
  1.19030140e+00, 2.86594305e+00, 8.01824884e+00, 1.10302816e+02,
  9.31023384e+01,-2.31766390e+00]

qfrc_actuator:
[ 2.01793967e-03, 1.04392389e-01, 9.61395872e-03, 1.50126816e-02,
  4.94889367e-05, 1.07521177e-01, 9.56728825e-03, 2.61401654e-02,
 -2.66479071e-03, 1.10404706e-01, 9.69800223e-03, 2.19363482e-02,
  6.53288205e-03,-1.66325324e-03, 0.00000000e+00,-2.07214960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002075387022333987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34342165e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.34342165e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02641232, -0.13001454,  0.06182133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43999876e-05,-1.40829489e-03,-3.39434950e-04,-3.25129128e-04,
  4.05985594e-05,-6.93323415e-04,-1.40620596e-04,-3.41952071e-04,
  8.05942615e-06,-3.58441533e-04,-6.00926979e-05,-4.09412065e-04,
 -6.04535690e-05,-3.96159925e-05,-1.72991698e-05, 8.06987768e-05,
  1.67608427e-04, 4.48347959e-04,-1.21658336e+00, 1.62696816e-03,
  5.24356089e-04, 4.84412329e-04]


--- Step 1329 ---
qpos:
[-9.41995424e-03, 1.07200384e+00,-1.70844492e-02, 9.33268216e-01,
  4.24053048e-03, 1.03947238e+00,-2.89893369e-02, 9.20051018e-01,
  1.65564688e-02, 1.10937335e+00,-2.24345806e-02, 9.35879030e-01,
  1.28439283e+00,-2.52043187e-03, 1.03183602e+00, 6.42128232e-02,
 -1.52238133e-03,-9.83334981e-02, 8.15565227e-02, 5.31501435e-01,
 -1.25772968e-03,-1.68290174e-02, 8.46889265e-01]

qacc:
[ 1.76681924e-01,-2.08597407e+01, 6.19658000e+01,-1.04652940e+02,
  1.20230828e-01,-1.91810676e+01, 6.71136472e+01,-1.32591020e+02,
  9.47066360e-02,-2.06695229e+01, 8.32927232e+01,-1.82151280e+02,
 -3.52588845e-01, 3.70219894e-01, 1.00039796e-01,-3.24761029e-01,
  1.06267169e+00, 2.51002492e+00, 6.10219199e+00, 9.78550456e+01,
  8.27136300e+01,-2.07430457e+00]

qfrc_actuator:
[ 2.07045127e-03, 1.03962755e-01, 9.62083037e-03, 1.47715610e-02,
  5.54786462e-05, 1.07178258e-01, 9.54426478e-03, 2.58024143e-02,
 -2.64765523e-03, 1.10305416e-01, 9.71785046e-03, 2.14556963e-02,
  6.51530478e-03,-1.65824901e-03, 0.00000000e+00,-2.07570879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.4051793 ,  -1.98487725,  -8.4051793 ,
        11.40164242, -11.70987473,  -1.98487725, -11.70987473,
        58.22310585,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021923767938935718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53200779e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.53200779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02628258, -0.12985732,  0.06181228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24908679e-05,-1.30782700e-03,-3.22544789e-04,-2.99453837e-04,
  2.78955864e-05,-7.90339840e-04,-1.91527648e-04,-3.69513634e-04,
  2.35531153e-05,-3.44185825e-04,-7.44062643e-05,-5.00857346e-04,
 -6.13305018e-05,-1.80750319e-05,-2.38145211e-06,-2.08527894e-06,
  1.12141159e-04, 3.13064107e-04,-1.21653923e+00, 1.61573178e-03,
  5.35513570e-04, 3.35100609e-04]


--- Step 1330 ---
qpos:
[-9.43380357e-03, 1.07345411e+00,-1.70922118e-02, 9.33519598e-01,
  4.24134417e-03, 1.04099531e+00,-2.89984674e-02, 9.20515138e-01,
  1.65599044e-02, 1.11093607e+00,-2.24459888e-02, 9.36259795e-01,
  1.28460045e+00,-2.52117807e-03, 1.03205726e+00, 6.42151679e-02,
 -1.53428707e-03,-9.83728726e-02, 8.16052638e-02, 5.31480184e-01,
 -1.00158443e-03,-1.77770152e-02, 8.46883575e-01]

qacc:
[ 3.13121280e-01,-1.69262657e+01, 4.78733107e+01,-8.05524695e+01,
  3.36679012e-03,-1.97957492e+01, 8.03887799e+01,-1.88435648e+02,
  9.56648142e-02,-1.65531673e+01, 6.76014641e+01,-1.51837688e+02,
 -1.11089173e+00, 1.85873349e+00, 7.78631510e+00,-2.65190743e+01,
  9.57264933e-01, 2.21978746e+00, 4.49180048e+00, 8.76194070e+01,
  7.41591630e+01,-1.86859762e+00]

qfrc_actuator:
[ 2.12529451e-03, 1.03535454e-01, 9.59243514e-03, 1.45809836e-02,
  4.08421455e-05, 1.07128793e-01, 9.53370747e-03, 2.52897113e-02,
 -2.63878869e-03, 1.10260535e-01, 9.73411471e-03, 2.10529912e-02,
  6.49195931e-03,-1.61920536e-03, 0.00000000e+00,-2.20400422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.37023363,  -2.12743175,  -8.37023363,
        12.05838495, -13.46370705,  -2.12743175, -13.46370705,
        61.6083912 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022627194357191724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.67994041e-14,  1.83997020e-14,  1.00000000e+00, -6.77098071e-28,
        1.00000000e+00, -1.83997020e-14, -1.00000000e+00,  0.00000000e+00,
        3.67994041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02620832, -0.12976884,  0.06180712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.61243946e-05,-1.24558607e-03,-3.35390526e-04,-2.44801167e-04,
  4.00679979e-07,-5.61246181e-04,-2.04667611e-04,-5.49566344e-04,
  2.39165099e-05,-2.87360601e-04,-7.95103063e-05,-4.25022198e-04,
 -6.25307944e-05, 2.07481046e-05,-6.07839595e-06,-1.29823775e-04,
  7.21636887e-05, 2.13164980e-04,-1.21650718e+00, 1.60747396e-03,
  5.43768487e-04, 2.24527689e-04]


--- Step 1331 ---
qpos:
[-9.44727169e-03, 1.07489953e+00,-1.71025971e-02, 9.33767459e-01,
  4.24207589e-03, 1.04252007e+00,-2.90101922e-02, 9.20969085e-01,
  1.65633518e-02, 1.11249796e+00,-2.24581715e-02, 9.36635157e-01,
  1.28480761e+00,-2.52171656e-03, 1.03227857e+00, 6.42149463e-02,
 -1.54271146e-03,-9.84043142e-02, 8.16665644e-02, 5.31463931e-01,
 -7.74857345e-04,-1.85195691e-02, 8.46878100e-01]

qacc:
[ 1.73185756e-01,-5.43419247e+00, 1.73184345e+01,-5.30629125e+01,
 -3.82854738e-02,-8.10480650e+00, 5.10042908e+01,-1.65122348e+02,
  5.59729616e-03,-8.36922886e+00, 3.71740702e+01,-9.47822287e+01,
 -6.73898595e-01, 9.81426416e-01, 7.89119486e+00,-2.73567524e+01,
  8.70337120e-01, 1.98323502e+00, 3.13986742e+00, 7.91803423e+01,
  6.70958818e+01,-1.69518738e+00]

qfrc_actuator:
[ 2.12782348e-03, 1.03627903e-01, 9.57905590e-03, 1.44216435e-02,
  3.17320629e-05, 1.07628431e-01, 9.54943700e-03, 2.48026052e-02,
 -2.65272256e-03, 1.10319821e-01, 9.73070391e-03, 2.07881806e-02,
  6.46518587e-03,-1.61359903e-03, 0.00000000e+00,-2.33371830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.27780687,  -2.4626592 ,  -8.27780687,
        13.78557686, -17.30819782,  -2.4626592 , -17.30819782,
        66.81490443,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002295232708982034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02317664e-15,  2.41854131e-14,  1.00000000e+00,  7.31167759e-29,
        1.00000000e+00, -2.41854131e-14, -1.00000000e+00,  0.00000000e+00,
       -3.02317664e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02617809, -0.12973486,  0.06180504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23516614e-05,-6.92030937e-04,-3.07969788e-04,-2.10808461e-04,
 -8.93542165e-06, 1.06646313e-04,-1.40256645e-04,-5.21494311e-04,
  1.32105088e-06,-1.50337252e-04,-8.63687021e-05,-2.83814191e-04,
 -5.78057168e-05,-3.82840323e-06,-2.26857030e-05,-1.38980217e-04,
  4.37426533e-05, 1.39841284e-04,-1.21648398e+00, 1.60144118e-03,
  5.49825002e-04, 1.43049313e-04]


--- Step 1332 ---
qpos:
[-9.46064773e-03, 1.07634421e+00,-1.71150851e-02, 9.34010070e-01,
  4.24287237e-03, 1.04405062e+00,-2.90237492e-02, 9.21412587e-01,
  1.65667365e-02, 1.11406087e+00,-2.24721270e-02, 9.37003308e-01,
  1.28501454e+00,-2.52249719e-03, 1.03249978e+00, 6.42128040e-02,
 -1.54794070e-03,-9.84285932e-02, 8.17358904e-02, 5.31452430e-01,
 -5.75066336e-04,-1.90747008e-02, 8.46873155e-01]

qacc:
[ 4.15863662e-02,-4.46623302e+00, 2.42528453e+01,-8.18486095e+01,
  2.87689468e-02,-5.42680948e+00, 4.91331428e+01,-1.69225541e+02,
 -2.82339262e-02,-6.37076649e+00, 3.73138921e+01,-1.17062463e+02,
 -8.42236918e-02,-1.23868752e-01, 5.63747197e+00,-1.99560216e+01,
  7.98786560e-01, 1.79064942e+00, 2.00634275e+00, 7.22109258e+01,
  6.12537062e+01,-1.54922896e+00]

qfrc_actuator:
[ 2.11674675e-03, 1.03924734e-01, 9.59450881e-03, 1.41757492e-02,
  4.37751376e-05, 1.08258106e-01, 9.58287386e-03, 2.42993604e-02,
 -2.66246894e-03, 1.10494500e-01, 9.68073741e-03, 2.04291337e-02,
  6.45766722e-03,-1.62789709e-03, 0.00000000e+00,-2.42767092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.09210498,  -3.01738527,  -8.09210498,
        17.6562747 , -24.18984011,  -3.01738527, -24.18984011,
        73.50932748,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022972753183938474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02048860e-15,  1.81229316e-14,  1.00000000e+00,  5.47401082e-29,
        1.00000000e+00, -1.81229316e-14, -1.00000000e+00,  0.00000000e+00,
       -3.02048860e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02618268, -0.1297439 ,  0.06180541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02416103e-05,-1.74861423e-04,-1.66626694e-04,-2.79158521e-04,
  7.21359671e-06, 6.19920106e-04, 1.66515440e-05,-5.14659189e-04,
 -7.09347314e-06, 4.39061144e-05,-1.02681061e-04,-3.70864735e-04,
 -4.18534557e-05,-2.82206131e-05,-3.03056112e-05,-1.05625655e-04,
  2.40588664e-05, 8.67407708e-05,-1.21646738e+00, 1.59708774e-03,
  5.54192790e-04, 8.37215731e-05]


--- Step 1333 ---
qpos:
[-9.47384334e-03, 1.07778746e+00,-1.71269491e-02, 9.34247095e-01,
  4.24376662e-03, 1.04558692e+00,-2.90379452e-02, 9.21846567e-01,
  1.65700400e-02, 1.11562494e+00,-2.24860719e-02, 9.37363527e-01,
  1.28522106e+00,-2.52290438e-03, 1.03272100e+00, 6.42078322e-02,
 -1.55020983e-03,-9.84463357e-02, 8.18094455e-02, 5.31445434e-01,
 -4.00146817e-04,-1.94573108e-02, 8.46868942e-01]

qacc:
[ 8.27825535e-02,-1.33366310e+01, 5.28392115e+01,-1.10431399e+02,
  4.43372863e-02,-7.10002875e+00, 5.25783688e+01,-1.61370033e+02,
 -3.59015367e-02,-1.22590446e+01, 5.82405371e+01,-1.43796964e+02,
 -7.71212444e-01, 1.26448763e+00, 8.62984279e+00,-3.00131715e+01,
  7.40027296e-01, 1.63411447e+00, 1.05728511e+00, 6.64512465e+01,
  5.64177853e+01,-1.42638612e+00]

qfrc_actuator:
[ 2.13314851e-03, 1.03898212e-01, 9.64554263e-03, 1.38988131e-02,
  5.06435280e-05, 1.08606057e-01, 9.57395285e-03, 2.38262803e-02,
 -2.66963306e-03, 1.10630381e-01, 9.71066119e-03, 2.00352669e-02,
  6.44571829e-03,-1.60051313e-03, 0.00000000e+00,-2.57079633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022749859808356004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83004923e-14,  2.44006564e-14,  1.00000000e+00, -4.46544025e-28,
        1.00000000e+00, -2.44006564e-14, -1.00000000e+00,  0.00000000e+00,
        1.83004923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02621457, -0.12978664,  0.06180769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00999951e-05,-1.86423903e-04,-1.57118392e-05,-2.92099455e-04,
  1.08385831e-05, 6.53276294e-04, 9.30799498e-05,-4.64015593e-04,
 -9.20086035e-06, 1.06792678e-04, 1.08018900e-05,-4.02351731e-04,
 -4.30098093e-05, 1.15703748e-05,-2.92003746e-05,-1.53719867e-04,
  1.10775898e-05, 4.92485771e-05,-1.21645576e+00, 1.59401625e-03,
  5.57243175e-04, 4.15055731e-05]


--- Step 1334 ---
qpos:
[-9.48666329e-03, 1.07922900e+00,-1.71381391e-02, 9.34479699e-01,
  4.24442446e-03, 1.04712601e+00,-2.90516771e-02, 9.22272432e-01,
  1.65732660e-02, 1.11718916e+00,-2.24990481e-02, 9.37716987e-01,
  1.28542705e+00,-2.52267401e-03, 1.03294205e+00, 6.42011436e-02,
 -1.54971139e-03,-9.84580496e-02, 8.18840564e-02, 5.31442701e-01,
 -2.48381400e-04,-1.96797162e-02, 8.46865575e-01]

qacc:
[ 1.71099087e-01,-1.18069962e+01, 4.49894431e+01,-8.98312074e+01,
 -1.08327137e-01,-1.15481892e+01, 5.94068718e+01,-1.48939687e+02,
 -3.37719280e-02,-1.41264702e+01, 6.03306242e+01,-1.31364565e+02,
 -9.93054069e-01, 1.73763192e+00, 5.00155516e+00,-1.76952732e+01,
  6.91892993e-01, 1.50715269e+00, 2.63947113e-01, 6.16926495e+01,
  5.24155401e+01,-1.32280555e+00]

qfrc_actuator:
[ 2.16591219e-03, 1.03820682e-01, 9.68053411e-03, 1.36766976e-02,
  1.88429399e-05, 1.08587415e-01, 9.53915677e-03, 2.34100586e-02,
 -2.67520415e-03, 1.10618170e-01, 9.75193968e-03, 1.96951232e-02,
  6.42048515e-03,-1.56639131e-03, 0.00000000e+00,-2.65298519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002233481464365056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48540909e-14,  4.97081817e-14,  1.00000000e+00,  1.23545166e-27,
        1.00000000e+00, -4.97081817e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48540909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02626767, -0.12985554,  0.06181146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19036906e-05,-2.14579332e-04,-1.71490470e-05,-2.33469474e-04,
 -2.58582218e-05, 3.21689677e-04, 8.39782621e-05,-4.02717275e-04,
 -8.78847240e-06, 1.48201072e-05, 4.64883829e-05,-3.44131985e-04,
 -4.76745065e-05, 2.73059551e-05,-3.45849772e-05,-9.54265618e-05,
  3.32250767e-06, 2.39922951e-05,-1.21644800e+00, 1.59193594e-03,
  5.59248095e-04, 1.27222115e-05]


--- Step 1335 ---
qpos:
[-9.49970958e-03, 1.08067120e+00,-1.71504481e-02, 9.34707050e-01,
  4.24494166e-03, 1.04866313e+00,-2.90627496e-02, 9.22691037e-01,
  1.65761130e-02, 1.11875265e+00,-2.25119361e-02, 9.38064472e-01,
  1.28563263e+00,-2.52202266e-03, 1.03316252e+00, 6.41964809e-02,
 -1.54660271e-03,-9.84641458e-02, 8.19570752e-02, 5.31443996e-01,
 -1.18342826e-04,-1.97520858e-02, 8.46863106e-01]

qacc:
[-1.02484168e-01,-5.29692134e+00, 2.91758703e+01,-8.70506806e+01,
 -6.24696326e-02,-2.22444000e+01, 8.49786717e+01,-1.58236401e+02,
 -1.68608090e-01,-1.15435114e+01, 4.88646652e+01,-1.11635342e+02,
 -4.96135589e-01, 8.85327890e-01,-6.94288928e+00, 2.31213205e+01,
  6.52562138e-01, 1.40444357e+00,-3.98012326e-01, 5.77661336e+01,
  4.91071132e+01,-1.23507953e+00]

qfrc_actuator:
[ 2.11946245e-03, 1.03997442e-01, 9.67009527e-03, 1.34175350e-02,
  1.73939371e-05, 1.08225209e-01, 9.57675125e-03, 2.30303543e-02,
 -2.71529601e-03, 1.10517640e-01, 9.72805823e-03, 1.93892141e-02,
  6.40328427e-03,-1.54639290e-03, 0.00000000e+00,-2.53881919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00217702123893862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.54986723e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.54986723e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02633701, -0.12994445,  0.06181637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52756910e-05, 2.57228424e-05,-6.64882279e-05,-2.70043173e-04,
 -1.54649650e-05,-2.05263121e-04, 9.21395751e-05,-3.75184795e-04,
 -4.30947379e-05,-1.15548233e-04,-3.08535013e-05,-3.10256119e-04,
 -3.85184205e-05, 1.56967678e-05,-3.01272500e-05, 1.03602309e-04,
 -2.81200952e-07, 8.49719828e-06,-1.21644326e+00, 1.59063335e-03,
  5.60407460e-04,-5.32654924e-06]


--- Step 1336 ---
qpos:
[-9.51309971e-03, 1.08211710e+00,-1.71643859e-02, 9.34928268e-01,
  4.24569739e-03, 1.05019504e+00,-2.90709326e-02, 9.23101465e-01,
  1.65787014e-02, 1.12031470e+00,-2.25243868e-02, 9.38404982e-01,
  1.28583786e+00,-2.52110011e-03, 1.03338256e+00, 6.41948346e-02,
 -1.54101202e-03,-9.84649555e-02, 8.20262972e-02, 5.31449092e-01,
 -8.84725382e-06,-1.96827952e-02, 8.46861530e-01]

qacc:
[-1.56262921e-01,-1.43911885e+00, 2.32395900e+01,-9.39915326e+01,
  1.12416875e-01,-2.87132734e+01, 1.02874634e+02,-1.82525321e+02,
 -1.14408899e-01,-1.51744102e+01, 6.16309283e+01,-1.33959598e+02,
 -2.87706523e-01, 4.88782428e-01,-9.70156811e+00, 3.30937119e+01,
  6.20498680e-01, 1.32160269e+00,-9.49200965e-01, 5.45337217e+01,
  4.63782607e+01,-1.16020390e+00]

qfrc_actuator:
[ 2.09694693e-03, 1.04413860e-01, 9.66942703e-03, 1.31209901e-02,
  5.19072948e-05, 1.07749267e-01, 9.63764666e-03, 2.26039402e-02,
 -2.72250982e-03, 1.10418195e-01, 9.73658417e-03, 1.90347533e-02,
  6.38558481e-03,-1.53490698e-03, 0.00000000e+00,-2.38090701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021091448057301287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63192698e-14,  2.63192698e-14,  1.00000000e+00,  6.92703964e-28,
        1.00000000e+00, -2.63192698e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63192698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02641854, -0.13004835,  0.06182214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83669897e-05, 3.87598076e-04,-1.63982407e-05,-3.02525544e-04,
  2.60922952e-05,-6.08093565e-04, 1.38957603e-05,-4.37105159e-04,
 -2.94250423e-05,-2.00612478e-04,-3.17415989e-05,-3.64206279e-04,
 -3.61163331e-05, 6.40780241e-06,-4.98272536e-06, 1.59222615e-04,
 -5.17113207e-07, 9.43174068e-07,-1.21644096e+00, 1.58995127e-03,
  5.60868578e-04,-1.46240309e-05]


--- Step 1337 ---
qpos:
[-9.52676758e-03, 1.08356632e+00,-1.71784979e-02, 9.35144194e-01,
  4.24644435e-03, 1.05172062e+00,-2.90774587e-02, 9.23502067e-01,
  1.65812722e-02, 1.12187490e+00,-2.25367136e-02, 9.38736958e-01,
  1.28604299e+00,-2.52035999e-03, 1.03360292e+00, 6.41917179e-02,
 -1.53304372e-03,-9.84607452e-02, 8.20898910e-02, 5.31457763e-01,
  8.10842231e-05,-1.94787193e-02, 8.46860803e-01]

qacc:
[-1.25751706e-01,-4.43053561e+00, 3.06426833e+01,-9.04670279e+01,
 -1.20782142e-03,-2.96779046e+01, 1.07738540e+02,-2.05350076e+02,
 -6.86939517e-03,-1.75443830e+01, 7.19471225e+01,-1.60801377e+02,
 -2.98753006e-02,-1.17058809e-01, 4.90881123e+00,-1.64911147e+01,
  5.94404222e-01, 1.25500660e+00,-1.40706548e+00, 5.18819710e+01,
  4.41350040e+01,-1.09553570e+00]

qfrc_actuator:
[ 2.08899997e-03, 1.04615703e-01, 9.67557847e-03, 1.28582561e-02,
  3.66646373e-05, 1.07333390e-01, 9.67572337e-03, 2.21000632e-02,
 -2.70996574e-03, 1.10302663e-01, 9.72866505e-03, 1.86012952e-02,
  6.38357309e-03,-1.54629980e-03, 0.00000000e+00,-2.46483728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002032786554759816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.73079095e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.73079095e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02650897, -0.13016317,  0.06182852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10018947e-05, 3.82044124e-04, 6.59834781e-05,-2.57144951e-04,
 -1.09788251e-06,-7.88088423e-04,-9.86419579e-05,-5.30597273e-04,
 -2.04401372e-06,-2.65469832e-04,-6.64981604e-05,-4.47029336e-04,
 -2.08634017e-05,-1.82696015e-05, 1.18032047e-05,-7.65237190e-05,
  2.04412405e-06,-8.55698975e-09,-1.21644068e+00, 1.58977370e-03,
  5.60740102e-04,-1.66283035e-05]


--- Step 1338 ---
qpos:
[-9.54028033e-03, 1.08501558e+00,-1.71914702e-02, 9.35355888e-01,
  4.24693943e-03, 1.05323978e+00,-2.90839473e-02, 9.23894333e-01,
  1.65837512e-02, 1.12343153e+00,-2.25487581e-02, 9.39063758e-01,
  1.28624820e+00,-2.52031784e-03, 1.03382322e+00, 6.41883052e-02,
 -1.52278271e-03,-9.84517283e-02, 8.21463393e-02, 5.31469790e-01,
  1.52257491e-04,-1.91454739e-02, 8.46860845e-01]

qacc:
[ 7.08859072e-02,-1.04168184e+01, 4.28374219e+01,-8.68000038e+01,
 -1.13397442e-01,-2.28666025e+01, 8.21496580e+01,-1.65378053e+02,
 -3.98196206e-02,-1.44316929e+01, 5.20990891e+01,-1.03338751e+02,
  5.85753642e-01,-1.33723152e+00, 7.46665859e-01,-2.87134872e+00,
  5.73179060e-01, 1.20165307e+00,-1.78637670e+00, 4.97170394e+01,
  4.22995620e+01,-1.03875254e+00]

qfrc_actuator:
[ 2.12537086e-03, 1.04439179e-01, 9.66726603e-03, 1.26351736e-02,
  9.47288855e-06, 1.06992255e-01, 9.66468045e-03, 2.16788977e-02,
 -2.72120965e-03, 1.10036432e-01, 9.71101736e-03, 1.83378196e-02,
  6.38031210e-03,-1.58882735e-03, 0.00000000e+00,-2.47756128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019503720540018782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.69236532e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.69236532e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0266056 , -0.13028557,  0.06183534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73718338e-05, 1.81270299e-05, 6.11871502e-05,-2.14176670e-04,
 -2.78506144e-05,-8.37763214e-04,-1.98634232e-04,-4.58852567e-04,
 -1.05212011e-05,-4.61261867e-04,-9.52989389e-05,-2.81934074e-04,
 -1.95830273e-05,-5.13974351e-05,-8.48312871e-06,-1.67239352e-05,
  6.98859801e-06, 4.65974412e-06,-1.21644212e+00, 1.59001477e-03,
  5.60102127e-04,-1.24083907e-05]


--- Step 1339 ---
qpos:
[-9.55316465e-03, 1.08646164e+00,-1.72028929e-02, 9.35563911e-01,
  4.24714881e-03, 1.05475248e+00,-2.90908850e-02, 9.24278905e-01,
  1.65861280e-02, 1.12498333e+00,-2.25600717e-02, 9.39384984e-01,
  1.28645346e+00,-2.52174060e-03, 1.03404285e+00, 6.41894324e-02,
 -1.51029813e-03,-9.84380752e-02, 8.21943890e-02, 5.31484950e-01,
  2.05332008e-04,-1.86876170e-02, 8.46861547e-01]

qacc:
[ 2.85263054e-01,-1.48223259e+01, 5.09074017e+01,-8.53216533e+01,
 -1.29055080e-01,-2.04953401e+01, 7.29700742e+01,-1.49769967e+02,
 -4.40513364e-02,-1.79650842e+01, 6.24880028e+01,-1.16265836e+02,
  1.46746088e+00,-3.20474286e+00,-1.48219817e+01, 5.01196833e+01,
  5.55890185e-01, 1.15904883e+00,-2.09964046e+00, 4.79608915e+01,
  4.08072233e+01,-9.87814899e-01]

qfrc_actuator:
[ 2.18801067e-03, 1.04073076e-01, 9.66678365e-03, 1.24369378e-02,
 -6.88905776e-06, 1.06680838e-01, 9.64287492e-03, 2.12920460e-02,
 -2.72889252e-03, 1.09735513e-01, 9.72282977e-03, 1.80521188e-02,
  6.34966080e-03,-1.68495248e-03, 0.00000000e+00,-2.23511615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018638989319795587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97822754e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.97822754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02670624, -0.13041286,  0.06184244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03399262e-05,-3.72339308e-04,-1.43688485e-06,-1.99375176e-04,
 -3.15966383e-05,-8.52757322e-04,-2.28369928e-04,-4.27346417e-04,
 -1.17357568e-05,-6.04757128e-04,-1.02498080e-04,-3.07042505e-04,
 -5.41426476e-05,-1.12327267e-04,-9.57154390e-06, 2.39529176e-04,
  1.40184221e-05, 1.42315632e-05,-1.21644507e+00, 1.59061076e-03,
  5.59013589e-04,-2.74315187e-06]


--- Step 1340 ---
qpos:
[-9.56549903e-03, 1.08790432e+00,-1.72139702e-02, 9.35768746e-01,
  4.24711388e-03, 1.05626076e+00,-2.90986096e-02, 9.24658127e-01,
  1.65884153e-02, 1.12653264e+00,-2.25720482e-02, 9.39698117e-01,
  1.28665836e+00,-2.52395663e-03, 1.03426269e+00, 6.41907377e-02,
 -1.49564658e-03,-9.84199216e-02, 8.22330089e-02, 5.31503019e-01,
  2.40843068e-04,-1.81088169e-02, 8.46862772e-01]

qacc:
[ 2.49224561e-01,-1.09648748e+01, 3.70121184e+01,-6.73980609e+01,
 -1.10781766e-01,-1.28731993e+01, 4.63483249e+01,-1.00337897e+02,
 -3.90430054e-02,-1.55136253e+01, 6.33316296e+01,-1.47658602e+02,
  3.39818401e-01,-1.19656752e+00,-2.58562402e-01, 1.27654841e+00,
  5.41744814e-01, 1.12511883e+00,-2.35744520e+00, 4.65483482e+01,
  3.96039123e+01,-9.40931954e-01]

qfrc_actuator:
[ 2.21261860e-03, 1.03880499e-01, 9.67013359e-03, 1.22724946e-02,
 -1.66185615e-05, 1.06638394e-01, 9.66834153e-03, 2.10349905e-02,
 -2.73439165e-03, 1.09753751e-01, 9.73400407e-03, 1.76490372e-02,
  6.32387795e-03,-1.72342688e-03, 0.00000000e+00,-2.23484492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017750049312275917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12738011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.12738011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02680914, -0.13054286,  0.06184968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.15810516e-05,-4.26512177e-04,-8.06733988e-05,-1.78779580e-04,
 -2.70172909e-05,-5.96755473e-04,-1.86438138e-04,-2.98153893e-04,
 -1.02580540e-05,-3.67002958e-04,-1.32726201e-04,-4.29512588e-04,
 -8.26282436e-05,-7.72186748e-05, 1.97865476e-05, 1.17995418e-05,
  2.29219868e-05, 2.81895255e-05,-1.21644939e+00, 1.59151408e-03,
  5.57517718e-04, 1.18062792e-05]


--- Step 1341 ---
qpos:
[-9.57737345e-03, 1.08934327e+00,-1.72247984e-02, 9.35970082e-01,
  4.24689388e-03, 1.05776675e+00,-2.91066990e-02, 9.25032852e-01,
  1.65907876e-02, 1.12807985e+00,-2.25842335e-02, 9.40003265e-01,
  1.28686232e+00,-2.52528308e-03, 1.03448331e+00, 6.41863708e-02,
 -1.47887475e-03,-9.83973755e-02, 8.22613538e-02, 5.31523765e-01,
  2.59220505e-04,-1.74119927e-02, 8.46864359e-01]

qacc:
[ 2.08559109e-01,-1.16842763e+01, 3.94659373e+01,-7.29276940e+01,
 -8.39577191e-02,-9.75065929e+00, 3.77200828e+01,-8.41509356e+01,
  3.87247060e-02,-1.60093257e+01, 6.53777698e+01,-1.48435364e+02,
 -1.77131088e+00, 2.92706838e+00, 1.84021430e+01,-6.24041074e+01,
  5.30068392e-01, 1.09813271e+00,-2.56875586e+00, 4.54247675e+01,
  3.86442759e+01,-8.96530885e-01]

qfrc_actuator:
[ 2.23198715e-03, 1.03686990e-01, 9.67636722e-03, 1.20938082e-02,
 -2.22957096e-05, 1.06722370e-01, 9.72268865e-03, 2.08210419e-02,
 -2.72079971e-03, 1.09714559e-01, 9.74589707e-03, 1.72512853e-02,
  6.29572551e-03,-1.65638599e-03, 0.00000000e+00,-2.53710594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016850252453535636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70617861e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.70617861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02691286, -0.1306738 ,  0.06185698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15235214e-05,-4.72186918e-04,-9.67862640e-05,-1.96503039e-04,
 -2.04585746e-05,-3.16286889e-04,-9.87001756e-05,-2.43020668e-04,
  9.66633900e-06,-3.02431770e-04,-9.25376137e-05,-4.20793437e-04,
 -9.29714901e-05, 2.98225642e-05, 4.71829186e-06,-3.00377518e-04,
  3.35520404e-05, 4.61661104e-05,-1.21645499e+00, 1.59268880e-03,
  5.55646105e-04, 3.08429777e-05]


--- Step 1342 ---
qpos:
[-9.58870833e-03, 1.09077688e+00,-1.72347977e-02, 9.36167512e-01,
  4.24654377e-03, 1.05927105e+00,-2.91153717e-02, 9.25400355e-01,
  1.65932868e-02, 1.12962262e+00,-2.25947672e-02, 9.40301076e-01,
  1.28706546e+00,-2.52583538e-03, 1.03470349e+00, 6.41821220e-02,
 -1.46002177e-03,-9.83705228e-02, 8.22787340e-02, 5.31546948e-01,
  2.60804454e-04,-1.65994333e-02, 8.46866125e-01]

qacc:
[ 2.44861210e-01,-1.61002122e+01, 5.21574122e+01,-8.77900819e+01,
 -5.87507648e-02,-1.30716105e+01, 5.52608819e+01,-1.31755346e+02,
  5.82136778e-02,-2.30120616e+01, 8.31669172e+01,-1.54967105e+02,
 -1.20258774e+00, 2.03533107e+00,-9.10900576e-01, 2.46028567e+00,
  5.20286238e-01, 1.07664486e+00,-2.74116251e+00, 4.45442019e+01,
  3.78901630e+01,-8.53229667e-01]

qfrc_actuator:
[ 2.26583470e-03, 1.03334838e-01, 9.68428924e-03, 1.18904082e-02,
 -2.55029512e-05, 1.06686558e-01, 9.70549369e-03, 2.04567176e-02,
 -2.71364453e-03, 1.09392957e-01, 9.79353748e-03, 1.68776130e-02,
  6.26089058e-03,-1.61616462e-03, 0.00000000e+00,-2.51803352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015950408803897115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48023376e-14,  3.48023376e-14,  1.00000000e+00,  1.21120270e-27,
        1.00000000e+00, -3.48023376e-14, -1.00000000e+00,  0.00000000e+00,
       -3.48023376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02701627, -0.13080428,  0.06186425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04609951e-05,-6.59667046e-04,-1.06362347e-04,-2.23468543e-04,
 -1.43964098e-05,-2.61825876e-04,-1.03571957e-04,-3.80984429e-04,
  1.44028732e-05,-5.40879846e-04,-3.92903854e-05,-3.93398434e-04,
 -8.11156236e-05, 2.58531584e-05,-3.84826825e-05, 1.31378783e-06,
  4.58094115e-05, 6.79068975e-05,-1.21646184e+00, 1.59410729e-03,
  5.53421761e-04, 5.40943838e-05]


--- Step 1343 ---
qpos:
[-9.59922665e-03, 1.09220417e+00,-1.72435859e-02, 9.36361066e-01,
  4.24626800e-03, 1.06077355e+00,-2.91251414e-02, 9.25760007e-01,
  1.65957462e-02, 1.13115913e+00,-2.26024359e-02, 9.40594300e-01,
  1.28726817e+00,-2.52646068e-03, 1.03492313e+00, 6.41804088e-02,
 -1.43912117e-03,-9.83394323e-02, 8.22845899e-02, 5.31572314e-01,
  2.45858669e-04,-1.56728970e-02, 8.46867861e-01]

qacc:
[ 3.69835344e-01,-1.83497984e+01, 5.79013214e+01,-9.18418280e+01,
  3.45587269e-02,-1.28838074e+01, 5.58123894e+01,-1.39491135e+02,
 -1.53871295e-02,-2.39199708e+01, 7.75780887e+01,-1.17001469e+02,
 -1.08634089e-01,-5.24127635e-02,-8.44920304e+00, 2.84066299e+01,
  5.11908178e-01, 1.05944543e+00,-2.88109055e+00, 4.38679201e+01,
  3.73094040e+01,-8.09813054e-01]

qfrc_actuator:
[ 2.32585872e-03, 1.02979373e-01, 9.72805003e-03, 1.16917406e-02,
 -9.45655587e-06, 1.06596953e-01, 9.64573783e-03, 2.00599504e-02,
 -2.72817982e-03, 1.09011617e-01, 9.91410737e-03, 1.66452039e-02,
  6.23804659e-03,-1.62778063e-03, 0.00000000e+00,-2.38069299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001505919481102326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.6861965e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.6861965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02711846, -0.13093318,  0.06187143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16016259e-05,-7.69234972e-04,-1.09051353e-04,-2.25254649e-04,
  8.16620535e-06,-2.90586189e-04,-1.40075212e-04,-4.15093592e-04,
 -4.65336696e-06,-7.21129685e-04,-6.08276101e-06,-2.57070247e-04,
 -6.32220580e-05,-2.41892445e-05,-2.08064682e-05, 1.31759868e-04,
  5.96308346e-05, 9.32429557e-05,-1.21646990e+00, 1.59574769e-03,
  5.50861428e-04, 8.13824225e-05]


--- Step 1344 ---
qpos:
[-9.60895554e-03, 1.09362388e+00,-1.72509344e-02, 9.36551559e-01,
  4.24628127e-03, 1.06227361e+00,-2.91351729e-02, 9.26112150e-01,
  1.65982698e-02, 1.13268979e+00,-2.26092257e-02, 9.40883943e-01,
  1.28747059e+00,-2.52727931e-03, 1.03514281e+00, 6.41786315e-02,
 -1.41620250e-03,-9.83041597e-02, 8.22784699e-02, 5.31599596e-01,
  2.14581796e-04,-1.46336960e-02, 8.46869340e-01]

qacc:
[ 3.57669463e-01,-1.92267545e+01, 5.70635379e+01,-8.08623315e+01,
  1.32977094e-01,-1.53985068e+01, 6.22754958e+01,-1.40719134e+02,
  2.99977711e-02,-1.62492424e+01, 5.11451233e+01,-8.25299443e+01,
 -6.96230038e-02,-1.34364171e-01, 2.50639512e-01,-7.93797819e-01,
  5.04515633e-01, 1.04552022e+00,-2.99397850e+00, 4.33632094e+01,
  3.68748217e+01,-7.65211499e-01]

qfrc_actuator:
[ 2.36559054e-03, 1.02536264e-01, 9.77484778e-03, 1.15329481e-02,
  1.79896132e-05, 1.06475844e-01, 9.63220315e-03, 1.96827393e-02,
 -2.72010827e-03, 1.08722302e-01, 9.95229256e-03, 1.64622306e-02,
  6.23304383e-03,-1.63445632e-03, 0.00000000e+00,-2.38788791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014183498193588787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.89223026e-15,  3.91378421e-14,  1.00000000e+00,  1.91471335e-28,
        1.00000000e+00, -3.91378421e-14, -1.00000000e+00,  0.00000000e+00,
       -4.89223026e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02721873, -0.13105962,  0.06187847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.85919983e-05,-9.17911822e-04,-1.27766083e-04,-1.88778829e-04,
  3.18886129e-05,-3.46108743e-04,-1.04635604e-04,-3.98276488e-04,
  7.22618560e-06,-7.18023926e-04,-1.15864619e-04,-2.08885621e-04,
 -4.65800883e-05,-2.69152753e-05, 2.06043146e-06,-3.21107463e-06,
  7.49797789e-05, 1.22069958e-04,-1.21647919e+00, 1.59759189e-03,
  5.47977350e-04, 1.12600948e-04]


--- Step 1345 ---
qpos:
[-9.61849417e-03, 1.09503472e+00,-1.72573372e-02, 9.36739531e-01,
  4.24676052e-03, 1.06376968e+00,-2.91444446e-02, 9.26456806e-01,
  1.66010333e-02, 1.13421580e+00,-2.26168130e-02, 9.41168469e-01,
  1.28767284e+00,-2.52826360e-03, 1.03536283e+00, 6.41737650e-02,
 -1.40211083e-03,-9.82647170e-02, 8.22720511e-02, 5.31616841e-01,
 -4.75299254e-05,-1.36175909e-02, 8.46875489e-01]

qacc:
[ 8.78109072e-02,-1.86145156e+01, 5.19347558e+01,-6.92880971e+01,
  2.14326258e-01,-2.01595982e+01, 7.53115436e+01,-1.50869497e+02,
  1.07439583e-01,-1.28343489e+01, 4.50029341e+01,-9.56919125e+01,
 -2.00476389e-01, 1.19745302e-01, 9.83227436e+00,-3.36529741e+01,
 -2.20674961e+00, 1.04255485e+00,-7.46799679e-02,-7.11001947e+01,
  9.15316961e+01, 7.18250278e+00]

qfrc_actuator:
[ 2.33958961e-03, 1.02008865e-01, 9.78724942e-03, 1.13988178e-02,
  5.20312180e-05, 1.06212927e-01, 9.64600451e-03, 1.93023078e-02,
 -2.69856063e-03, 1.08543539e-01, 9.92413442e-03, 1.62032333e-02,
  6.23342154e-03,-1.63801828e-03, 0.00000000e+00,-2.55122917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014102010425612807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.87279963e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.87279963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328768, -0.10737378,  0.06187908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12217707e-05,-1.08683075e-03,-1.92252800e-04,-1.68270983e-04,
  5.14537886e-05,-5.11056326e-04,-8.35993349e-05,-4.01752272e-04,
  2.73652623e-05,-6.25627239e-04,-1.92643854e-04,-2.86922279e-04,
 -3.24582988e-05,-2.05069471e-05,-4.14003327e-06,-1.64345088e-04,
  9.18394945e-05, 1.54332283e-04,-1.21648973e+00, 1.59962402e-03,
  5.44778641e-04, 1.47698613e-04]


--- Step 1346 ---
qpos:
[-9.62867978e-03, 1.09643512e+00,-1.72630590e-02, 9.36924968e-01,
  4.24751484e-03, 1.06525965e+00,-2.91528276e-02, 9.26794093e-01,
  1.66040490e-02, 1.13573941e+00,-2.26252678e-02, 9.41447513e-01,
  1.28787463e+00,-2.52871993e-03, 1.03558264e+00, 6.41683169e-02,
 -1.39614356e-03,-9.82215071e-02, 8.22623748e-02, 5.31624943e-01,
 -5.23095904e-04,-1.26224418e-02, 8.46885660e-01]

qacc:
[-2.88629970e-01,-2.00067212e+01, 5.39854686e+01,-7.02296263e+01,
  1.27587755e-01,-2.30713268e+01, 8.12056825e+01,-1.53241272e+02,
  1.12416424e-01,-1.02917516e+01, 4.10542900e+01,-9.79053403e+01,
 -7.84000691e-01, 1.37084359e+00, 1.50775456e+00,-5.58210480e+00,
 -2.03110074e+00, 9.41775631e-01,-8.14402301e-01,-6.55843232e+01,
  8.47519966e+01, 6.39326199e+00]

qfrc_actuator:
[ 2.25667984e-03, 1.01381939e-01, 9.77893139e-03, 1.12624168e-02,
  5.42322594e-05, 1.05778690e-01, 9.63978558e-03, 1.89229273e-02,
 -2.68688143e-03, 1.08609795e-01, 9.94625818e-03, 1.59370946e-02,
  6.21572538e-03,-1.60415708e-03, 0.00000000e+00,-2.57442320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6197882 , -0.53481607, -8.6197882 ,  8.71491395,
       -1.26601848, -0.53481607, -1.26601848, 29.04115672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014341801828697195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87058418e-14,  7.74116835e-14,  1.00000000e+00,  2.99628437e-27,
        1.00000000e+00, -7.74116835e-14, -1.00000000e+00,  0.00000000e+00,
       -3.87058418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323199, -0.10736617,  0.06187711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.30356923e-05,-1.29161086e-03,-2.52710317e-04,-1.77020788e-04,
  3.03162347e-05,-7.69501611e-04,-1.33607595e-04,-4.05178846e-04,
  2.88193215e-05,-3.46743981e-04,-1.35305127e-04,-2.95366502e-04,
 -4.14413154e-05, 2.19382355e-05,-2.52941246e-05,-3.40605531e-05,
  5.16392954e-05, 1.59749613e-04,-1.21649122e+00, 1.59834580e-03,
  5.47682857e-04, 1.64999654e-04]


--- Step 1347 ---
qpos:
[-9.63964208e-03, 1.09782351e+00,-1.72680339e-02, 9.37106808e-01,
  4.24826724e-03, 1.06674285e+00,-2.91614434e-02, 9.27124708e-01,
  1.66071159e-02, 1.13726367e+00,-2.26350223e-02, 9.41720630e-01,
  1.28807580e+00,-2.52841056e-03, 1.03580198e+00, 6.41649326e-02,
 -1.39771507e-03,-9.81748614e-02, 8.22469403e-02, 5.31624587e-01,
 -1.19763037e-03,-1.16464709e-02, 8.46899182e-01]

qacc:
[-3.46402593e-01,-2.40977345e+01, 6.70497114e+01,-9.30369425e+01,
  9.26617928e-04,-1.97128480e+01, 6.77038601e+01,-1.32844240e+02,
  2.26206567e-02,-5.88176393e+00, 3.24013397e+01,-9.73959755e+01,
 -9.28839709e-01, 1.69180152e+00,-6.83162885e+00, 2.30894197e+01,
 -1.88469563e+00, 8.58956639e-01,-1.43953569e+00,-6.09902677e+01,
  7.90997374e+01, 5.72281495e+00]

qfrc_actuator:
[ 2.21139640e-03, 1.00682677e-01, 9.77582072e-03, 1.10724167e-02,
  3.73334867e-05, 1.05387391e-01, 9.60336891e-03, 1.85825577e-02,
 -2.69898410e-03, 1.08875914e-01, 9.96343485e-03, 1.56513312e-02,
  6.18189062e-03,-1.56622197e-03, 0.00000000e+00,-2.46154310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62154819, -0.50565171, -8.62154819,  8.71165575,
       -1.28375834, -0.50565171, -1.28375834, 30.52491692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014371109991898612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.86269058e-14,  3.86269058e-14,  1.00000000e+00,  1.49203785e-27,
        1.00000000e+00, -3.86269058e-14, -1.00000000e+00,  0.00000000e+00,
       -3.86269058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532241 , -0.1073669 ,  0.06187681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77259472e-05,-1.48911073e-03,-2.94654136e-04,-2.38731214e-04,
 -3.59124236e-07,-8.79335150e-04,-2.20215174e-04,-3.75581460e-04,
  5.87303260e-06, 1.84639918e-05,-7.93947886e-05,-3.05164377e-04,
 -5.26362657e-05, 3.37595287e-05,-1.90910049e-05, 1.06908711e-04,
  1.91479951e-05, 1.62416092e-04,-1.21649652e+00, 1.59542516e-03,
  5.49594820e-04, 1.67111723e-04]


--- Step 1348 ---
qpos:
[-0.00965125, 1.09919877,-0.01727213, 0.93728439, 0.00424892, 1.06821895,
 -0.02916975, 0.92744836, 0.01661   , 1.1387895 ,-0.02264582, 0.94198744,
  1.28827641,-0.00252757, 1.03602122, 0.06416255,-0.00140634,-0.09812505,
  0.08222363, 0.5316163 ,-0.00205906,-0.01068819, 0.84691537]

qacc:
[-2.86655477e-01,-2.70741391e+01, 7.63396190e+01,-1.08107016e+02,
 -4.12588790e-02,-2.21196713e+01, 7.56140692e+01,-1.42904512e+02,
 -8.21664550e-02,-6.03756388e+00, 3.51133638e+01,-1.04703423e+02,
 -7.85177197e-01, 1.33590246e+00,-3.12277315e+00, 1.08251413e+01,
 -1.76216788e+00, 7.90481590e-01,-1.96774253e+00,-5.71617635e+01,
  7.43905904e+01, 5.14639824e+00]

qfrc_actuator:
[ 2.18907728e-03, 9.99635070e-02, 9.79324883e-03, 1.08523334e-02,
  2.68944048e-05, 1.05042706e-01, 9.62061018e-03, 1.82323404e-02,
 -2.72525579e-03, 1.09046825e-01, 9.94291715e-03, 1.53386766e-02,
  6.14905518e-03,-1.54404408e-03, 0.00000000e+00,-2.41145214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61749594, -0.57056166, -8.61749594,  8.7368322 ,
       -1.51743008, -0.57056166, -1.51743008, 31.55491651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014231353577514316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90062343e-14,  7.80124686e-14,  1.00000000e+00,  3.04297263e-27,
        1.00000000e+00, -7.80124686e-14, -1.00000000e+00,  0.00000000e+00,
       -3.90062343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325414, -0.10737431,  0.06187784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.29376821e-05,-1.62810268e-03,-3.19294311e-04,-2.77391312e-04,
 -1.07029210e-05,-9.09394433e-04,-1.97033790e-04,-3.90636725e-04,
 -2.11859819e-05, 1.35984834e-04,-3.95677195e-05,-3.19724596e-04,
 -5.48207045e-05, 1.79245396e-05,-3.52994015e-07, 5.28253393e-05,
 -7.11576315e-06, 1.62861957e-04,-1.21650494e+00, 1.59136782e-03,
  5.50725646e-04, 1.57187446e-04]


--- Step 1349 ---
qpos:
[-0.00966346, 1.10056355,-0.01727714, 0.93745819, 0.00424963, 1.06968839,
 -0.02917724, 0.92776526, 0.0166128 , 1.14032049,-0.0226577 , 0.94224676,
  1.28847648,-0.00252616, 1.03624003, 0.06416379,-0.00142159,-0.09807231,
  0.08219067, 0.53160046,-0.00309735,-0.00974637, 0.84693351]

qacc:
[-2.70127610e-01,-1.79218037e+01, 4.97078892e+01,-8.09811556e+01,
  2.46821045e-02,-2.25771322e+01, 7.73885043e+01,-1.42311798e+02,
 -3.65375043e-02,-3.26835933e+00, 3.42070629e+01,-1.19937456e+02,
 -6.22988411e-01, 1.12676804e+00,-1.15016521e+01, 3.94556388e+01,
 -1.65908325e+00, 7.33453947e-01,-2.41398127e+00,-5.39715900e+01,
  7.04735955e+01, 4.64419844e+00]

qfrc_actuator:
[ 2.16296288e-03, 9.96111257e-02, 9.80481888e-03, 1.06695543e-02,
  3.81777990e-05, 1.04782304e-01, 9.68735472e-03, 1.78969256e-02,
 -2.72430789e-03, 1.09585508e-01, 9.98881123e-03, 1.49771309e-02,
  6.12748832e-03,-1.51364265e-03, 0.00000000e+00,-2.22126988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6028585 , -0.76000159, -8.6028585 ,  8.818813  ,
       -2.06524049, -0.76000159, -2.06524049, 32.01390908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013957225463379214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.95446794e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.95446794e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331406, -0.10738702,  0.06187992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.85296530e-05,-1.34393341e-03,-3.56226386e-04,-2.45870307e-04,
  5.34673028e-06,-8.37476929e-04,-1.51164334e-04,-3.76409541e-04,
 -9.20142208e-06, 5.76170790e-04, 5.39509816e-05,-3.64272382e-04,
 -4.84097543e-05, 2.18814542e-05, 1.05248242e-06, 1.92027391e-04,
 -2.82667618e-05, 1.61472873e-04,-1.21651596e+00, 1.58654163e-03,
  5.51233978e-04, 1.37515020e-04]


--- Step 1350 ---
qpos:
[-0.00967565, 1.10192322,-0.01728461, 0.93762807, 0.00425058, 1.07115246,
 -0.02918485, 0.92807598, 0.01661556, 1.14186063,-0.02267032, 0.94249972,
  1.28867622,-0.00252442, 1.03645883, 0.06416694,-0.00144314,-0.09801683,
  0.08214655, 0.53157736,-0.00430413,-0.00881994, 0.84695289]

qacc:
[ 1.23509122e-02,-6.90384024e+00, 2.24800860e+01,-6.19460660e+01,
  1.12930025e-01,-1.73126512e+01, 6.10330824e+01,-1.22103571e+02,
 -1.68464941e-02, 2.99890940e+00, 1.77594912e+01,-9.49048832e+01,
 -3.96799241e-01, 6.92374451e-01,-5.77674400e+00, 2.02400743e+01,
 -1.57176231e+00, 6.85547355e-01,-2.79092423e+00,-5.13154407e+01,
  6.72242515e+01, 4.20028284e+00]

qfrc_actuator:
[ 2.20580069e-03, 9.97299427e-02, 9.81430845e-03, 1.04926397e-02,
  6.23881104e-05, 1.04610367e-01, 9.71214671e-03, 1.75907227e-02,
 -2.72481086e-03, 1.10376140e-01, 1.00750088e-02, 1.46787245e-02,
  6.11802588e-03,-1.49630701e-03, 0.00000000e+00,-2.12758114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56811814, -1.08357204, -8.56811814,  9.00552621,
       -2.91907545, -1.08357204, -2.91907545, 31.71833919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001357775933694766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339724, -0.10740388,  0.06188282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89358701e-06,-7.21599548e-04,-3.05941857e-04,-2.31869981e-04,
  2.70795008e-05,-6.99601487e-04,-1.73315868e-04,-3.43328165e-04,
 -3.87618592e-06, 1.08856459e-03, 1.89669124e-04,-2.86271238e-04,
 -3.14555394e-05, 1.10878169e-05, 1.78609039e-05, 1.03617035e-04,
 -4.51471862e-05, 1.58528647e-04,-1.21652922e+00, 1.58121988e-03,
  5.51241217e-04, 1.09751273e-04]


--- Step 1351 ---
qpos:
[-0.00968725, 1.10328106,-0.01729445, 0.9377932 , 0.00425148, 1.0726113 ,
 -0.02919287, 0.92837961, 0.01661816, 1.14340968,-0.02268362, 0.94274823,
  1.28887586,-0.00252303, 1.03667807, 0.06416785,-0.00147067,-0.09795877,
  0.08208999, 0.5315472 ,-0.0056725 ,-0.00790803, 0.84697276]

qacc:
[ 2.61902101e-01,-4.27816717e+00, 2.08226935e+01,-7.22751593e+01,
 -2.54946191e-02,-1.79514742e+01, 6.52264756e+01,-1.36478916e+02,
 -7.70130762e-02, 5.85870917e+00, 4.13364708e+00,-6.08823246e+01,
  4.22166644e-02,-3.35230555e-01, 7.40406847e+00,-2.49656676e+01,
 -1.49714025e+00, 6.44888054e-01,-3.10931123e+00,-4.91072556e+01,
  6.45392383e+01, 3.80178153e+00]

qfrc_actuator:
[ 2.27186712e-03, 9.98995258e-02, 9.78896016e-03, 1.02676303e-02,
  4.08813837e-05, 1.04368606e-01, 9.69463646e-03, 1.72331629e-02,
 -2.74395035e-03, 1.10832556e-01, 1.00434455e-02, 1.44555672e-02,
  6.10517585e-03,-1.52229792e-03, 0.00000000e+00,-2.25130339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.50057544, -1.52544883, -8.50057544,  9.34435116,
       -3.94526598, -1.52544883, -3.94526598, 30.62138896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013117219597242533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.46385941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.46385941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349827, -0.10742393,  0.06188634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.58980333e-05,-3.16171083e-04,-2.12861759e-04,-2.59554077e-04,
 -6.69589375e-06,-6.96293930e-04,-1.90103151e-04,-3.90381551e-04,
 -1.94758424e-05, 1.06664091e-03, 1.89850581e-04,-1.89922542e-04,
 -2.78034905e-05,-3.07711556e-05, 1.46568213e-05,-1.16834367e-04,
 -5.83944099e-05, 1.54230881e-04,-1.21654446e+00, 1.57561130e-03,
  5.50842254e-04, 7.50888581e-05]


--- Step 1352 ---
qpos:
[-0.00969847, 1.10463822,-0.01730614, 0.93795458, 0.00425206, 1.07406376,
 -0.02920097, 0.92867671, 0.01662041, 1.14496465,-0.0226963 , 0.94299166,
  1.28907527,-0.00252211, 1.03689777, 0.06416395,-0.00150393,-0.09789826,
  0.08201991, 0.53151012,-0.00719676,-0.00700988, 0.84699236]

qacc:
[ 1.71981986e-01,-2.46465080e+00, 1.46730371e+01,-5.59041926e+01,
 -1.39540384e-01,-1.93727446e+01, 6.68545213e+01,-1.30589863e+02,
 -1.52146403e-01,-2.70887561e+00, 2.85992185e+01,-8.73607267e+01,
 -1.10236253e-01,-2.51006798e-01, 1.52064125e+01,-5.22197375e+01,
 -1.43265506e+00, 6.09962252e-01,-3.37824812e+00,-4.72756305e+01,
  6.23323440e+01, 3.43825645e+00]

qfrc_actuator:
[ 2.28029221e-03, 9.99918224e-02, 9.74361417e-03, 1.00871801e-02,
  9.90329289e-06, 1.03998209e-01, 9.66983064e-03, 1.69014303e-02,
 -2.77412192e-03, 1.10960766e-01, 1.00124953e-02, 1.41894432e-02,
  6.07430646e-03,-1.55599710e-03, 0.00000000e+00,-2.50208635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.38988378, -2.04856705, -8.38988378,  9.83618451,
       -4.91385315, -2.04856705, -4.91385315, 28.76099503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012595846304133962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40709976e-14,  8.81419952e-14,  1.00000000e+00,  3.88450566e-27,
        1.00000000e+00, -8.81419952e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40709976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361268, -0.10744639,  0.06189034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33658712e-05,-1.51713190e-04,-1.43734090e-04,-2.00775478e-04,
 -3.47070669e-05,-8.27685957e-04,-2.00013107e-04,-3.66033833e-04,
 -3.93065763e-05, 7.29208890e-04, 1.89032370e-04,-2.31301011e-04,
 -5.40905963e-05,-4.71310474e-05,-1.20094102e-05,-2.56757879e-04,
 -6.84904196e-05, 1.48722903e-04,-1.21656150e+00, 1.56988107e-03,
  5.50113118e-04, 3.43772873e-05]


--- Step 1353 ---
qpos:
[-0.00970941, 1.1059941 ,-0.01731808, 0.93811288, 0.00425246, 1.07550861,
 -0.02920806, 0.92896898, 0.01662217, 1.14651992,-0.02270612, 0.94323044,
  1.28927443,-0.00252184, 1.03711739, 0.06415707,-0.0015427 ,-0.09783544,
  0.08193541, 0.53146618,-0.00887222,-0.00612483, 0.8470109 ]

qacc:
[ 1.26337213e-01,-6.35025013e+00, 2.50217108e+01,-5.68232359e+01,
 -7.88092528e-02,-2.10145228e+01, 6.67017543e+01,-1.09740316e+02,
 -2.17738045e-01,-1.53685258e+01, 6.01847350e+01,-1.06643674e+02,
  1.50041749e-01,-7.65822740e-01, 8.86105319e+00,-3.12309431e+01,
 -1.37615771e+00, 5.79543020e-01,-3.60545842e+00,-4.57610270e+01,
  6.05312884e+01, 3.10121076e+00]

qfrc_actuator:
[ 2.28960419e-03, 9.99485548e-02, 9.73993333e-03, 9.93435863e-03,
  9.02304551e-06, 1.03589378e-01, 9.71149663e-03, 1.66584794e-02,
 -2.81067236e-03, 1.10642940e-01, 1.00341194e-02, 1.39354346e-02,
  6.05394475e-03,-1.59405157e-03, 0.00000000e+00,-2.64810807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.23380097, -2.606012  , -8.23380097, 10.4166668 ,
       -5.6249403 , -2.606012  , -5.6249403 , 26.40859145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012030480613140979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61420894e-14,  4.61420894e-14,  1.00000000e+00,  2.12909242e-27,
        1.00000000e+00, -4.61420894e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61420894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05373682, -0.10747058,  0.06189467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17423151e-05,-1.80927733e-04,-6.02506471e-05,-1.64830663e-04,
 -2.00153111e-05,-9.39851611e-04,-1.59641512e-04,-2.80970913e-04,
 -5.69039040e-05, 9.51104323e-05, 1.74313769e-04,-2.30241404e-04,
 -6.28439147e-05,-6.11953620e-05,-3.93231930e-05,-1.63080712e-04,
 -7.57982205e-05, 1.42104268e-04,-1.21658022e+00, 1.56416556e-03,
  5.49116475e-04,-1.17887172e-05]


--- Step 1354 ---
qpos:
[-0.00972011, 1.10734647,-0.01732882, 0.93826758, 0.00425292, 1.07694666,
 -0.02921487, 0.92925503, 0.01662377, 1.14807209,-0.02271461, 0.94346613,
  1.28947349,-0.00252263, 1.03733648, 0.06415077,-0.00158677,-0.09777041,
  0.08183573, 0.53141543,-0.01069507,-0.00525232, 0.84702755]

qacc:
[ 1.03627022e-01,-1.41779372e+01, 4.81348504e+01,-8.18112741e+01,
  2.73192294e-02,-2.03338380e+01, 6.86761781e+01,-1.28313480e+02,
 -6.46812627e-02,-1.30030352e+01, 4.38522507e+01,-7.21075825e+01,
  7.91841388e-01,-1.95130374e+00,-2.62994526e+00, 7.89630012e+00,
 -1.32583970e+00, 5.52632485e-01,-3.79749542e+00,-4.45135829e+01,
  5.90752213e+01, 2.78370479e+00]

qfrc_actuator:
[ 2.29939769e-03, 9.96650535e-02, 9.76041316e-03, 9.74568482e-03,
  2.61934152e-05, 1.03303275e-01, 9.73871679e-03, 1.63454345e-02,
 -2.79750310e-03, 1.10220511e-01, 9.99605255e-03, 1.37613232e-02,
  6.04522265e-03,-1.65210652e-03, 0.00000000e+00,-2.60690964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.0396446 , -3.15450338, -8.0396446 , 10.97462959,
       -5.9593619 , -3.15450338, -5.9593619 , 23.82453941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011435091220490384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0538677 , -0.10749596,  0.06189924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57635981e-05,-4.19817560e-04,-3.11917921e-05,-1.98260875e-04,
  6.09273894e-06,-8.68473775e-04,-1.88880882e-04,-3.51313299e-04,
 -1.71786657e-05,-3.63014863e-04,-1.09844038e-05,-1.69673673e-04,
 -5.95626446e-05,-8.64725796e-05,-3.95407392e-05, 2.63054633e-05,
 -8.05889063e-05, 1.34441397e-04,-1.21660055e+00, 1.55858285e-03,
  5.47905625e-04,-6.30042349e-05]


--- Step 1355 ---
qpos:
[-0.00973062, 1.10869327,-0.01733826, 0.93841938, 0.00425366, 1.07837929,
 -0.02922319, 0.92953545, 0.01662569, 1.14962033,-0.02272286, 0.94369841,
  1.28967229,-0.00252413, 1.03755533, 0.06414495,-0.00163596,-0.09770326,
  0.0817202 , 0.53135784,-0.01266223,-0.00439186, 0.84704146]

qacc:
[ 9.17314523e-02,-1.59457264e+01, 4.91981952e+01,-7.33708780e+01,
  1.28118818e-01,-1.27517093e+01, 4.48496560e+01,-1.01473908e+02,
  1.35060926e-01,-1.17232920e+01, 3.89909209e+01,-7.09338535e+01,
  3.97486965e-01,-1.19361661e+00,-1.83792714e+00, 5.79029305e+00,
 -1.28017420e+00, 5.28416063e-01,-3.95992079e+00,-4.34913791e+01,
  5.79127328e+01, 2.48005341e+00]

qfrc_actuator:
[ 2.30942039e-03, 9.92579062e-02, 9.77627250e-03, 9.59051507e-03,
  5.40310523e-05, 1.03110807e-01, 9.68660710e-03, 1.60646738e-02,
 -2.75465014e-03, 1.09951634e-01, 9.97581576e-03, 1.35821887e-02,
  6.03282894e-03,-1.68599764e-03, 0.00000000e+00,-2.58002618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.82093241, -3.66330357, -7.82093241, 11.40205089,
       -5.90457564, -3.66330357, -5.90457564, 21.24227688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001082121848303877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12984294e-14,  5.12984294e-14,  1.00000000e+00,  2.63152886e-27,
        1.00000000e+00, -5.12984294e-14, -1.00000000e+00,  0.00000000e+00,
       -5.12984294e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05400285, -0.10752207,  0.06190396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26594252e-05,-6.70821634e-04,-8.01809933e-05,-1.71813564e-04,
  3.11246618e-05,-7.43057821e-04,-2.59596356e-04,-3.19346880e-04,
  3.48895608e-05,-4.97172504e-04,-1.02010095e-04,-1.92398324e-04,
 -6.69467378e-05,-6.76162337e-05,-1.73994617e-05, 2.27806521e-05,
 -8.30619665e-05, 1.25775446e-04,-1.21662244e+00, 1.55324017e-03,
  5.46527434e-04,-1.19006008e-04]


--- Step 1356 ---
qpos:
[-0.00974047, 1.11003289,-0.01734663, 0.93856901, 0.00425454, 1.07980547,
 -0.0292313 , 0.92981001, 0.01662785, 1.15116327,-0.02272945, 0.94392545,
  1.2898706 ,-0.00252579, 1.03777437, 0.06413678,-0.00168974,-0.097646  ,
  0.08162573, 0.53130778,-0.01458994,-0.00382237, 0.84704461]

qacc:
[ 2.95750538e-01,-1.60588360e+01, 4.55201853e+01,-6.05039842e+01,
  6.56008115e-02,-1.90934024e+01, 6.44138430e+01,-1.20549075e+02,
  1.11075355e-01,-2.05157621e+01, 6.92847977e+01,-1.17859908e+02,
 -3.93343816e-01, 2.99606960e-01, 7.39442147e+00,-2.53960954e+01,
 -1.14623744e+00,-2.47070808e+00, 5.26546893e+00,-1.12731362e+02,
 -9.39286176e+01,-7.97490289e+00]

qfrc_actuator:
[ 2.37277438e-03, 9.87977956e-02, 9.78877851e-03, 9.47394578e-03,
  5.25169522e-05, 1.02780583e-01, 9.69507304e-03, 1.57696781e-02,
 -2.74763775e-03, 1.09634938e-01, 1.00378327e-02, 1.33128239e-02,
  6.01292445e-03,-1.68754474e-03, 0.00000000e+00,-2.70387091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012352005455743137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98820057e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.98820057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02992772, -0.05876325,  0.06189056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.42588777e-05,-8.71280976e-04,-1.37392865e-04,-1.41542846e-04,
  1.55659919e-05,-8.24133425e-04,-1.81522391e-04,-3.31118992e-04,
  2.84525583e-05,-6.37561420e-04,-5.69866356e-05,-2.89829164e-04,
 -7.39452264e-05,-3.27270155e-05,-8.98606352e-06,-1.25608221e-04,
 -8.33606441e-05, 1.16128151e-04,-1.21664589e+00, 1.54823934e-03,
  5.45024507e-04,-1.79636554e-04]


--- Step 1357 ---
qpos:
[-0.00974961, 1.11136485,-0.01735447, 0.93871618, 0.00425533, 1.0812231 ,
 -0.02923808, 0.93007802, 0.01663019, 1.1527019 ,-0.02273531, 0.94414715,
  1.29006825,-0.00252718, 1.03799284, 0.0641312 ,-0.00173325,-0.09759315,
  0.08156967, 0.53125636,-0.01623259,-0.00323701, 0.84704941]

qacc:
[ 3.23035089e-01,-1.58300627e+01, 4.45804476e+01,-6.27795404e+01,
 -3.96409315e-02,-2.60498392e+01, 8.52310742e+01,-1.45365933e+02,
  8.18722698e-02,-1.68768634e+01, 5.91773949e+01,-1.10764681e+02,
 -5.41673095e-01, 7.47648915e-01,-8.60797854e+00, 2.89851938e+01,
  2.56517401e+00,-1.10358367e+00, 9.59887446e+00, 8.24465403e+01,
 -1.16529987e+02, 5.82954125e-01]

qfrc_actuator:
[ 2.41433313e-03, 9.83807349e-02, 9.79899791e-03, 9.34544926e-03,
  3.34192455e-05, 1.02246631e-01, 9.72102356e-03, 1.54331165e-02,
 -2.74444261e-03, 1.09487773e-01, 1.00944400e-02, 1.30457851e-02,
  5.98321708e-03,-1.66996202e-03, 0.00000000e+00,-2.56047111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013985697279464832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96913719e-14,  3.96913719e-14,  1.00000000e+00,  1.57540501e-27,
        1.00000000e+00, -3.96913719e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96913719e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280112, -0.08950683,  0.06187646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.12603071e-05,-9.49235152e-04,-1.84470143e-04,-1.60443095e-04,
 -1.05844887e-05,-1.05761136e-03,-1.71309374e-04,-3.73115967e-04,
  2.09844760e-05,-5.39670549e-04,-8.75524535e-05,-2.92630019e-04,
 -7.96894973e-05,-6.99560117e-06,-2.31060418e-05, 1.34124526e-04,
 -2.75966702e-05, 2.73712934e-05,-1.21662244e+00, 1.56419067e-03,
  5.45330422e-04,-2.92308287e-04]


--- Step 1358 ---
qpos:
[-0.00975811, 1.11269035,-0.01736258, 0.93885925, 0.00425596, 1.08263287,
 -0.02924472, 0.93033995, 0.0166325 , 1.15423876,-0.02274194, 0.94436381,
  1.29026526,-0.00252834, 1.03821059, 0.06413168,-0.00176769,-0.09754429,
  0.08154383, 0.53120382,-0.01762254,-0.00263711, 0.84705667]

qacc:
[ 2.84942344e-01,-1.49295079e+01, 4.69032830e+01,-8.46152629e+01,
 -6.88165807e-02,-2.11222932e+01, 6.92734679e+01,-1.26502379e+02,
 -1.21554248e-02,-8.97474612e+00, 3.67818989e+01,-8.92999288e+01,
 -2.90051392e-01, 3.50941100e-01,-1.93310195e+01, 6.61424253e+01,
  2.26943407e+00,-9.95418239e-01, 7.55941605e+00, 7.32793084e+01,
 -1.03180631e+02, 8.38372231e-01]

qfrc_actuator:
[ 2.44249056e-03, 9.81348920e-02, 9.80794038e-03, 9.13994560e-03,
  2.17017980e-05, 1.01896917e-01, 9.73850822e-03, 1.51279023e-02,
 -2.76132449e-03, 1.09567720e-01, 1.01125576e-02, 1.28000889e-02,
  5.95298726e-03,-1.65901659e-03, 0.00000000e+00,-2.24296611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43965134,  1.83277444, -8.43965134, 11.01779366,
       10.96612799,  1.83277444, 10.96612799, 59.133738  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015498911201500126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34310607e-14,  7.16323237e-14,  1.00000000e+00,  9.62098088e-28,
        1.00000000e+00, -7.16323237e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34310607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03258381, -0.08955867,  0.06186366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17972851e-05,-8.30754320e-04,-2.06876316e-04,-2.41605743e-04,
 -1.76303805e-05,-1.00166217e-03,-2.25535692e-04,-3.49520234e-04,
 -3.31394123e-06,-2.64347940e-04,-1.10434233e-04,-2.69330601e-04,
 -7.70225759e-05,-9.16906869e-06, 1.15140734e-06, 3.21325534e-04,
 -3.73772651e-05, 4.34426248e-05,-1.21657559e+00, 1.56106018e-03,
  5.41077016e-04,-1.56377598e-04]


--- Step 1359 ---
qpos:
[-0.00976625, 1.11401061,-0.01737104, 0.93900074, 0.00425644, 1.08403566,
 -0.02925163, 0.93059649, 0.01663456, 1.15577394,-0.02274921, 0.94457654,
  1.29046171,-0.00252938, 1.03842905, 0.06412957,-0.00179402,-0.09749903,
  0.08154138, 0.53115032,-0.01878634,-0.00202379, 0.84706689]

qacc:
[ 1.61066473e-01,-8.67485100e+00, 2.32791275e+01,-3.54890671e+01,
 -6.65543408e-02,-1.77251195e+01, 5.80470558e+01,-1.08969017e+02,
 -1.10166555e-01,-7.24588773e+00, 2.89692521e+01,-6.95669601e+01,
 -7.04459939e-01, 9.35254574e-01, 8.91503792e+00,-2.95479008e+01,
  2.02621427e+00,-9.03655299e-01, 5.84457702e+00, 6.57439595e+01,
 -9.22457615e+01, 1.01363723e+00]

qfrc_actuator:
[ 2.44465130e-03, 9.79936510e-02, 9.83446621e-03, 9.06839021e-03,
  1.45129583e-05, 1.01624962e-01, 9.75157584e-03, 1.48614086e-02,
 -2.79011456e-03, 1.09516830e-01, 1.00910324e-02, 1.26045364e-02,
  5.92779176e-03,-1.65212193e-03, 0.00000000e+00,-2.39359111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35446861,  2.18852258, -8.35446861, 12.67337512,
       15.4108923 ,  2.18852258, 15.4108923 , 67.4659217 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016539410886547284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25861083e-14,  3.35629555e-14,  1.00000000e+00,  4.22426994e-28,
        1.00000000e+00, -3.35629555e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25861083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03243714, -0.08959376,  0.061855  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05605446e-05,-6.67302019e-04,-1.71040282e-04,-1.06664526e-04,
 -1.69861324e-05,-9.02662033e-04,-2.24426942e-04,-3.10153710e-04,
 -2.89601731e-05,-2.46574299e-04,-9.81433262e-05,-2.11108718e-04,
 -7.03437541e-05,-1.34378465e-05, 3.28404669e-05,-1.33339472e-04,
 -4.05004830e-05, 5.48332448e-05,-1.21654071e+00, 1.55894218e-03,
  5.38119765e-04,-5.63510788e-05]


--- Step 1360 ---
qpos:
[-0.00977447, 1.1153268 ,-0.01737989, 0.93914158, 0.00425679, 1.08543093,
 -0.02925859, 0.9308486 , 0.0166365 , 1.15730551,-0.02275639, 0.94478752,
  1.29065777,-0.00253039, 1.03864783, 0.06412439,-0.00181305,-0.09745709,
  0.08155654, 0.53109599,-0.01974581,-0.00139801, 0.8470804 ]

qacc:
[-3.90990867e-02,-5.46097879e+00, 1.27216076e+01,-1.61965722e+01,
 -5.36753626e-02,-1.73167465e+01, 5.39079431e+01,-9.39968717e+01,
 -5.59014183e-02,-8.06043488e+00, 2.41964481e+01,-3.92150291e+01,
 -5.12308512e-01, 6.34075115e-01, 9.76123017e+00,-3.34139355e+01,
  1.82637011e+00,-8.26051673e-01, 4.40429685e+00, 5.95342311e+01,
 -8.32603145e+01, 1.13267630e+00]

qfrc_actuator:
[ 2.41348359e-03, 9.78987669e-02, 9.85398283e-03, 9.04082156e-03,
  1.00981316e-05, 1.01242173e-01, 9.74457826e-03, 1.46376263e-02,
 -2.79031078e-03, 1.09246050e-01, 1.00636661e-02, 1.25109768e-02,
  5.91628348e-03,-1.64764669e-03, 0.00000000e+00,-2.55257925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.32639365,  2.29302108, -8.32639365, 13.87581622,
       19.02544423,  2.29302108, 19.02544423, 77.72135345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017194156930757862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.07122319e-15, -3.22848927e-14,  1.00000000e+00,  2.60578575e-28,
        1.00000000e+00,  3.22848927e-14, -1.00000000e+00,  0.00000000e+00,
        8.07122319e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03234715, -0.08961562,  0.06184967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01806610e-05,-5.19316713e-04,-1.37964049e-04,-5.36105260e-05,
 -1.38545692e-05,-9.57112964e-04,-2.23755375e-04,-2.63496931e-04,
 -1.48981712e-05,-4.52372853e-04,-9.73603473e-05,-1.06872654e-04,
 -5.44615694e-05,-1.49988909e-05,-7.06702324e-06,-1.63873834e-04,
 -3.87775957e-05, 6.27280585e-05,-1.21651480e+00, 1.55772503e-03,
  5.36202490e-04, 1.67504000e-05]


--- Step 1361 ---
qpos:
[-9.78290313e-03, 1.11664001e+00,-1.73892904e-02, 9.39279198e-01,
  4.25689991e-03, 1.08681972e+00,-2.92658233e-02, 9.31096018e-01,
  1.66383675e-02, 1.15883394e+00,-2.27647591e-02, 9.44994078e-01,
  1.29085351e+00,-2.53140041e-03, 1.03886620e+00, 6.41200094e-02,
 -1.82542855e-03,-9.74181821e-02, 8.15844916e-02, 5.31040924e-01,
 -2.05189610e-02,-7.60579297e-04, 8.47097356e-01]

qacc:
[-8.83914632e-02,-8.04785850e+00, 2.81451952e+01,-6.00840062e+01,
 -1.11874125e-01,-1.58178617e+01, 5.12027491e+01,-9.53495082e+01,
 -2.82523399e-02,-8.52339934e+00, 3.18730376e+01,-7.70207840e+01,
 -1.82336981e-01, 1.59462302e-01,-3.00936483e+00, 9.69614796e+00,
  1.66239622e+00,-7.60701111e-01, 3.19608386e+00, 5.44087591e+01,
 -7.58597923e+01, 1.21259985e+00]

qfrc_actuator:
[ 2.39812801e-03, 9.78326277e-02, 9.85170838e-03, 8.87957628e-03,
 -1.03728364e-05, 1.01009231e-01, 9.76095186e-03, 1.44051729e-02,
 -2.79112525e-03, 1.09094455e-01, 9.99679301e-03, 1.22827425e-02,
  5.90766761e-03,-1.64456967e-03, 0.00000000e+00,-2.50203442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017535790592603656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03230247, -0.08962702,  0.06184701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27046376e-05,-4.00528376e-04,-1.25437813e-04,-1.80661486e-04,
 -2.81914639e-05,-8.35650540e-04,-2.09537614e-04,-2.72719536e-04,
 -7.58200765e-06,-4.43590750e-04,-1.73892536e-04,-2.45234660e-04,
 -4.34822773e-05,-1.27573904e-05,-2.66796439e-05, 3.93219977e-05,
 -3.34786367e-05, 6.79747945e-05,-1.21649571e+00, 1.55729273e-03,
  5.35129267e-04, 6.93601518e-05]


--- Step 1362 ---
qpos:
[-9.79166395e-03, 1.11795153e+00,-1.73993532e-02, 9.39412695e-01,
  4.25675922e-03, 1.08820246e+00,-2.92726119e-02, 9.31338671e-01,
  1.66402039e-02, 1.16036167e+00,-2.27749671e-02, 9.45193381e-01,
  1.29104880e+00,-2.53161458e-03, 1.03908439e+00, 6.41162190e-02,
 -1.83169418e-03,-9.73821010e-02, 8.16211753e-02, 5.30985193e-01,
 -2.11206206e-02,-1.12177732e-04, 8.47117838e-01]

qacc:
[-1.47897390e-01,-7.61768630e+00, 3.06462221e+01,-7.35878941e+01,
 -1.10065120e-01,-1.73285556e+01, 5.69482246e+01,-1.01377586e+02,
 -1.44635648e-02,-8.51942530e+00, 4.14808340e+01,-1.19646554e+02,
 -9.21965367e-01, 1.75450972e+00,-1.97197347e+00, 6.67420651e+00,
  1.52809936e+00,-7.05955305e-01, 2.18391112e+00, 5.01754630e+01,
 -6.97557953e+01, 1.26562312e+00]

qfrc_actuator:
[ 2.37465302e-03, 9.78552852e-02, 9.85443234e-03, 8.67645295e-03,
 -2.25476026e-05, 1.00779404e-01, 9.80934313e-03, 1.41695531e-02,
 -2.79232264e-03, 1.09228380e-01, 9.96074063e-03, 1.19238131e-02,
  5.90611992e-03,-1.58906733e-03, 0.00000000e+00,-2.47043964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017624966216277238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.2991498e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.2991498e-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([-0.03229385, -0.08963021,  0.06184647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78133207e-05,-2.47308929e-04,-9.95135920e-05,-2.21571870e-04,
 -2.78099415e-05,-7.62655648e-04,-1.52330166e-04,-2.71997617e-04,
 -3.83044732e-06,-1.72238433e-04,-1.54116803e-04,-3.81127429e-04,
 -2.94990963e-05, 4.26828344e-05,-1.09115045e-05, 2.96753271e-05,
 -2.54944369e-05, 7.11839207e-05,-1.21648191e+00, 1.55753957e-03,
  5.34751220e-04, 1.06124535e-04]


--- Step 1363 ---
qpos:
[-9.80087206e-03, 1.11926124e+00,-1.74094482e-02, 9.39541688e-01,
  4.25673566e-03, 1.08957813e+00,-2.92786999e-02, 9.31576030e-01,
  1.66418701e-02, 1.16189041e+00,-2.27856324e-02, 9.45388362e-01,
  1.29124384e+00,-2.53100537e-03, 1.03930226e+00, 6.41144844e-02,
 -1.83228643e-03,-9.73486614e-02, 8.16632080e-02, 5.30928840e-01,
 -2.15630449e-02, 5.46637221e-04, 8.47141844e-01]

qacc:
[-1.98854718e-01,-1.01672504e+01, 3.95538482e+01,-8.57518638e+01,
  5.48477495e-02,-2.02552162e+01, 6.60094907e+01,-1.14860930e+02,
 -7.49250615e-02,-4.89249571e+00, 2.64060305e+01,-7.36591785e+01,
 -6.94493133e-01, 1.51401036e+00,-6.60612595e+00, 2.25820703e+01,
  1.41834794e+00,-6.60374240e-01, 1.33725349e+00, 4.66800835e+01,
 -6.47180953e+01, 1.30042519e+00]

qfrc_actuator:
[ 2.34651911e-03, 9.77890995e-02, 9.86049095e-03, 8.45039531e-03,
  5.85745147e-06, 1.00376084e-01, 9.82307109e-03, 1.38984711e-02,
 -2.81150850e-03, 1.09479187e-01, 1.00153032e-02, 1.17218487e-02,
  5.91416309e-03,-1.53840293e-03, 0.00000000e+00,-2.36155579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017512289654897373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96229964e-15,  6.33967943e-14,  1.00000000e+00,  2.51197095e-28,
        1.00000000e+00, -6.33967943e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96229964e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03231372, -0.089627  ,  0.06184761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09143119e-05,-2.47483058e-04,-6.44480132e-05,-2.40118529e-04,
  1.29775597e-05,-8.84366662e-04,-1.66104140e-04,-3.03545820e-04,
 -1.96827057e-05, 9.45854220e-05,-1.21915834e-05,-2.18656984e-04,
  1.18216714e-06, 5.40153722e-05,-5.79336580e-06, 1.08215116e-04,
 -1.54481651e-05, 7.27971941e-05,-1.21647227e+00, 1.55837583e-03,
  5.34955979e-04, 1.30420897e-04]


--- Step 1364 ---
qpos:
[-9.81045773e-03, 1.12056694e+00,-1.74185554e-02, 9.39666793e-01,
  4.25677042e-03, 1.09094420e+00,-2.92840122e-02, 9.31808206e-01,
  1.66433499e-02, 1.16342058e+00,-2.27964555e-02, 9.45582148e-01,
  1.29143897e+00,-2.53058043e-03, 1.03951987e+00, 6.41153811e-02,
 -1.82756316e-03,-9.73177125e-02, 8.17077617e-02, 5.30871889e-01,
 -2.18563401e-02, 1.21540707e-03, 8.47169322e-01]

qacc:
[-1.67012081e-01,-1.47322517e+01, 4.97177827e+01,-8.61254793e+01,
  2.87576325e-02,-2.35996841e+01, 7.26511645e+01,-1.17699123e+02,
 -8.21739309e-02, 2.17998972e-01, 3.97262616e+00,-1.81875334e+01,
  3.77295214e-01,-6.56772012e-01,-8.35660210e+00, 2.86099727e+01,
  1.32887653e+00,-6.22693206e-01, 6.30257544e-01, 4.37976953e+01,
 -6.05613878e+01, 1.32311856e+00]

qfrc_actuator:
[ 2.33359037e-03, 9.74751317e-02, 9.86818350e-03, 8.24811407e-03,
  5.08699927e-06, 9.97300820e-02, 9.79781741e-03, 1.36263032e-02,
 -2.82358437e-03, 1.09621147e-01, 1.00348288e-02, 1.16672910e-02,
  5.90665516e-03,-1.56199989e-03, 0.00000000e+00,-2.22575450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017239933893015771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21991671e-14,  3.21991671e-14,  1.00000000e+00,  1.03678636e-27,
        1.00000000e+00, -3.21991671e-14, -1.00000000e+00,  0.00000000e+00,
       -3.21991671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03235591, -0.08961883,  0.06185006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.30469125e-05,-4.88979476e-04,-5.93761902e-05,-2.15745867e-04,
  6.34121622e-06,-1.19789056e-03,-2.31381573e-04,-3.09454103e-04,
 -2.15576601e-05, 1.66044552e-04, 2.59001147e-05,-5.53642413e-05,
  5.81064052e-06,-1.04828936e-05, 5.69161559e-06, 1.40240077e-04,
 -3.77290158e-06, 7.31352465e-05,-1.21646595e+00, 1.55972896e-03,
  5.35659393e-04, 1.44715682e-04]


--- Step 1365 ---
qpos:
[-0.00982061, 1.12186666,-0.0174269 , 0.93978976, 0.00425667, 1.09229867,
 -0.02928834, 0.93203621, 0.01664452, 1.16495006,-0.0228058 , 0.94577218,
  1.2916341 ,-0.0025308 , 1.03973753, 0.06411722,-0.00182595,-0.09729446,
  0.08175486, 0.53082383,-0.02212728, 0.00169081, 0.84719159]

qacc:
[-2.52237022e-01,-1.36442182e+01, 3.94778614e+01,-5.56975352e+01,
 -5.59392056e-02,-2.50461528e+01, 7.20900591e+01,-1.04161401e+02,
 -1.35944541e-01,-1.13715632e+01, 4.36859121e+01,-8.10585625e+01,
  5.54267250e-01,-1.27555850e+00,-2.81521490e+00, 9.84478377e+00,
 -7.77820856e-01,-1.92448396e+00, 6.35087773e-01,-7.58718741e+01,
 -6.07439810e+01,-7.24761318e+00]

qfrc_actuator:
[ 2.29438867e-03, 9.70509192e-02, 9.85809653e-03, 8.13229346e-03,
 -1.31767980e-05, 9.90326006e-02, 9.80207734e-03, 1.34087465e-02,
 -2.84906264e-03, 1.09483965e-01, 1.00687206e-02, 1.14689965e-02,
  5.87914324e-03,-1.61172275e-03, 0.00000000e+00,-2.18171654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017158098130252292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02925716, -0.05952804,  0.061851  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49356470e-05,-7.30966300e-04,-1.23051128e-04,-1.35779583e-04,
 -1.48437758e-05,-1.43562094e-03,-2.70835468e-04,-2.66398777e-04,
 -3.60313493e-05,-6.11393317e-05, 6.34081520e-05,-1.92058173e-04,
 -2.65755700e-05,-5.07081861e-05, 1.45239041e-05, 5.17058639e-05,
  9.23389910e-06, 7.24309859e-05,-1.21646236e+00, 1.56154258e-03,
  5.36799054e-04, 1.50815048e-04]


--- Step 1366 ---
qpos:
[-0.00983142, 1.12315893,-0.01743454, 0.9399102 , 0.00425657, 1.09364073,
 -0.02929218, 0.932261  , 0.01664539, 1.16647697,-0.02281336, 0.94595683,
  1.29182886,-0.00253097, 1.03995564, 0.06411624,-0.0018272 ,-0.09727967,
  0.08179546, 0.53078734,-0.02234914, 0.00195653, 0.84720805]

qacc:
[-2.90510181e-01,-1.61373001e+01, 4.60280671e+01,-6.48993256e+01,
 -1.97247421e-03,-2.31427149e+01, 6.25770924e+01,-8.41421580e+01,
 -1.28893047e-01,-1.75512056e+01, 6.41719538e+01,-1.16638461e+02,
 -5.16810996e-01, 6.67665292e-01, 9.21261141e+00,-3.11923387e+01,
 -7.14074383e-01,-2.11449510e+00,-1.62236721e+00,-7.56652238e+01,
 -7.63906363e+01,-8.72345859e+00]

qfrc_actuator:
[ 2.25751849e-03, 9.65818772e-02, 9.85492828e-03, 7.99714902e-03,
 -6.26613298e-06, 9.83633277e-02, 9.80577579e-03, 1.32427732e-02,
 -2.86463064e-03, 1.09234086e-01, 1.01096619e-02, 1.11874950e-02,
  5.85561119e-03,-1.60557272e-03, 0.00000000e+00,-2.33412022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.2965996 , -4.62021765,  7.2965996 , 24.52625165,
       25.09452138, -4.62021765, 25.09452138, 48.26754308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001715163649656673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55589374e-07,  3.55589338e-07,  1.00000000e+00,  1.26443790e-13,
        1.00000000e+00, -3.55589338e-07, -1.00000000e+00,  0.00000000e+00,
       -3.55589374e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03466811, -0.04397968,  0.06185135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.48878736e-05,-9.19557827e-04,-1.68308157e-04,-1.62346461e-04,
 -1.41406372e-06,-1.54513448e-03,-3.21116227e-04,-2.22181191e-04,
 -3.43670955e-05,-2.96194165e-04, 2.63133083e-05,-2.84101989e-04,
 -5.03990219e-05,-1.18395148e-05, 7.70181516e-06,-1.48772497e-04,
  6.79487565e-07, 3.75898366e-05,-1.21645194e+00, 1.56890450e-03,
  5.33954138e-04, 1.12802406e-04]


--- Step 1367 ---
qpos:
[-0.00984246, 1.12444598,-0.01744255, 0.940029  , 0.00425665, 1.09497284,
 -0.02929729, 0.9324823 , 0.01664633, 1.16800391,-0.02282109, 0.94613657,
  1.2920229 ,-0.00253022, 1.0401734 , 0.06411646,-0.00183114,-0.09727273,
  0.08182641, 0.5307617 ,-0.02252261, 0.00202578, 0.84721936]

qacc:
[-9.83536165e-02,-8.69840381e+00, 2.34836387e+01,-3.62654192e+01,
  8.69038610e-02,-1.56116935e+01, 4.24616099e+01,-7.13942514e+01,
  3.09581741e-02,-7.94641571e+00, 3.59920195e+01,-8.81026765e+01,
 -1.17357920e+00, 2.12794021e+00,-4.07999920e+00, 1.37429493e+01,
 -6.75787458e-01,-1.96459991e+00,-2.41484914e+00,-7.02536650e+01,
 -7.25882596e+01,-8.10904933e+00]

qfrc_actuator:
[ 2.27561956e-03, 9.64803761e-02, 9.89116156e-03, 7.92265738e-03,
  1.56814092e-05, 9.80182235e-02, 9.79147990e-03, 1.30729543e-02,
 -2.83863769e-03, 1.09398082e-01, 1.01539268e-02, 1.09479695e-02,
  5.82917558e-03,-1.54858941e-03, 0.00000000e+00,-2.26370178e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.77363012,  6.42276981,  5.77363012, 18.12004334,
       -8.52517846,  6.42276981, -8.52517846, 16.29991513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017119131240917046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24263834e-14,  3.24263834e-14,  1.00000000e+00,  1.05147034e-27,
        1.00000000e+00, -3.24263834e-14, -1.00000000e+00,  0.00000000e+00,
       -3.24263834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03538889, -0.04190992,  0.06185187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55131696e-05,-6.65830919e-04,-1.71688407e-04,-1.09273260e-04,
  2.10493073e-05,-1.28981188e-03,-3.64913713e-04,-2.29800419e-04,
  8.10693450e-06,-2.22533027e-05,-2.32182813e-05,-2.52349740e-04,
 -5.80580930e-05, 4.27209189e-05,-1.88918075e-05, 6.17630116e-05,
 -2.07324856e-06, 1.22003764e-05,-1.21644426e+00, 1.57598891e-03,
  5.31823928e-04, 8.52728688e-05]


--- Step 1368 ---
qpos:
[-0.00985334, 1.12573269,-0.01745222, 0.94014737, 0.00425696, 1.09630027,
 -0.02930513, 0.93269946, 0.01664746, 1.16953391,-0.02282926, 0.94631251,
  1.29221652,-0.0025293 , 1.04039072, 0.06411983,-0.00183767,-0.09727308,
  0.08184572, 0.53074596,-0.02265065, 0.00191139, 0.84722608]

qacc:
[ 6.69002945e-02, 3.26444927e+00,-1.03112006e+01, 4.19405404e+00,
  9.91649083e-02,-5.86403914e+00, 2.03586489e+01,-6.29719653e+01,
  8.05674112e-02,-1.39597095e+00, 1.71391482e+01,-6.08226077e+01,
 -2.48614312e-01, 3.21065916e-01,-1.01214366e+01, 3.45053665e+01,
 -6.45886225e-01,-1.81893520e+00,-2.90732362e+00,-6.56195584e+01,
 -6.79418059e+01,-7.43481971e+00]

qfrc_actuator:
[ 2.30878004e-03, 9.68131672e-02, 9.93408274e-03, 7.92018457e-03,
  2.87029758e-05, 9.81541699e-02, 9.78571432e-03, 1.28846390e-02,
 -2.82346095e-03, 1.09791060e-01, 1.02191898e-02, 1.07708047e-02,
  5.80104091e-03,-1.55076376e-03, 0.00000000e+00,-2.09800081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.67692336,  6.50840365,  5.67692336, 19.01556229,
       -9.05320543,  6.50840365, -9.05320543, 16.53297794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016902213427612625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.56850672e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.56850672e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03542425, -0.0418502 ,  0.0618538 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72504201e-05,-9.01267981e-05,-1.14167611e-04,-2.85534060e-05,
  2.45926640e-05,-6.76083218e-04,-3.11535689e-04,-2.42032007e-04,
  2.14358325e-05, 3.49584286e-04, 4.66366296e-05,-1.82549870e-04,
 -5.10925642e-05,-5.54286044e-06,-5.62926063e-06, 1.65858729e-04,
 -6.22944735e-07, 6.46979741e-07,-1.21644087e+00, 1.58056938e-03,
  5.30611841e-04, 7.27414234e-05]


--- Step 1369 ---
qpos:
[-0.00986394, 1.12702148,-0.01746307, 0.94026353, 0.00425729, 1.09762682,
 -0.02931517, 0.93291059, 0.01664878, 1.17106729,-0.02283768, 0.94648633,
  1.29241004,-0.0025292 , 1.04060811, 0.0641238 ,-0.00184668,-0.09728021,
  0.08185175, 0.53073928,-0.02273573, 0.00162404, 0.84722858]

qacc:
[ 1.25139546e-01, 2.08117289e+00, 1.02570206e+00,-2.77989601e+01,
  1.35385629e-02,-5.57026514e+00, 2.93726400e+01,-9.52947348e+01,
  8.40176688e-02, 1.48504146e+00, 4.83696167e+00,-3.08471615e+01,
  5.77758634e-01,-1.46396853e+00,-1.73622423e+00, 6.09943137e+00,
 -6.19355335e-01,-1.69855376e+00,-3.32310717e+00,-6.17614224e+01,
 -6.40581892e+01,-6.87576391e+00]

qfrc_actuator:
[ 2.33293849e-03, 9.71197051e-02, 9.94694101e-03, 7.81835747e-03,
  1.85101311e-05, 9.84176734e-02, 9.78702942e-03, 1.25985024e-02,
 -2.81491621e-03, 1.10016606e-01, 1.02263682e-02, 1.06674220e-02,
  5.78253853e-03,-1.60578807e-03, 0.00000000e+00,-2.07282533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.71895277,   6.47150339,   5.71895277,
        21.10354849, -11.01741543,   6.47150339, -11.01741543,
        18.37259874,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016539269288669972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35632429e-14,  3.35632429e-14,  1.00000000e+00,  1.12649127e-27,
        1.00000000e+00, -3.35632429e-14, -1.00000000e+00,  0.00000000e+00,
       -3.35632429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03548171, -0.04175872,  0.06185684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22861028e-05, 2.15808278e-04,-2.26928055e-05,-1.07162704e-04,
  3.39594883e-06,-1.98710426e-04,-1.78492099e-04,-3.19987686e-04,
  2.24052528e-05, 4.03614190e-04, 7.12476350e-05,-9.40285599e-05,
 -4.85372908e-05,-6.82453787e-05, 1.22433292e-05, 3.28578564e-05,
  4.12882424e-06, 5.70041506e-07,-1.21644111e+00, 1.58305113e-03,
  5.30141736e-04, 7.25810913e-05]


--- Step 1370 ---
qpos:
[-9.87438735e-03, 1.12831398e+00,-1.74749828e-02, 9.40376744e-01,
  4.25758410e-03, 1.09895410e+00,-2.93260631e-02, 9.33115772e-01,
  1.66502626e-02, 1.17260204e+00,-2.28446114e-02, 9.46657332e-01,
  1.29260320e+00,-2.52967072e-03, 1.04082560e+00, 6.41273736e-02,
 -1.85698956e-03,-9.72942078e-02, 8.18522265e-02, 5.30740108e-01,
 -2.27560773e-02, 1.17770077e-03, 8.47228252e-01]

qacc:
[ 6.67972417e-02, 2.63136858e+00, 3.31698436e+00,-3.93402405e+01,
 -1.76047139e-02,-6.96051069e+00, 3.63392170e+01,-1.01625207e+02,
  7.16471620e-02,-7.12251072e+00, 3.11247576e+01,-6.04954331e+01,
  1.49745551e-01,-7.50955877e-01, 1.30626738e+00,-4.39070570e+00,
 -3.24679994e-01,-1.71538772e+00,-1.38550982e+00,-5.00838260e+01,
 -6.95818602e+01,-5.68464965e+00]

qfrc_actuator:
[ 2.33375134e-03, 9.74437098e-02, 9.94195237e-03, 7.67661772e-03,
  1.22426956e-05, 9.86315211e-02, 9.81090395e-03, 1.23104763e-02,
 -2.81043255e-03, 1.09998118e-01, 1.02697066e-02, 1.05193837e-02,
  5.75382475e-03,-1.63835536e-03, 0.00000000e+00,-2.09516561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016061174947807747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88188320e-07, -2.16014517e-14,  1.00000000e+00,  6.22528608e-21,
        1.00000000e+00,  2.16014517e-14, -1.00000000e+00, -7.52316385e-37,
        2.88188320e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01877642, -0.05564465,  0.06186073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74110337e-05, 4.18051617e-04, 2.73953469e-05,-1.37076690e-04,
 -4.39518136e-06, 3.95373521e-05,-4.95527175e-05,-3.05318969e-04,
  1.89009050e-05, 1.96977532e-04, 1.23392037e-04,-1.34293760e-04,
 -7.21417140e-05,-5.98351765e-05, 4.44289733e-06,-2.00793472e-05,
  1.15982498e-05, 9.97257098e-06,-1.21644433e+00, 1.58387394e-03,
  5.30271504e-04, 8.26108368e-05]


--- Step 1371 ---
qpos:
[-9.88456840e-03, 1.12961139e+00,-1.74873804e-02, 9.40486920e-01,
  4.25782239e-03, 1.10028351e+00,-2.93373351e-02, 9.33317497e-01,
  1.66518684e-02, 1.17413529e+00,-2.28490860e-02, 9.46826511e-01,
  1.29279567e+00,-2.52971934e-03, 1.04104318e+00, 6.41299872e-02,
 -1.86124653e-03,-9.73112303e-02, 8.18605492e-02, 5.30740266e-01,
 -2.26082123e-02, 7.43368922e-04, 8.47232605e-01]

qacc:
[ 1.17921804e-01, 2.44365600e+00, 6.02042539e+00,-4.35617561e+01,
 -2.55380218e-02,-2.10747614e+00, 1.74560664e+01,-5.67920738e+01,
  5.54298776e-02,-1.17414603e+01, 3.96831054e+01,-5.47543791e+01,
 -9.28391928e-01, 1.41503423e+00, 3.08556543e+00,-1.04724151e+01,
  1.51254701e+00,-7.56383221e-01, 1.96031576e+00, 4.97141337e+01,
 -6.81265297e+01, 1.76123148e+00]

qfrc_actuator:
[ 2.35607975e-03, 9.78112376e-02, 9.96211990e-03, 7.53030160e-03,
  8.38792602e-06, 9.88853241e-02, 9.84784969e-03, 1.21479291e-02,
 -2.80843246e-03, 1.09762871e-01, 1.03330894e-02, 1.04171044e-02,
  5.72966133e-03,-1.60410308e-03, 0.00000000e+00,-2.14527284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001598853377128992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.94387015e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.94387015e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0325485 , -0.08958181,  0.06186133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05955787e-05, 5.82340776e-04, 9.69262557e-05,-1.34837055e-04,
 -6.28894130e-06, 2.37082243e-04, 2.53270386e-05,-1.68498875e-04,
  1.44106849e-05,-1.25024720e-04, 1.07816974e-04,-9.40849926e-05,
 -7.90988201e-05, 3.49454126e-06,-5.20089002e-06,-5.18224056e-05,
  1.91804195e-05, 2.73660752e-05,-1.21644982e+00, 1.58351445e-03,
  5.30689051e-04, 1.02210640e-04]


--- Step 1372 ---
qpos:
[-9.89446155e-03, 1.13091310e+00,-1.74994176e-02, 9.40594519e-01,
  4.25800796e-03, 1.10161760e+00,-2.93495129e-02, 9.33516903e-01,
  1.66537158e-02, 1.17566550e+00,-2.28528561e-02, 9.46991350e-01,
  1.29298755e+00,-2.52919531e-03, 1.04126057e+00, 6.41329739e-02,
 -1.85986498e-03,-9.73310736e-02, 8.18735181e-02, 5.30739761e-01,
 -2.23034098e-02, 3.20145572e-04, 8.47241265e-01]

qacc:
[ 1.27516448e-01, 1.82524788e-01, 1.15019142e+01,-4.26274425e+01,
 -2.46730721e-02, 4.62207722e+00,-2.80189884e+00,-2.75806630e+01,
  1.06830637e-01,-1.34148468e+01, 4.77801187e+01,-8.99057301e+01,
 -8.53493346e-01, 1.45346187e+00,-1.33185497e+00, 4.41757933e+00,
  1.40962648e+00,-7.05198729e-01, 1.16154675e+00, 4.63431639e+01,
 -6.35818489e+01, 1.60761275e+00]

qfrc_actuator:
[ 2.37338906e-03, 9.80246737e-02, 9.97946788e-03, 7.40026541e-03,
  6.01348117e-06, 9.93211927e-02, 9.87475433e-03, 1.20427915e-02,
 -2.79019655e-03, 1.09453125e-01, 1.03004254e-02, 1.01826453e-02,
  5.71892430e-03,-1.56603443e-03, 0.00000000e+00,-2.12254746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015901365336305345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72741901e-15, -3.49096760e-14,  1.00000000e+00, -3.04671370e-28,
        1.00000000e+00,  3.49096760e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72741901e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03256167, -0.08957895,  0.06186209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29993262e-05, 5.32777966e-04, 1.34221578e-04,-1.11554271e-04,
 -5.84803921e-06, 5.47333726e-04, 6.65615638e-05,-9.97439240e-05,
  2.80665631e-05,-3.79361501e-04,-5.17230488e-05,-2.35361286e-04,
 -5.48469669e-05, 2.05984007e-05,-1.32736265e-05, 1.80016268e-05,
  7.22332468e-06, 2.94641533e-05,-1.21645069e+00, 1.58477787e-03,
  5.30392300e-04, 1.06899499e-04]


--- Step 1373 ---
qpos:
[-9.90423748e-03, 1.13221738e+00,-1.75107719e-02, 9.40700578e-01,
  4.25815099e-03, 1.10295777e+00,-2.93621906e-02, 9.33713371e-01,
  1.66558013e-02, 1.17719201e+00,-2.28576965e-02, 9.47151944e-01,
  1.29317932e+00,-2.52910218e-03, 1.04147775e+00, 6.41368491e-02,
 -1.85318329e-03,-9.73535709e-02, 8.18884591e-02, 5.30738575e-01,
 -2.18509827e-02,-9.27119784e-05, 8.47253853e-01]

qacc:
[ 5.19764703e-02,-1.16053747e+00, 1.10112190e+01,-2.90862475e+01,
 -2.01494735e-02, 4.29202898e+00, 1.77215723e+00,-3.96507381e+01,
  1.04800485e-01,-9.30878125e+00, 3.31427851e+01,-7.56169095e+01,
  3.03036636e-01,-7.93281120e-01,-3.01010375e+00, 1.00289289e+01,
  1.32503858e+00,-6.63482608e-01, 4.93034266e-01, 4.35580387e+01,
 -5.98297202e+01, 1.47027934e+00]

qfrc_actuator:
[ 2.36980654e-03, 9.80555318e-02, 9.97672272e-03, 7.31625575e-03,
  4.54621707e-06, 9.97563680e-02, 9.89631167e-03, 1.19013386e-02,
 -2.78013896e-03, 1.09189602e-01, 1.02109017e-02, 9.96088664e-03,
  5.71093095e-03,-1.59700435e-03, 0.00000000e+00,-2.07482545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001566353084073234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65798075e-14,  3.54397433e-14,  1.00000000e+00,  9.41981554e-28,
        1.00000000e+00, -3.54397433e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65798075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03259597, -0.08957156,  0.06186409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34614159e-05, 3.30776700e-04, 1.09377944e-04,-6.53632424e-05,
 -4.67512136e-06, 7.28475850e-04, 1.28700543e-04,-1.23868068e-04,
  2.76481494e-05,-5.09152327e-04,-1.80583826e-04,-2.38185606e-04,
 -3.43623963e-05,-3.87441431e-05,-8.27231280e-06, 4.60624785e-05,
 -1.57539453e-06, 3.02351471e-05,-1.21645410e+00, 1.58679222e-03,
  5.30733649e-04, 1.02957721e-04]


--- Step 1374 ---
qpos:
[-9.91379078e-03, 1.13352198e+00,-1.75207359e-02, 9.40804999e-01,
  4.25826245e-03, 1.10430304e+00,-2.93745481e-02, 9.33905649e-01,
  1.66579271e-02, 1.17871573e+00,-2.28636027e-02, 9.47311351e-01,
  1.29337094e+00,-2.52960662e-03, 1.04169506e+00, 6.41395689e-02,
 -1.84147911e-03,-9.73785861e-02, 8.19031380e-02, 5.30736665e-01,
 -2.12586024e-02,-4.95821649e-04, 8.47269980e-01]

qacc:
[ 9.93495751e-02,-6.20208778e+00, 2.41126645e+01,-4.03045167e+01,
 -1.46598126e-02,-1.35568341e+00, 2.12703238e+01,-7.06172931e+01,
  1.78368081e-02,-2.83578326e+00, 7.25263006e+00,-1.83121670e+01,
  2.76796740e-01,-8.79301525e-01, 3.63134991e+00,-1.25221849e+01,
  1.25562108e+00,-6.29505068e-01,-6.55424782e-02, 4.12610323e+01,
 -5.67399046e+01, 1.34556902e+00]

qfrc_actuator:
[ 2.38924969e-03, 9.79413524e-02, 9.99696018e-03, 7.22434972e-03,
  3.63417538e-06, 9.99748305e-02, 9.89686447e-03, 1.16863842e-02,
 -2.79283405e-03, 1.09150964e-01, 1.01952711e-02, 9.90816057e-03,
  5.69391183e-03,-1.63311763e-03, 0.00000000e+00,-2.13703866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015307860522504463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81315838e-14,  3.62631676e-14,  1.00000000e+00,  6.57508664e-28,
        1.00000000e+00, -3.62631676e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81315838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03264671, -0.08956062,  0.06186706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54939680e-05, 7.05551659e-05, 9.14052404e-05,-7.89383586e-05,
 -3.45623263e-06, 6.23395181e-04, 1.49530694e-04,-1.90618383e-04,
  4.64628199e-06,-3.81213303e-04,-1.46769772e-04,-7.68582329e-05,
 -4.57124758e-05,-5.30297595e-05,-2.39268243e-06,-6.15908034e-05,
 -7.78694071e-06, 2.99248422e-05,-1.21645961e+00, 1.58939317e-03,
  5.31610467e-04, 9.18673727e-05]


--- Step 1375 ---
qpos:
[-9.92356294e-03, 1.13482466e+00,-1.75289673e-02, 9.40907721e-01,
  4.25835177e-03, 1.10565069e+00,-2.93861843e-02, 9.34093419e-01,
  1.66600162e-02, 1.18024041e+00,-2.28708987e-02, 9.47467910e-01,
  1.29356213e+00,-2.52998373e-03, 1.04191270e+00, 6.41385039e-02,
 -1.82498007e-03,-9.74060088e-02, 8.19156913e-02, 5.30733973e-01,
 -2.05325656e-02,-8.89699001e-04, 8.47289249e-01]

qacc:
[-9.61086887e-02,-1.01796714e+01, 3.36761317e+01,-4.79965552e+01,
 -9.77953310e-03,-6.56351613e+00, 3.46028289e+01,-8.41953833e+01,
 -1.63970849e-02, 8.94326484e-02, 7.01768783e+00,-3.96370312e+01,
 -6.66747308e-01, 9.19407940e-01, 1.19606532e+01,-4.10258496e+01,
  1.19871528e+00,-6.01844966e-01,-5.31409607e-01, 3.93718175e+01,
 -5.42052407e+01, 1.23036100e+00]

qfrc_actuator:
[ 2.35134544e-03, 9.77058654e-02, 1.00300067e-02, 7.12842054e-03,
  3.06130404e-06, 9.99197925e-02, 9.86644180e-03, 1.14475093e-02,
 -2.80132563e-03, 1.09478608e-01, 1.02244001e-02, 9.77796963e-03,
  5.67680987e-03,-1.61872003e-03, 0.00000000e+00,-2.33453493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014861651414171673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86759700e-14,  1.12055820e-13,  1.00000000e+00,  2.09275114e-27,
        1.00000000e+00, -1.12055820e-13, -1.00000000e+00,  0.00000000e+00,
       -1.86759700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03271001, -0.08954694,  0.06187077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50952987e-05,-1.98563042e-04, 5.08977159e-05,-9.15612450e-05,
 -2.44808326e-06, 2.93772720e-04, 9.83755837e-05,-2.18645987e-04,
 -4.26231510e-06, 6.74109659e-05,-6.83673607e-05,-1.45777219e-04,
 -5.57016155e-05,-8.46409335e-06,-1.25614013e-05,-2.02320997e-04,
 -1.18413418e-05, 2.87143745e-05,-1.21646688e+00, 1.59245804e-03,
  5.32945668e-04, 7.47013111e-05]


--- Step 1376 ---
qpos:
[-9.93363475e-03, 1.13612524e+00,-1.75364885e-02, 9.41008940e-01,
  4.25842578e-03, 1.10699942e+00,-2.93971093e-02, 9.34276323e-01,
  1.66620470e-02, 1.18176994e+00,-2.28801150e-02, 9.47619674e-01,
  1.29375308e+00,-2.53053456e-03, 1.04212996e+00, 6.41374122e-02,
 -1.80387270e-03,-9.74357487e-02, 8.19245678e-02, 5.30730426e-01,
 -1.96780154e-02,-1.27477565e-03, 8.47311257e-01]

qacc:
[-1.32216763e-01,-7.30926047e+00, 2.36025854e+01,-3.67552056e+01,
 -6.46995529e-03,-8.83355007e+00, 4.07233246e+01,-9.28827291e+01,
 -2.64915740e-02, 3.28019757e+00, 6.74542883e+00,-6.43498916e+01,
 -3.07411287e-02,-1.62110966e-01,-4.78656466e-01, 8.58683461e-01,
  1.15208292e+00,-5.79331819e-01,-9.19168984e-01, 3.78239980e+01,
 -5.21370505e+01, 1.12199776e+00]

qfrc_actuator:
[ 2.33264306e-03, 9.75772313e-02, 1.00520877e-02, 7.04854724e-03,
  2.69513317e-06, 9.98966209e-02, 9.87016252e-03, 1.11962757e-02,
 -2.80723423e-03, 1.10005640e-01, 1.02278770e-02, 9.55017704e-03,
  5.67034114e-03,-1.62775965e-03, 0.00000000e+00,-2.32606742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014347541298391636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.86903582e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.86903582e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03278272, -0.08953118,  0.06187504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43748206e-05,-2.48795465e-04,-1.76569695e-05,-8.50119137e-05,
 -1.70553409e-06, 1.32396656e-04, 6.13211219e-05,-2.43121860e-04,
 -6.73879580e-06, 5.28243099e-04, 5.63069432e-07,-2.29342525e-04,
 -4.05934899e-05,-2.35968366e-05,-3.34435599e-05,-5.60617584e-06,
 -1.40632234e-05, 2.67371915e-05,-1.21647567e+00, 1.59589382e-03,
  5.34680936e-04, 5.22309193e-05]


--- Step 1377 ---
qpos:
[-0.00994333, 1.13742483,-0.01754414, 0.94110804, 0.00425849, 1.10834745,
 -0.02940595, 0.93445457, 0.01666433, 1.18330528,-0.02289009, 0.94776672,
  1.29394373,-0.00253118, 1.04234704, 0.06413604,-0.00177831,-0.09746773,
  0.08192848, 0.53072594,-0.01869913,-0.00165141, 0.84733559]

qacc:
[ 1.66995762e-01,-4.62774094e+00, 1.78767854e+01,-3.95628007e+01,
 -3.48672849e-03,-1.45402744e+01, 5.60747061e+01,-1.02708204e+02,
  1.07464717e-01, 1.53568487e+00, 1.37830346e+01,-7.01583148e+01,
 -1.64912982e-01, 7.18054448e-02, 6.09038444e-01,-2.48700768e+00,
  1.11383764e+00,-5.60999397e-01,-1.24119728e+00, 3.65624251e+01,
 -5.04615874e+01, 1.01821744e+00]

qfrc_actuator:
[ 2.39664068e-03, 9.76024244e-02, 1.00679185e-02, 6.94328383e-03,
  2.45501959e-06, 9.97863864e-02, 9.94734875e-03, 1.09575412e-02,
 -2.77605135e-03, 1.10417237e-01, 1.02348019e-02, 9.32016824e-03,
  5.65427268e-03,-1.63285887e-03, 0.00000000e+00,-2.33828675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013784244664978573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51017935e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.51017935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03286224, -0.08951391,  0.0618797 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30972312e-05,-1.35887658e-04,-4.13285218e-05,-1.13764304e-04,
 -1.17842648e-06,-5.19262995e-05, 9.82502702e-05,-2.37155978e-04,
  2.89645245e-05, 6.78663217e-04, 9.94540906e-05,-2.17780195e-04,
 -4.50821220e-05,-1.97266658e-05,-1.87937560e-05,-1.74756296e-05,
 -1.46981068e-05, 2.40914100e-05,-1.21648583e+00, 1.59962839e-03,
  5.36771765e-04, 2.50041438e-05]


--- Step 1378 ---
qpos:
[-0.00995262, 1.13872317,-0.01755096, 0.94120408, 0.00425839, 1.10969172,
 -0.02941246, 0.93463127, 0.01666691, 1.18484738,-0.02290126, 0.94791191,
  1.29413402,-0.00253185, 1.04256432, 0.06413181,-0.00174842,-0.0975019 ,
  0.08192636, 0.53072041,-0.01759925,-0.00201992, 0.8473618 ]

qacc:
[  0.18252402, -9.26824938, 34.55335   ,-65.02862263, -0.07178013,
 -13.86797876, 42.51566048,-52.56230445,  0.13256824,  8.88267244,
 -14.49543996,-13.09222278, -0.43245408,  0.48938088,  8.91327162,
 -30.70166585,  1.08238822, -0.54604839, -1.50798432, 35.54110153,
 -49.11726103,  0.9170955 ]

qfrc_actuator:
[ 2.42093929e-03, 9.75598629e-02, 1.01160646e-02, 6.78849701e-03,
 -1.54609105e-05, 9.94122416e-02, 9.99594648e-03, 1.08700672e-02,
 -2.75840127e-03, 1.10845444e-01, 1.02079005e-02, 9.23269085e-03,
  5.63245830e-03,-1.63560626e-03, 0.00000000e+00,-2.48691820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013187173200394225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15711053e-14,  8.41896142e-14,  1.00000000e+00,  2.65795918e-27,
        1.00000000e+00, -8.41896142e-14, -1.00000000e+00,  0.00000000e+00,
       -3.15711053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03294644, -0.08949556,  0.06188463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70486315e-05,-1.46617598e-04, 9.53082082e-06,-1.61285730e-04,
 -1.85749845e-05,-4.10344056e-04, 3.79710663e-05,-9.02413337e-05,
  3.58235389e-05, 7.98159396e-04, 1.06621629e-04,-6.76085958e-05,
 -5.23015574e-05,-1.75980860e-05,-1.42783496e-05,-1.52870089e-04,
 -1.39319162e-05, 2.08488932e-05,-1.21649724e+00, 1.60360413e-03,
  5.39183786e-04,-6.59750075e-06]


--- Step 1379 ---
qpos:
[-0.00996184, 1.1400191 ,-0.01755696, 0.9412973 , 0.00425795, 1.11103054,
 -0.02941802, 0.93480892, 0.01666946, 1.18639636,-0.02291379, 0.9480546 ,
  1.29432414,-0.0025331 , 1.04278142, 0.06412649,-0.0017143 ,-0.0975382 ,
  0.08191733, 0.53071375,-0.01638107,-0.00238056, 0.84738947]

qacc:
[ 3.01027479e-02,-1.03053566e+01, 3.55732106e+01,-6.22401900e+01,
 -1.51727082e-01,-8.09662469e+00, 1.58224240e+01, 6.63024745e-01,
 -1.66573597e-02, 8.39548713e+00,-1.14249940e+01,-2.31638836e+01,
  2.64637339e-01,-8.58268718e-01, 3.00468820e+00,-1.09846063e+01,
  1.05639123e+00,-5.33816265e-01,-1.72841982e+00, 3.47215268e+01,
 -4.80524480e+01, 8.16994589e-01]

qfrc_actuator:
[ 2.40348120e-03, 9.73707932e-02, 1.01294242e-02, 6.64130011e-03,
 -4.38249044e-05, 9.90073559e-02, 9.99080312e-03, 1.09075958e-02,
 -2.78453356e-03, 1.11209332e-01, 1.01436839e-02, 9.10549258e-03,
  5.61786483e-03,-1.67247537e-03, 0.00000000e+00,-2.53719290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001256895943636066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41652720e-14,  4.41652720e-14,  1.00000000e+00,  1.95057125e-27,
        1.00000000e+00, -4.41652720e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41652720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03303358, -0.08947652,  0.06188973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.53472562e-06,-2.90473422e-04,-2.29437905e-05,-1.53620748e-04,
 -3.87453403e-05,-6.46613821e-04,-8.84500890e-05, 2.55601306e-05,
 -4.02749249e-06, 8.05846215e-04, 9.79023648e-05,-1.00072404e-04,
 -4.88646594e-05,-5.28106440e-05,-2.82776713e-05,-6.17013220e-05,
 -1.19055719e-05, 1.70619703e-05,-1.21650984e+00, 1.60777315e-03,
  5.41890019e-04,-4.23169686e-05]


--- Step 1380 ---
qpos:
[-0.00997124, 1.14131338,-0.01756419, 0.9413881 , 0.00425717, 1.11236222,
 -0.0294228 , 0.93498273, 0.01667171, 1.1879501 ,-0.02292593, 0.9481941 ,
  1.29451393,-0.00253475, 1.04299808, 0.06412257,-0.00167843,-0.09757914,
  0.08190725, 0.53070866,-0.01507148,-0.00281103, 0.84741564]

qacc:
[-8.40725824e-02,-3.05299045e+00, 1.23085015e+01,-3.77823648e+01,
 -1.49046928e-01,-1.80430932e+01, 5.55799829e+01,-8.86587647e+01,
 -1.31797789e-01,-2.84956747e-01, 1.49754967e+01,-5.29062354e+01,
  1.55506620e-01,-6.24923719e-01,-4.88417259e+00, 1.61157968e+01,
  4.37699222e-01,-1.15910862e+00,-2.60513032e-01,-5.32417937e+00,
 -5.72430131e+01,-1.74331466e+00]

qfrc_actuator:
[ 2.37890188e-03, 9.73085138e-02, 1.00683364e-02, 6.51738249e-03,
 -6.04618566e-05, 9.85162050e-02, 9.97161758e-03, 1.06987131e-02,
 -2.81896371e-03, 1.11354278e-01, 1.01287303e-02, 8.93808641e-03,
  5.59694788e-03,-1.69374673e-03, 0.00000000e+00,-2.45805492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012078225694607814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19193806e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.19193806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00675759, -0.07650135,  0.06189377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18576432e-05,-2.49292322e-04,-1.28969441e-04,-1.35406862e-04,
 -3.82872388e-05,-8.84702506e-04,-1.59702741e-04,-2.29022792e-04,
 -3.50894224e-05, 5.88467585e-04, 1.46723596e-04,-1.41056445e-04,
 -6.15154640e-05,-4.46822793e-05,-2.31126245e-05, 7.13235119e-05,
 -8.72599599e-06, 1.27684468e-05,-1.21652359e+00, 1.61209379e-03,
  5.44868816e-04,-8.19905697e-05]


--- Step 1381 ---
qpos:
[-0.00998087, 1.14260814,-0.01757291, 0.94147655, 0.00425612, 1.11368488,
 -0.02942698, 0.93514944, 0.01667376, 1.18950556,-0.0229363 , 0.94833248,
  1.29470338,-0.00253667, 1.04321478, 0.0641179 ,-0.00164524,-0.09762612,
  0.08189046, 0.53070887,-0.01374195,-0.0033966 , 0.84743597]

qacc:
[-9.55753809e-02, 5.76942934e-01, 3.65062954e+00,-3.05936615e+01,
 -1.19024880e-01,-2.56770395e+01, 8.42691452e+01,-1.50291928e+02,
 -8.21684891e-02,-4.48144405e+00, 1.96162326e+01,-3.11468018e+01,
 -9.47254727e-02,-1.80220570e-01, 2.29586670e+00,-7.95931170e+00,
 -6.69956590e-01,-1.50951690e+00,-1.67815878e+00,-6.03902409e+01,
 -4.95543381e+01,-4.99710894e+00]

qfrc_actuator:
[ 2.36803209e-03, 9.75000291e-02, 1.00530660e-02, 6.40816435e-03,
 -6.99305642e-05, 9.79239092e-02, 9.94380709e-03, 1.03286417e-02,
 -2.82258769e-03, 1.11278452e-01, 1.01598904e-02, 8.87252072e-03,
  5.58290853e-03,-1.70561414e-03, 0.00000000e+00,-2.49860711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011843794365498372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68693980e-14,  4.68693980e-14,  1.00000000e+00,  2.19674047e-27,
        1.00000000e+00, -4.68693980e-14, -1.00000000e+00,  0.00000000e+00,
       -4.68693980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02995987, -0.05859574,  0.06189568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47158712e-05, 7.16172521e-06,-8.66245221e-05,-1.22179232e-04,
 -3.08895346e-05,-1.13915210e-03,-2.30540707e-04,-4.05390191e-04,
 -2.20575356e-05, 2.55805992e-04, 1.54719407e-04,-4.51911093e-05,
 -5.95105105e-05,-3.65169370e-05,-5.71609259e-06,-4.02306920e-05,
 -1.63535010e-05, 2.27942014e-05,-1.21653757e+00, 1.61380958e-03,
  5.46225512e-04,-9.46538713e-05]


--- Step 1382 ---
qpos:
[-0.00999034, 1.14390461,-0.01758235, 0.94156323, 0.00425503, 1.11499726,
 -0.02943063, 0.93531161, 0.0166757 , 1.19105912,-0.02294499, 0.94846901,
  1.29489246,-0.00253876, 1.04343162, 0.0641111 ,-0.00161465,-0.09767878,
  0.08186547, 0.53071358,-0.01239284,-0.00413071, 0.84745056]

qacc:
[ 6.69402228e-02, 1.10134716e+00, 2.74936698e+00,-2.40786562e+01,
 -1.53556609e-02,-2.26943762e+01, 6.72485785e+01,-1.04980087e+02,
 -5.09195144e-02,-1.02328983e+01, 3.41289330e+01,-4.97948697e+01,
 -2.80572066e-01, 1.67680969e-01, 6.66632390e+00,-2.29934632e+01,
 -6.48481082e-01,-1.41983352e+00,-2.04966870e+00,-5.77229946e+01,
 -4.76656981e+01,-4.48048804e+00]

qfrc_actuator:
[ 2.40099440e-03, 9.77180912e-02, 1.00660387e-02, 6.32640645e-03,
 -5.72767670e-05, 9.73466819e-02, 9.94617409e-03, 1.00974291e-02,
 -2.82547226e-03, 1.10929296e-01, 1.01461693e-02, 8.76075412e-03,
  5.56768351e-03,-1.71179653e-03, 0.00000000e+00,-2.60938917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.23891418,  4.71008475,  7.23891418, 12.87952082,
       -6.5212947 ,  4.71008475, -6.5212947 , 18.65892061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011567511919252649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.79888429e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.79888429e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02999476, -0.05854828,  0.06189791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75204597e-05, 1.84287729e-04,-3.00813987e-06,-8.55229601e-05,
 -4.66580879e-06,-1.28394268e-03,-2.63414301e-04,-2.80385665e-04,
 -1.38982718e-05,-1.97001439e-04, 4.85894836e-05,-9.88048533e-05,
 -5.76750860e-05,-2.84229024e-05,-1.16389553e-05,-1.14789245e-04,
 -3.57514631e-05, 5.56602750e-05,-1.21654643e+00, 1.60972530e-03,
  5.45092813e-04,-5.48279290e-05]


--- Step 1383 ---
qpos:
[-0.00999954, 1.14520258,-0.01759199, 0.94164793, 0.00425399, 1.11629901,
 -0.02943408, 0.93547017, 0.01667757, 1.19260737,-0.02295226, 0.94860351,
  1.29508087,-0.0025401 , 1.04364795, 0.06410636,-0.00158657,-0.09773682,
  0.08183104, 0.53072203,-0.01102443,-0.00500794, 0.84745944]

qacc:
[ 1.22323642e-01,-9.42289527e-01, 9.51531178e+00,-3.22486861e+01,
  2.40646752e-02,-2.06915234e+01, 5.81603410e+01,-8.58843775e+01,
 -3.13340102e-02,-1.43333886e+01, 4.24789280e+01,-5.71842734e+01,
 -9.62012789e-01, 1.69907262e+00,-6.87029718e+00, 2.31436789e+01,
 -6.29814435e-01,-1.34522868e+00,-2.36219856e+00,-5.55129308e+01,
 -4.61134397e+01,-4.02729727e+00]

qfrc_actuator:
[ 2.42446948e-03, 9.78086359e-02, 1.00602810e-02, 6.22599446e-03,
 -4.92253567e-05, 9.68011004e-02, 9.94873828e-03, 9.91431520e-03,
 -2.82790798e-03, 1.10419059e-01, 1.01226440e-02, 8.64018529e-03,
  5.54643535e-03,-1.66131115e-03, 0.00000000e+00,-2.49432972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.28368133,  4.64055634,  7.28368133, 13.26406798,
       -7.26350921,  4.64055634, -7.26350921, 20.03695496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011217635722447217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48456821e-13,  4.94856070e-14,  1.00000000e+00,  7.34647589e-27,
        1.00000000e+00, -4.94856070e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48456821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03003949, -0.05848944,  0.06190074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18872277e-05, 1.72236265e-04, 2.35171532e-05,-9.55848393e-05,
  5.35529171e-06,-1.33482561e-03,-2.91563099e-04,-2.34737791e-04,
 -8.82065030e-06,-6.30775678e-04,-6.33192328e-05,-1.25408421e-04,
 -6.09738871e-05, 3.06932377e-05,-2.27486027e-05, 1.06121672e-04,
 -5.13220198e-05, 9.39502900e-05,-1.21655698e+00, 1.60567492e-03,
  5.44430851e-04,-1.00065281e-05]


--- Step 1384 ---
qpos:
[-0.01000828, 1.14650024,-0.01760037, 0.94173088, 0.00425271, 1.11758958,
 -0.02943677, 0.93562638, 0.01667954, 1.19414884,-0.02295855, 0.94873571,
  1.29526892,-0.00254117, 1.04386386, 0.06410499,-0.00156095,-0.09779999,
  0.0817861 , 0.53073351,-0.00963692,-0.00602384, 0.84746256]

qacc:
[ 1.99832890e-01,-6.90150745e+00, 2.55986995e+01,-4.24638022e+01,
 -1.04649585e-01,-2.07306746e+01, 5.48256142e+01,-6.79531060e+01,
  4.66402563e-02,-1.54853557e+01, 4.44400941e+01,-6.09359341e+01,
 -2.57376786e-01, 4.32249729e-01,-1.07921687e+01, 3.68852448e+01,
 -6.13466475e-01,-1.28259313e+00,-2.62505038e+00,-5.36865565e+01,
 -4.48480010e+01,-3.62325221e+00]

qfrc_actuator:
[ 2.45981918e-03, 9.77156759e-02, 1.00963092e-02, 6.13305930e-03,
 -7.95133228e-05, 9.62434810e-02, 9.98704243e-03, 9.79644485e-03,
 -2.81231826e-03, 1.09976128e-01, 1.01283384e-02, 8.51526724e-03,
  5.53759204e-03,-1.64869202e-03, 0.00000000e+00,-2.31811531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.37438318,  4.49502498,  7.37438318, 13.37515799,
       -7.77430282,  4.49502498, -7.77430282, 21.39061712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010812017099487425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13420861e-14,  5.13420861e-14,  1.00000000e+00, -2.63600980e-27,
        1.00000000e+00, -5.13420861e-14, -1.00000000e+00,  0.00000000e+00,
        5.13420861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03009163, -0.05842202,  0.06190402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18824189e-05,-1.30128592e-05, 6.56848948e-05,-8.79174026e-05,
 -2.73905573e-05,-1.37892660e-03,-2.67587011e-04,-1.70805598e-04,
  1.20711812e-05,-8.25911979e-04,-1.32334611e-04,-1.46536211e-04,
 -3.61694183e-05, 5.77620744e-06,-1.95662837e-06, 1.78482590e-04,
 -6.35652143e-05, 1.37182213e-04,-1.21656899e+00, 1.60175546e-03,
  5.44129847e-04, 3.93814821e-05]


--- Step 1385 ---
qpos:
[-0.01001626, 1.14779592,-0.01760745, 0.94181224, 0.00425115, 1.11886982,
 -0.02943938, 0.93578065, 0.0166815 , 1.19568571,-0.02296468, 0.94886424,
  1.29545681,-0.0025426 , 1.04407956, 0.06410672,-0.00154632,-0.09785881,
  0.08175145, 0.53073388,-0.00855237,-0.00706507, 0.84746592]

qacc:
[ 3.37715421e-01,-8.85945332e+00, 2.90455110e+01,-4.25418885e+01,
 -1.26757622e-01,-1.71151608e+01, 4.35159207e+01,-5.40094363e+01,
 -1.92679928e-03,-1.28685340e+01, 4.21459643e+01,-7.62437302e+01,
  3.35370568e-01,-8.04192530e-01,-9.69352720e+00, 3.34128652e+01,
 -2.74776962e+00, 1.08624730e+00, 2.57234433e+00,-9.11808764e+01,
  1.21610052e+02, 5.56378872e+00]

qfrc_actuator:
[ 2.51976167e-03, 9.75138365e-02, 1.01205168e-02, 6.04516824e-03,
 -9.70308291e-05, 9.57899379e-02, 1.00106459e-02, 9.70014903e-03,
 -2.82156727e-03, 1.09896717e-01, 1.01869512e-02, 8.33555258e-03,
  5.52020923e-03,-1.67635389e-03, 0.00000000e+00,-2.16060379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001213266613201959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15069295e-14,  4.57534648e-14,  1.00000000e+00,  4.18675908e-27,
        1.00000000e+00, -4.57534648e-14, -1.00000000e+00,  0.00000000e+00,
       -9.15069295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05370262, -0.10734951,  0.06189272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.77722458e-05,-2.15817515e-04, 2.26965968e-05,-8.69705376e-05,
 -3.29246416e-05,-1.29238986e-03,-2.86241334e-04,-1.48381033e-04,
 -8.29293220e-07,-5.84284767e-04,-1.25976831e-04,-2.09641545e-04,
 -3.62462470e-05,-3.47148630e-05, 1.53427557e-05, 1.66382488e-04,
 -7.28630412e-05, 1.85033260e-04,-1.21658230e+00, 1.59804702e-03,
  5.44101019e-04, 9.30566305e-05]


--- Step 1386 ---
qpos:
[-0.0100238 , 1.14908787,-0.01761331, 0.94189281, 0.00424964, 1.12014221,
 -0.02944369, 0.93593142, 0.01668342, 1.19722097,-0.02297107, 0.94899114,
  1.29564416,-0.00254347, 1.04429592, 0.06410531,-0.00154159,-0.09791368,
  0.0817225 , 0.53072423,-0.00774098,-0.0081295 , 0.84747022]

qacc:
[ 1.97977088e-01,-9.60231593e+00, 2.70539885e+01,-3.06227641e+01,
  3.02873115e-02,-1.17327811e+01, 3.31053137e+01,-6.45194780e+01,
 -1.93327532e-02,-4.22182254e+00, 1.45476879e+01,-3.05678809e+01,
 -1.05622901e+00, 1.75197901e+00, 1.05196548e+01,-3.52295864e+01,
 -2.47510879e+00, 9.87527957e-01, 1.42337824e+00,-8.23602252e+01,
  1.09555108e+02, 5.35748271e+00]

qfrc_actuator:
[ 2.52295732e-03, 9.72129375e-02, 1.01370945e-02, 5.99634332e-03,
 -7.12363279e-05, 9.55444964e-02, 9.97255036e-03, 9.52857609e-03,
 -2.82789807e-03, 1.10053708e-01, 1.02599697e-02, 8.26727868e-03,
  5.49769852e-03,-1.63890929e-03, 0.00000000e+00,-2.33494105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54958755, -1.22120007,  8.54958755,  9.37461964,
        5.16850959, -1.22120007,  5.16850959, 44.82095466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013201693786846214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.30727604e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.30727604e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344291, -0.10729809,  0.06188365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13180406e-05,-4.35351571e-04,-2.94332626e-05,-5.51876616e-05,
  7.29188468e-06,-1.03917595e-03,-3.32406772e-04,-2.21077174e-04,
 -5.29606373e-06,-2.14774781e-04,-6.54631243e-05,-9.23089592e-05,
 -5.07869686e-05, 2.07606228e-05, 2.12106376e-05,-1.64110436e-04,
 -4.70140673e-05, 1.92427447e-04,-1.21655006e+00, 1.60200923e-03,
  5.42496603e-04, 1.65134378e-04]


--- Step 1387 ---
qpos:
[-0.01003137, 1.15037494,-0.01761775, 0.94197262, 0.00424848, 1.12140846,
 -0.02944951, 0.93607951, 0.01668529, 1.19875666,-0.02297773, 0.94911642,
  1.29583111,-0.00254393, 1.04451239, 0.06410152,-0.00154585,-0.09796494,
  0.08169535, 0.53070542,-0.00717805,-0.00921536, 0.84747584]

qacc:
[-1.11360316e-02,-1.15798186e+01, 3.16059599e+01,-3.32616447e+01,
  1.49545257e-01,-8.57129299e+00, 2.37792092e+01,-4.79477154e+01,
 -2.25222500e-02,-1.47643393e+00, 8.77644026e+00,-2.65187646e+01,
 -7.78050952e-01, 1.29401344e+00, 7.41238443e+00,-2.55259904e+01,
 -2.24838861e+00, 9.05316602e-01, 4.50732727e-01,-7.50391637e+01,
  9.95570231e+01, 5.15795566e+00]

qfrc_actuator:
[ 2.49211639e-03, 9.69084242e-02, 1.01841646e-02, 5.95305611e-03,
 -3.74456903e-05, 9.53900578e-02, 9.95242992e-03, 9.40292582e-03,
 -2.83243689e-03, 1.10244871e-01, 1.03064974e-02, 8.19429160e-03,
  5.48280249e-03,-1.61642728e-03, 0.00000000e+00,-2.45484657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52565854, -1.37837708,  8.52565854,  9.6696349 ,
        6.39107979, -1.37837708,  6.39107979, 48.16702952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001390223653264397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.98944829e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.98944829e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327292, -0.10726451,  0.06187771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31936371e-06,-5.69533434e-04,-4.68339216e-05,-5.69846222e-05,
  3.77977789e-05,-8.19161162e-04,-2.72219620e-04,-1.70553940e-04,
 -6.05233599e-06, 3.92076470e-05,-9.38984729e-06,-8.15495630e-05,
 -3.88849669e-05, 1.57241942e-05,-1.53472877e-05,-1.27890007e-04,
 -1.62926348e-05, 1.95144122e-04,-1.21652798e+00, 1.60468357e-03,
  5.40801027e-04, 2.06423717e-04]


--- Step 1388 ---
qpos:
[-0.01003894, 1.15165739,-0.01762181, 0.94204998, 0.00424736, 1.12266875,
 -0.02945538, 0.93622522, 0.01668711, 1.20029433,-0.02298429, 0.94923731,
  1.29601791,-0.00254488, 1.04472826, 0.06410032,-0.0015462 ,-0.0980067 ,
  0.08168725, 0.53069084,-0.00665135,-0.01005976, 0.84747967]

qacc:
[-2.82285914e-03,-1.13817186e+01, 3.48470242e+01,-5.60695879e+01,
  2.56507730e-02,-1.17655723e+01, 3.39233926e+01,-5.35172571e+01,
 -2.00553258e-02,-5.27102299e+00, 2.92329699e+01,-7.73815052e+01,
  4.56410262e-01,-1.07181837e+00,-8.75411420e+00, 2.92128396e+01,
  9.80050704e-01, 2.37089372e+00, 4.76133510e+00, 9.27048014e+01,
  7.94436579e+01,-1.23152287e+00]

qfrc_actuator:
[ 2.49440704e-03, 9.66753802e-02, 1.01955694e-02, 5.82459339e-03,
 -5.24094422e-05, 9.51673927e-02, 9.97910103e-03, 9.28765596e-03,
 -2.83587585e-03, 1.10472888e-01, 1.03549951e-02, 7.97708430e-03,
  5.46183104e-03,-1.65626640e-03, 0.00000000e+00,-2.31081961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015027041501834218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77056288e-14,  7.38816769e-14,  1.00000000e+00,  2.04693832e-27,
        1.00000000e+00, -7.38816769e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77056288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02700408, -0.13092938,  0.06186833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08571729e-06,-5.75626491e-04,-1.10737541e-04,-1.46710068e-04,
  6.13512790e-06,-7.52179720e-04,-1.73962267e-04,-1.50597483e-04,
 -5.37939106e-06, 2.27885804e-04, 4.89217853e-05,-2.16334091e-04,
 -3.97864193e-05,-4.48063401e-05,-2.58487066e-05, 1.33889571e-04,
  1.77697188e-05, 1.94391335e-04,-1.21651359e+00, 1.60619071e-03,
  5.38948515e-04, 2.24553321e-04]


--- Step 1389 ---
qpos:
[-0.01004649, 1.15293522,-0.01762605, 0.94212595, 0.0042462 , 1.1239229 ,
 -0.02945999, 0.93636632, 0.01668889, 1.20183405,-0.02299012, 0.94935327,
  1.29620433,-0.00254594, 1.04494401, 0.06410013,-0.00154296,-0.09803999,
  0.08169282, 0.53068031,-0.00615752,-0.01068576, 0.84748233]

qacc:
[ 9.89858490e-03,-7.98921840e+00, 2.16096246e+01,-3.21514830e+01,
 -1.81028538e-02,-1.93605239e+01, 6.30317847e+01,-1.04662001e+02,
 -1.59182238e-02,-7.79908341e+00, 3.87117817e+01,-9.19183291e+01,
 -1.52216830e-01, 5.06812901e-03,-3.19298748e+00, 1.09584856e+01,
  8.94615077e-01, 2.11998173e+00, 3.41911128e+00, 8.38340220e+01,
  7.19061895e+01,-1.13841397e+00]

qfrc_actuator:
[ 2.49881586e-03, 9.64514127e-02, 1.01860583e-02, 5.75355094e-03,
 -6.09753983e-05, 9.48882974e-02, 1.00507389e-02, 9.05512495e-03,
 -2.83863978e-03, 1.10614789e-01, 1.04044083e-02, 7.73002676e-03,
  5.43720472e-03,-1.66173874e-03, 0.00000000e+00,-2.26098087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.99560436,  -3.26451954,  -7.99560436,
        17.194456  , -20.96085496,  -3.26451954, -20.96085496,
        59.97460846,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015812300228496001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75531550e-14,  7.02126198e-14,  1.00000000e+00, -1.23245300e-27,
        1.00000000e+00, -7.02126198e-14, -1.00000000e+00,  0.00000000e+00,
        1.75531550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02691153, -0.13081601,  0.06186188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30623540e-06,-5.85008320e-04,-1.42752157e-04,-9.34371210e-05,
 -5.18278768e-06,-7.51559594e-04,-1.04055993e-04,-2.62489156e-04,
 -4.31299061e-06, 2.53520475e-04, 8.93794550e-05,-2.42007875e-04,
 -5.77912887e-05,-2.51130477e-05, 6.90513225e-07, 5.34388148e-05,
  1.46370562e-06, 1.20210320e-04,-1.21648866e+00, 1.59987238e-03,
  5.44484475e-04, 1.38067626e-04]


--- Step 1390 ---
qpos:
[-0.0100543 , 1.1542082 ,-0.01763097, 0.94220159, 0.00424498, 1.12517225,
 -0.0294652 , 0.93650354, 0.01669065, 1.20337493,-0.02299593, 0.94946726,
  1.29639021,-0.00254654, 1.04516019, 0.06409685,-0.00153643,-0.09806562,
  0.08170755, 0.53067365,-0.00569377,-0.0111124 , 0.84748426]

qacc:
[-1.13743855e-01,-5.14987727e+00, 9.79461704e+00,-9.37347317e+00,
 -2.85130631e-02,-1.13449454e+01, 3.75007158e+01,-7.47949492e+01,
 -1.22838411e-02,-1.95759971e+00, 1.22181356e+01,-3.42184056e+01,
 -9.63840678e-01, 1.54842875e+00, 1.00204655e+01,-3.39972009e+01,
  8.23625061e-01, 1.91438941e+00, 2.29010760e+00, 7.65013316e+01,
  6.56665725e+01,-1.05714468e+00]

qfrc_actuator:
[ 2.46896439e-03, 9.61992260e-02, 1.01466571e-02, 5.73463094e-03,
 -6.56251901e-05, 9.47199446e-02, 1.00415585e-02, 8.86193458e-03,
 -2.84098933e-03, 1.10615381e-01, 1.03826870e-02, 7.62712948e-03,
  5.42106479e-03,-1.62902684e-03, 0.00000000e+00,-2.42688518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.90360901,  -3.48134191,  -7.90360901,
        19.45122955, -24.55273682,  -3.48134191, -24.55273682,
        64.37786705,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016268969548936946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41208772e-14,  3.41208772e-14,  1.00000000e+00,  1.16423426e-27,
        1.00000000e+00, -3.41208772e-14, -1.00000000e+00,  0.00000000e+00,
       -3.41208772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02685862, -0.13075241,  0.06185822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00245802e-05,-6.22962604e-04,-1.76519007e-04,-4.13012401e-05,
 -7.60486530e-06,-6.30057595e-04,-1.80054763e-04,-2.23668193e-04,
 -3.29077194e-06, 1.33576978e-04, 2.71131531e-05,-9.64970895e-05,
 -5.46514434e-05, 1.33899891e-05, 1.81672775e-06,-1.63857515e-04,
 -6.62769612e-06, 6.79774512e-05,-1.21647124e+00, 1.59513038e-03,
  5.48388345e-04, 7.60398322e-05]


--- Step 1391 ---
qpos:
[-0.01006209, 1.15547546,-0.01763602, 0.94227649, 0.00424354, 1.12641822,
 -0.02947245, 0.93663804, 0.01669238, 1.20491505,-0.0230023 , 0.94958004,
  1.29657579,-0.00254707, 1.04537626, 0.06409228,-0.00152684,-0.09808427,
  0.08172765, 0.53067064,-0.00525778,-0.01135547, 0.84748574]

qacc:
[ 1.04282869e-02,-8.42503043e+00, 1.99546380e+01,-2.24325068e+01,
 -9.46703364e-02,-3.62399624e+00, 1.20796343e+01,-3.99642894e+01,
 -9.03569496e-03,-1.51872649e+00, 6.18590338e+00,-1.86773185e+01,
 -3.50619875e-01, 4.54935210e-01, 3.75286278e+00,-1.32941171e+01,
  7.64620432e-01, 1.74598570e+00, 1.34130704e+00, 7.04318244e+01,
  6.04932113e+01,-9.86758041e-01]

qfrc_actuator:
[ 2.48983895e-03, 9.58789339e-02, 1.01253826e-02, 5.69322221e-03,
 -8.56386929e-05, 9.46368897e-02, 9.96747856e-03, 8.72896920e-03,
 -2.84308431e-03, 1.10442515e-01, 1.03009584e-02, 7.55649236e-03,
  5.41004385e-03,-1.62718744e-03, 0.00000000e+00,-2.48775391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.75772471,  -3.79532399,  -7.75772471,
        23.35881997, -30.09302068,  -3.79532399, -30.09302068,
        70.14715185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016459247826752163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.74528409e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.74528409e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02683736, -0.13072851,  0.06185678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39601670e-06,-7.16980104e-04,-1.68084421e-04,-6.47047960e-05,
 -2.43184490e-05,-4.91120469e-04,-2.28652713e-04,-1.61113987e-04,
 -2.46338591e-06,-1.13953582e-04,-5.91062917e-05,-6.62330737e-05,
 -3.91226648e-05,-7.45810539e-06,-2.32011165e-05,-7.10862107e-05,
 -8.49555515e-06, 3.26635649e-05,-1.21645952e+00, 1.59160134e-03,
  5.51014647e-04, 3.28931102e-05]


--- Step 1392 ---
qpos:
[-0.01006929, 1.1567355 ,-0.01763953, 0.94235074, 0.00424205, 1.12766007,
 -0.02947993, 0.93676989, 0.0166944 , 1.20645254,-0.02300893, 0.94968923,
  1.29676113,-0.00254759, 1.04559151, 0.06409234,-0.00151439,-0.09809649,
  0.08174992, 0.53067105,-0.0048476 ,-0.01142804, 0.84748695]

qacc:
[ 2.64267429e-01,-1.48343953e+01, 3.83063136e+01,-3.66147711e+01,
 -2.71076007e-02,-9.27548726e+00, 2.92528800e+01,-5.36388090e+01,
  1.24926509e-01,-8.99929013e+00, 3.24810245e+01,-6.82105519e+01,
  1.06991792e-01,-2.40916665e-01,-1.51767940e+01, 5.13156584e+01,
  7.15544047e-01, 1.60811468e+00, 5.44755783e-01, 6.54054662e+01,
  5.62007398e+01,-9.26014085e-01]

qfrc_actuator:
[ 2.55872457e-03, 9.54673213e-02, 1.01857307e-02, 5.65661129e-03,
 -7.91919711e-05, 9.44457616e-02, 9.96265357e-03, 8.59702005e-03,
 -2.80951735e-03, 1.10184763e-01, 1.02370558e-02, 7.36319333e-03,
  5.40209234e-03,-1.62590974e-03, 0.00000000e+00,-2.23763446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016435124144115465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11099528e-14,  6.75518490e-14,  1.00000000e+00, -1.42601635e-27,
        1.00000000e+00, -6.75518490e-14, -1.00000000e+00,  0.00000000e+00,
        2.11099528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02684126, -0.13073611,  0.0618571 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87769624e-05,-8.59224582e-04,-1.04535352e-04,-6.30042243e-05,
 -7.22175903e-06,-5.29833520e-04,-1.35859607e-04,-1.55887761e-04,
  3.36513482e-05,-3.51593044e-04,-9.85285942e-05,-1.98058440e-04,
 -3.23258029e-05,-9.22168814e-06,-2.22896546e-05, 2.42332107e-04,
 -5.56294542e-06, 1.06012561e-05,-1.21645218e+00, 1.58901645e-03,
  5.52623251e-04, 4.56128599e-06]


--- Step 1393 ---
qpos:
[-0.01007593, 1.15798683,-0.01764149, 0.94242309, 0.00424071, 1.12889618,
 -0.02948597, 0.93689957, 0.01669691, 1.2079856 ,-0.02301494, 0.9497961 ,
  1.29694601,-0.00254753, 1.04580666, 0.06409466,-0.00149924,-0.09810272,
  0.08177171, 0.53067465,-0.00446163,-0.01134093, 0.84748799]

qacc:
[  0.24481084,-18.89996783, 51.77361007,-61.77305285,  0.07284075,
 -15.15795235, 44.88999095,-60.76125725,  0.21412104,-11.49632084,
  35.19944582,-54.65518234, -0.67166716,  1.23053645, -6.93494752,
  24.1797901 ,  0.67466887,  1.4953062 , -0.12320755, 61.24461866,
  52.63951955, -0.87354041]

qfrc_actuator:
[ 2.58482316e-03, 9.49337117e-02, 1.02224152e-02, 5.55208259e-03,
 -5.69341317e-05, 9.41030970e-02, 1.00161550e-02, 8.48444881e-03,
 -2.77260465e-03, 1.09878270e-01, 1.02370248e-02, 7.24120542e-03,
  5.38533675e-03,-1.58943814e-03, 0.00000000e+00,-2.12586440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016240026472097296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.54542191e-15,  3.41816877e-14,  1.00000000e+00,  2.92096943e-28,
        1.00000000e+00, -3.41816877e-14, -1.00000000e+00,  0.00000000e+00,
       -8.54542191e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02686501, -0.13076851,  0.06185881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36244946e-05,-1.04726714e-03,-1.48676379e-04,-1.33250383e-04,
  1.81706610e-05,-6.84343336e-04,-7.43497637e-05,-1.34832052e-04,
  5.77262305e-05,-5.43312460e-04,-8.94182915e-05,-1.38019033e-04,
 -3.70749102e-05, 2.68288739e-05, 1.46311700e-05, 1.21930929e-04,
  1.15135038e-06,-8.96094753e-07,-1.21644832e+00, 1.58717620e-03,
  5.53405310e-04,-1.19349698e-05]


--- Step 1394 ---
qpos:
[-0.01008257, 1.15922839,-0.0176429 , 0.94249243, 0.00423973, 1.13012974,
 -0.02949318, 0.93702607, 0.0166999 , 1.20951252,-0.02301925, 0.94990081,
  1.2971305 ,-0.00254723, 1.04602179, 0.06409865,-0.00148153,-0.09810334,
  0.08179076, 0.5306812 ,-0.00409851,-0.01110312, 0.84748887]

qacc:
[ 4.77218888e-05,-1.96182944e+01, 5.47129835e+01,-7.67081214e+01,
  1.62965802e-01,-5.65793997e+00, 2.09899981e+01,-5.35479819e+01,
  2.06230237e-01,-1.63681784e+01, 4.80534412e+01,-6.28827709e+01,
 -3.65087056e-01, 5.52840484e-01,-5.02304653e+00, 1.76002823e+01,
  6.40540492e-01, 1.40304951e+00,-6.82610833e-01, 5.78047439e+01,
  4.96878102e+01,-8.27927896e-01]

qfrc_actuator:
[ 2.54955045e-03, 9.43490160e-02, 1.02087838e-02, 5.39054716e-03,
 -2.53873929e-05, 9.41521085e-02, 1.00143030e-02, 8.33083596e-03,
 -2.75175620e-03, 1.09492116e-01, 1.02922964e-02, 7.12665812e-03,
  5.35800108e-03,-1.58568880e-03, 0.00000000e+00,-2.04333966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015910193294435618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72257650e-15,  4.36128825e-15,  1.00000000e+00, -3.80416704e-29,
        1.00000000e+00, -4.36128825e-15, -1.00000000e+00,  0.00000000e+00,
        8.72257650e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02690425, -0.13082024,  0.06186161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51152906e-07,-1.21294626e-03,-2.42819443e-04,-1.98790476e-04,
  4.16967101e-05,-3.65334512e-04,-1.52283254e-04,-1.78240588e-04,
  5.54870762e-05,-7.25287571e-04,-6.87299432e-05,-1.34603936e-04,
 -4.16596594e-05, 1.38774424e-06, 1.53768824e-05, 9.00689034e-05,
  1.09186308e-05,-3.80213661e-06,-1.21644727e+00, 1.58593209e-03,
  5.53501726e-04,-1.87853473e-05]


--- Step 1395 ---
qpos:
[-0.01008924, 1.16045895,-0.01764384, 0.94255875, 0.00423913, 1.13136511,
 -0.02950315, 0.93714946, 0.01670326, 1.21103168,-0.02302235, 0.95000423,
  1.29731511,-0.002548  , 1.04623711, 0.06410226,-0.00147202,-0.09810035,
  0.08180821, 0.53067975,-0.00395957,-0.01088619, 0.84749326]

qacc:
[-7.02977292e-03,-2.10155525e+01, 5.73214402e+01,-7.82429196e+01,
  1.64344909e-01, 4.49931787e+00,-5.33864718e+00,-3.27365798e+01,
  1.65249463e-01,-1.57247044e+01, 4.16024360e+01,-4.61867743e+01,
  8.62562811e-01,-1.96583749e+00, 1.31677403e+00,-4.39666840e+00,
 -2.04981471e+00, 9.01976964e-01,-4.01449802e-01,-6.83326247e+01,
  8.94038165e+01, 5.52432300e+00]

qfrc_actuator:
[ 2.54880051e-03, 9.37204693e-02, 1.02008345e-02, 5.23219513e-03,
 -6.28957851e-06, 9.45417566e-02, 9.98126720e-03, 8.18996924e-03,
 -2.74072356e-03, 1.08990634e-01, 1.03084153e-02, 7.05284578e-03,
  5.35095558e-03,-1.65469873e-03, 0.00000000e+00,-2.06742934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015861992443143083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.24944941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.24944941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05282771, -0.10718124,  0.06186211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57580262e-06,-1.36864880e-03,-2.82147595e-04,-2.04839323e-04,
  4.24839507e-05, 1.35300397e-04,-1.31161950e-04,-1.59168810e-04,
  4.43747430e-05,-9.36961788e-04,-1.40940772e-04,-9.85826637e-05,
 -2.99957826e-05,-7.84306875e-05, 1.20693575e-05,-1.82607795e-05,
  2.32197524e-05, 4.32080211e-07,-1.21644855e+00, 1.58517329e-03,
  5.53016447e-04,-1.76007210e-05]


--- Step 1396 ---
qpos:
[-0.01009591, 1.16167741,-0.01764437, 0.94262279, 0.00423869, 1.13260305,
 -0.02951347, 0.93727038, 0.01670644, 1.21254033,-0.02302419, 0.95010694,
  1.29749954,-0.00254906, 1.0464527 , 0.06410357,-0.0014701 ,-0.09809405,
  0.08182127, 0.53067096,-0.00402826,-0.01068852, 0.84750095]

qacc:
[ 3.25200415e-04,-2.09807021e+01, 5.39899943e+01,-6.61263956e+01,
  6.78892864e-02, 9.43010016e-02, 8.92416912e+00,-3.82430011e+01,
 -7.59969211e-02,-1.84134748e+01, 4.48717843e+01,-4.07111972e+01,
 -4.45529415e-02,-1.99148664e-01, 7.38180220e+00,-2.52447258e+01,
 -1.89711662e+00, 8.28807917e-01,-1.09508810e+00,-6.32505122e+01,
  8.28280895e+01, 5.07603201e+00]

qfrc_actuator:
[ 2.55102968e-03, 9.30530027e-02, 1.01961560e-02, 5.11246704e-03,
 -1.25660589e-05, 9.48128848e-02, 1.00203467e-02, 8.07571407e-03,
 -2.78893271e-03, 1.08282020e-01, 1.03008384e-02, 7.00346548e-03,
  5.35072847e-03,-1.65965994e-03, 0.00000000e+00,-2.18962109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00159371868048222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48312107e-14,  8.70780269e-14,  1.00000000e+00,  3.03303311e-27,
        1.00000000e+00, -8.70780269e-14, -1.00000000e+00,  0.00000000e+00,
       -3.48312107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05281348, -0.10717944,  0.0618616 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82852095e-07,-1.50137163e-03,-3.13927122e-04,-1.72158050e-04,
  1.75968003e-05, 2.98510316e-04, 4.19283161e-05,-1.16397877e-04,
 -2.12723985e-05,-1.27403093e-03,-2.13099922e-04,-8.17076478e-05,
 -3.56923443e-05,-3.03159334e-05,-1.27779960e-06,-1.22803581e-04,
  9.64234056e-06, 4.61796198e-06,-1.21644312e+00, 1.58555291e-03,
  5.53381424e-04, 4.68877211e-06]


--- Step 1397 ---
qpos:
[-0.01010272, 1.16288321,-0.01764502, 0.94268639, 0.00423814, 1.13384449,
 -0.02952338, 0.93738991, 0.01670898, 1.21403704,-0.0230258 , 0.9502078 ,
  1.29768351,-0.00254964, 1.04666814, 0.0641044 ,-0.00147525,-0.09808468,
  0.08182762, 0.53065537,-0.00429082,-0.01050876, 0.84751167]

qacc:
[-5.63473824e-02,-1.70876469e+01, 3.65993904e+01,-2.92260256e+01,
 -4.53870831e-02, 1.10476868e+00, 4.80971595e+00,-2.24359280e+01,
 -2.78769679e-01,-1.95437049e+01, 4.85972425e+01,-5.62550892e+01,
 -7.57821739e-01, 1.28007544e+00, 1.25053422e+00,-4.56541202e+00,
 -1.77007962e+00, 7.68621204e-01,-1.68023794e+00,-5.90235398e+01,
  7.73551004e+01, 4.69094528e+00]

qfrc_actuator:
[ 2.53728540e-03, 9.23854212e-02, 1.01755618e-02, 5.08739487e-03,
 -3.39976302e-05, 9.51001820e-02, 1.00836436e-02, 8.01354169e-03,
 -2.85452883e-03, 1.07561490e-01, 1.02607747e-02, 6.89767567e-03,
  5.33330976e-03,-1.62652781e-03, 0.00000000e+00,-2.20881170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015820696862429567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.50876777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.50876777e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05284285, -0.1071857 ,  0.06186262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55732485e-05,-1.57992528e-03,-3.58392604e-04,-8.16396855e-05,
 -1.15223688e-05, 4.40191935e-04, 1.19083106e-04,-5.33170565e-05,
 -7.64653890e-05,-1.48576783e-03,-3.19095022e-04,-1.49837951e-04,
 -4.51059222e-05, 1.79778026e-05,-1.92248236e-05,-2.73627897e-05,
  1.33462892e-06, 6.23578214e-06,-1.21644183e+00, 1.58457883e-03,
  5.53317921e-04, 1.20430958e-05]


--- Step 1398 ---
qpos:
[-0.0101095 , 1.1640757 ,-0.01764599, 0.94275067, 0.00423757, 1.13509069,
 -0.02953342, 0.93750771, 0.01671096, 1.21552271,-0.02302825, 0.95030835,
  1.29786711,-0.00255007, 1.04688343, 0.06410496,-0.00148706,-0.09807242,
  0.08182527, 0.53063336,-0.00473578,-0.01034578, 0.84752509]

qacc:
[ 1.04585222e-02,-1.54278995e+01, 2.78777919e+01,-8.18301874e+00,
 -5.98735233e-03, 3.62174069e+00,-6.76397586e-01,-2.26291247e+01,
 -2.36591701e-01,-1.27433899e+01, 2.47075358e+01,-1.81582719e+01,
 -4.00134499e-01, 5.58254722e-01, 6.42973554e-01,-2.48405904e+00,
 -1.66396701e+00, 7.18948074e-01,-2.17365973e+00,-5.55083791e+01,
  7.28022755e+01, 4.35719850e+00]

qfrc_actuator:
[ 2.54959233e-03, 9.16876832e-02, 1.01457885e-02, 5.11818771e-03,
 -2.88234766e-05, 9.54307310e-02, 1.01075807e-02, 7.92925133e-03,
 -2.87676019e-03, 1.07070234e-01, 1.02372355e-02, 6.88373673e-03,
  5.31093573e-03,-1.62446061e-03, 0.00000000e+00,-2.22037786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001555156288584783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56949019e-14,  5.35423529e-14,  1.00000000e+00,  1.91118904e-27,
        1.00000000e+00, -5.35423529e-14, -1.00000000e+00,  0.00000000e+00,
       -3.56949019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05290647, -0.10719828,  0.06186483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03285246e-06,-1.65929555e-03,-3.85264921e-04,-2.73290496e-05,
 -1.27282143e-06, 5.78858157e-04, 1.18107325e-04,-6.74319841e-05,
 -6.49116234e-05,-1.39615103e-03,-3.57942424e-04,-6.89615023e-05,
 -4.39700373e-05,-3.91148279e-06,-1.58150589e-05,-1.64621532e-05,
 -2.72730611e-06, 5.78480229e-06,-1.21644390e+00, 1.58255893e-03,
  5.52895925e-04, 7.46486366e-06]


--- Step 1399 ---
qpos:
[-0.01011635, 1.16525416,-0.01764673, 0.94281488, 0.00423719, 1.13634235,
 -0.02954385, 0.93762355, 0.01671253, 1.21699858,-0.02303075, 0.95040679,
  1.29805035,-0.00255044, 1.04709878, 0.06410401,-0.00150518,-0.09805746,
  0.08181256, 0.53060521,-0.00535363,-0.01019864, 0.84754082]

qacc:
[-2.69254707e-02,-1.92059854e+01, 4.06005934e+01,-2.75475738e+01,
  7.78971508e-02, 4.88248211e+00,-3.19558380e+00,-2.34279821e+01,
 -1.81099165e-01,-1.63825133e+01, 4.21809494e+01,-5.48365675e+01,
 -4.12836677e-01, 5.27532890e-01, 4.65861990e+00,-1.61374191e+01,
 -1.57485862e+00, 6.77786531e-01,-2.58954749e+00,-5.25880051e+01,
  6.90203244e+01, 4.06496977e+00]

qfrc_actuator:
[ 2.54192567e-03, 9.09598040e-02, 1.01462611e-02, 5.11054118e-03,
 -7.73479989e-06, 9.57668275e-02, 1.01082864e-02, 7.83260027e-03,
 -2.89056487e-03, 1.06702665e-01, 1.02778601e-02, 6.78208035e-03,
  5.29092132e-03,-1.62313451e-03, 0.00000000e+00,-2.29838935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015162432581189642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83054899e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83054899e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529967 , -0.10721578,  0.06186798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.92606744e-06,-1.73673932e-03,-3.71934050e-04,-6.76700377e-05,
  2.04127974e-05, 6.60486580e-04, 1.21485744e-04,-7.59632902e-05,
 -4.98600466e-05,-1.22787220e-03,-2.78256398e-04,-1.53284326e-04,
 -4.60684516e-05,-9.58823232e-06,-1.30103135e-05,-8.18620431e-05,
 -3.29263755e-06, 3.62783092e-06,-1.21644873e+00, 1.57972232e-03,
  5.52169818e-04,-6.85684108e-06]


--- Step 1400 ---
qpos:
[-0.01012372, 1.16641845,-0.01764707, 0.94287785, 0.00423671, 1.13760044,
 -0.02955478, 0.93773797, 0.01671379, 1.21846637,-0.02303417, 0.9505018 ,
  1.29823316,-0.00255049, 1.04731398, 0.06410245,-0.00152929,-0.09803992,
  0.0817881 , 0.53057115,-0.00613647,-0.01006658, 0.84755841]

qacc:
[-2.27615449e-01,-2.18707628e+01, 5.14989504e+01,-5.06820191e+01,
 -4.52469805e-02, 7.35882664e+00,-1.08721067e+01,-1.11829337e+01,
 -1.30795287e-01,-1.40477927e+01, 3.99987093e+01,-6.94329266e+01,
 -6.03829225e-01, 9.45928009e-01, 1.69144977e+00,-6.10966118e+00,
 -1.49949638e+00, 6.43505998e-01,-2.93992578e+00,-5.01662115e+01,
  6.58863409e+01, 3.80608080e+00]

qfrc_actuator:
[ 2.48684754e-03, 9.02553886e-02, 1.01644474e-02, 5.04480217e-03,
 -3.05398990e-05, 9.61746418e-02, 1.01131140e-02, 7.76495069e-03,
 -2.89922171e-03, 1.06412480e-01, 1.02677548e-02, 6.61195774e-03,
  5.27233483e-03,-1.60448080e-03, 0.00000000e+00,-2.32615599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014680575913689556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78126523e-14,  3.78126523e-14,  1.00000000e+00,  1.42979667e-27,
        1.00000000e+00, -3.78126523e-14, -1.00000000e+00,  0.00000000e+00,
       -3.78126523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310731, -0.10723706,  0.06187183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09832168e-05,-1.75448861e-03,-3.68973664e-04,-1.28622487e-04,
 -1.12749426e-05, 7.77743527e-04, 1.41712861e-04,-4.45952014e-05,
 -3.60601745e-05,-1.04419362e-03,-2.89482855e-04,-2.16395300e-04,
 -4.72563791e-05, 5.95204742e-06,-1.94616330e-05,-3.50057229e-05,
 -9.08676227e-07, 2.77160766e-08,-1.21645590e+00, 1.57624162e-03,
  5.51182683e-04,-2.93294971e-05]


--- Step 1401 ---
qpos:
[-0.01013136, 1.16756875,-0.01764723, 0.94293852, 0.00423621, 1.13886536,
 -0.02956591, 0.93785031, 0.01671514, 1.21992818,-0.02303883, 0.9505939 ,
  1.29841576,-0.00255064, 1.04752876, 0.06410287,-0.00155042,-0.098015  ,
  0.08176807, 0.5305413 ,-0.00694579,-0.00975429, 0.8475745 ]

qacc:
[-1.11540906e-01,-2.28749677e+01, 5.71484639e+01,-6.77475082e+01,
 -9.14436188e-03, 5.94344731e+00,-4.25047440e+00,-2.47836141e+01,
  3.95097834e-02,-9.52849125e+00, 2.74969241e+01,-5.37967105e+01,
  4.24031334e-02,-2.03902642e-01,-6.64434031e+00, 2.23032443e+01,
  7.44660769e-01, 1.84760715e+00, 1.11141919e+00, 6.93572692e+01,
  5.90588799e+01,-1.49822731e+00]

qfrc_actuator:
[ 2.49256938e-03, 8.95707965e-02, 1.01752556e-02, 4.92766357e-03,
 -2.62174007e-05, 9.65690907e-02, 1.01206892e-02, 7.66169586e-03,
 -2.86923302e-03, 1.06277438e-01, 1.02636142e-02, 6.47394187e-03,
  5.26527696e-03,-1.61120603e-03, 0.00000000e+00,-2.21755424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014763654735807583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69998386e-15,  3.75998709e-14,  1.00000000e+00,  1.76718787e-28,
        1.00000000e+00, -3.75998709e-14, -1.00000000e+00,  0.00000000e+00,
       -4.69998386e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02703129, -0.13101151,  0.06187102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03368702e-05,-1.74551341e-03,-3.81228989e-04,-1.81889903e-04,
 -1.97056464e-06, 8.34127486e-04, 1.70632944e-04,-7.53403135e-05,
  1.05254701e-05,-7.91398300e-04,-2.50729898e-04,-1.80646429e-04,
 -3.27055038e-05,-1.60530154e-05,-1.67373046e-05, 1.03263381e-04,
  4.02690501e-06,-4.82651105e-06,-1.21646509e+00, 1.57224906e-03,
  5.49969475e-04,-5.88010189e-05]


--- Step 1402 ---
qpos:
[-0.01013863, 1.16870451,-0.0176468 , 0.94299738, 0.00423603, 1.14013556,
 -0.02957627, 0.93795927, 0.01671656, 1.22138556,-0.02304457, 0.9506849 ,
  1.29859839,-0.00255167, 1.04774363, 0.06410254,-0.00156876,-0.09798331,
  0.08174947, 0.53051492,-0.00778026,-0.0092739 , 0.84758916]

qacc:
[ 1.59423278e-01,-2.38640296e+01, 5.85874175e+01,-6.32843168e+01,
  1.43300305e-01,-9.37895181e-01, 1.84753333e+01,-5.87448992e+01,
  2.63773313e-02,-4.83969108e+00, 1.10165624e+01,-1.95794851e+01,
  6.60562661e-01,-1.57608014e+00, 2.35894173e+00,-8.18088732e+00,
  6.98504008e-01, 1.68877411e+00, 3.54296342e-01, 6.45764428e+01,
  5.52739498e+01,-1.14407336e+00]

qfrc_actuator:
[ 2.55246898e-03, 8.88325928e-02, 1.01994516e-02, 4.83448125e-03,
  1.20929059e-05, 9.67572640e-02, 1.01298060e-02, 7.48504149e-03,
 -2.86958719e-03, 1.06201118e-01, 1.02637439e-02, 6.42704993e-03,
  5.25448014e-03,-1.66838684e-03, 0.00000000e+00,-2.26027105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.994785  , -3.26652562, -7.994785  , 11.4899467 ,
       -6.9841127 , -3.26652562, -6.9841127 , 25.72990154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014757547973709567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02702921, -0.13101427,  0.06187095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12815738e-05,-1.79793653e-03,-3.69003690e-04,-1.59276926e-04,
  3.72575869e-05, 6.63731649e-04, 1.85588508e-04,-1.46898086e-04,
  7.03904945e-06,-5.84084435e-04,-1.91579840e-04,-8.00674050e-05,
 -3.31472518e-05,-6.84328858e-05, 7.52152290e-07,-3.98200669e-05,
 -1.17167676e-05, 1.42050878e-05,-1.21647127e+00, 1.57335620e-03,
  5.50111929e-04,-2.98193428e-05]


--- Step 1403 ---
qpos:
[-0.01014538, 1.16982692,-0.01764663, 0.94305498, 0.00423592, 1.14141025,
 -0.02958634, 0.93806539, 0.01671771, 1.22284017,-0.02305099, 0.95077552,
  1.29878087,-0.00255357, 1.04795876, 0.06409936,-0.00158446,-0.09794539,
  0.08172974, 0.53049133,-0.00863876,-0.00863545, 0.84760235]

qacc:
[ 2.32415990e-01,-1.90809094e+01, 4.36972528e+01,-4.45212297e+01,
  3.16475280e-02, 2.39668984e-01, 1.22142292e+01,-4.64684781e+01,
 -1.12784150e-01,-2.41000102e+00, 4.21242836e+00,-6.18471904e+00,
  3.71029992e-01,-1.20262795e+00, 8.95649457e+00,-3.08806247e+01,
  6.59256155e-01, 1.55875001e+00,-2.82419140e-01, 6.06075068e+01,
  5.21258608e+01,-8.40973223e-01]

qfrc_actuator:
[ 2.59110420e-03, 8.82458792e-02, 1.02134486e-02, 4.77387442e-03,
 -5.49708743e-07, 9.69269933e-02, 1.01211998e-02, 7.33749225e-03,
 -2.90590590e-03, 1.06214123e-01, 1.02845074e-02, 6.41643742e-03,
  5.23077391e-03,-1.71950092e-03, 0.00000000e+00,-2.40958611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.98871669, -3.28133852, -7.98871669, 11.96094944,
       -8.09400615, -3.28133852, -8.09400615, 28.34195685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001458932580884184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51228863e-15,  7.60983091e-14,  1.00000000e+00,  7.23869081e-28,
        1.00000000e+00, -7.60983091e-14, -1.00000000e+00,  0.00000000e+00,
       -9.51228863e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02704625, -0.13104041,  0.06187222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07817484e-05,-1.67214264e-03,-3.87334715e-04,-1.27390174e-04,
  8.39103656e-06, 5.51745404e-04, 1.34102938e-04,-1.24142029e-04,
 -3.09341958e-05,-3.65409835e-04,-1.20725509e-04,-3.35729691e-05,
 -5.87470260e-05,-7.47939705e-05,-8.46557783e-06,-1.52469842e-04,
 -2.24955522e-05, 4.06142967e-05,-1.21647997e+00, 1.57477924e-03,
  5.49384385e-04, 6.93316590e-06]


--- Step 1404 ---
qpos:
[-0.01015178, 1.17093797,-0.01764733, 0.94311197, 0.00423579, 1.14268794,
 -0.02959581, 0.93816942, 0.01671883, 1.22429284,-0.02305741, 0.9508649 ,
  1.29896259,-0.00255471, 1.04817363, 0.06409607,-0.00159765,-0.09790167,
  0.08170673, 0.53046988,-0.00952037,-0.00784731, 0.847614  ]

qacc:
[ 1.57300558e-01,-1.36335854e+01, 2.77300720e+01,-2.41678915e+01,
 -1.12714425e-02,-1.27268359e+00, 1.32732711e+01,-3.79044209e+01,
 -1.09676757e-02,-4.74823067e+00, 1.49588395e+01,-2.62942518e+01,
 -1.16849090e+00, 1.97553582e+00,-3.57192259e-03,-3.42665151e-01,
  6.25857914e-01, 1.45202965e+00,-8.17333197e-01, 5.73162807e+01,
  4.95149738e+01,-5.76283783e-01]

qfrc_actuator:
[ 2.59891763e-03, 8.78257061e-02, 1.02219279e-02, 4.75073544e-03,
 -8.13676800e-06, 9.69955888e-02, 1.01198891e-02, 7.22596819e-03,
 -2.89249575e-03, 1.06209832e-01, 1.03177036e-02, 6.35628716e-03,
  5.20998936e-03,-1.66012378e-03, 0.00000000e+00,-2.40742498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.99193851, -3.27348372, -7.99193851, 12.41320551,
       -9.22084563, -3.27348372, -9.22084563, 31.1482921 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001429306767468226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94189073e-14,  3.88378146e-14,  1.00000000e+00,  7.54187921e-28,
        1.00000000e+00, -3.88378146e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94189073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02707829, -0.13108496,  0.06187454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10956015e-05,-1.43844521e-03,-3.69358917e-04,-8.59888598e-05,
 -2.82044312e-06, 3.79251402e-04, 1.14284300e-04,-9.24719709e-05,
 -3.11377275e-06,-2.46428442e-04,-5.61184422e-05,-7.34716885e-05,
 -7.20254707e-05, 2.83299629e-05,-2.55625754e-05,-8.51239628e-06,
 -2.92278632e-05, 7.30523011e-05,-1.21649078e+00, 1.57634564e-03,
  5.47977069e-04, 5.00894714e-05]


--- Step 1405 ---
qpos:
[-0.01015822, 1.17203935,-0.01764863, 0.94316879, 0.00423577, 1.14396521,
 -0.02960337, 0.93827087, 0.01672017, 1.22574274,-0.02306343, 0.95095294,
  1.29914334,-0.00255387, 1.04838804, 0.06409514,-0.00160846,-0.09785249,
  0.08167867, 0.53044998,-0.01042432,-0.00691638, 0.84762392]

qacc:
[-2.20800800e-02,-1.13550391e+01, 2.20971421e+01,-1.52959859e+01,
  4.59362057e-02,-1.00876437e+01, 3.75969382e+01,-6.23125393e+01,
  9.15369347e-02,-6.99243550e+00, 2.11131421e+01,-3.19514779e+01,
 -2.09950743e+00, 4.10471732e+00,-7.58904329e+00, 2.59831863e+01,
  5.97372292e-01, 1.36412222e+00,-1.26622242e+00, 5.45924525e+01,
  4.73585897e+01,-3.40026101e-01]

qfrc_actuator:
[ 2.57044516e-03, 8.74910529e-02, 1.02455690e-02, 4.74992356e-03,
  5.13066599e-06, 9.67724108e-02, 1.01402870e-02, 7.08320175e-03,
 -2.86713147e-03, 1.06035664e-01, 1.03224275e-02, 6.28520205e-03,
  5.19634366e-03,-1.53574243e-03, 0.00000000e+00,-2.28048850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.01414952,  -3.21872402,  -8.01414952,
        12.73117   , -10.19546576,  -3.21872402, -10.19546576,
        34.02157425,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013897224749989667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49650345e-14,  7.98881104e-14,  1.00000000e+00,  1.99440943e-27,
        1.00000000e+00, -7.98881104e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49650345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02712195, -0.13114382,  0.06187767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.35703858e-06,-1.21872838e-03,-3.05197334e-04,-5.52253644e-05,
  1.17030666e-05,-1.08630366e-05, 1.00913839e-04,-1.28755868e-04,
  2.48918636e-05,-3.38979271e-04,-5.51480197e-05,-7.99153180e-05,
 -4.79221772e-05, 1.14525170e-04,-1.65338113e-05, 1.22331013e-04,
 -3.25978425e-05, 1.10562793e-04,-1.21650343e+00, 1.57792919e-03,
  5.46029719e-04, 9.86934124e-05]


--- Step 1406 ---
qpos:
[-0.01016484, 1.17313239,-0.01765104, 0.94322577, 0.00423587, 1.1452384 ,
 -0.02960881, 0.93837052, 0.01672176, 1.22718838,-0.02306892, 0.95103857,
  1.29932368,-0.00255189, 1.04860255, 0.06409369,-0.00161698,-0.09779814,
  0.08164403, 0.53043103,-0.01135   ,-0.00584833, 0.84763194]

qacc:
[ -0.07146976, -7.68709279, 11.5419082 , -2.95152316,  0.05756021,
 -14.18044573, 43.55622844,-56.27208001,  0.11133207,-11.19059248,
  34.62794921,-55.24914512, -1.22710961,  2.43778006,  1.82903586,
  -5.94427781,  0.57297182,  1.29135661, -1.6424672 , 52.34478727,
  45.58765975, -0.12430676]

qfrc_actuator:
[ 2.55597276e-03, 8.71750562e-02, 1.02251377e-02, 4.76231749e-03,
  1.30411919e-05, 9.63231232e-02, 1.01544079e-02, 6.97625428e-03,
 -2.85257343e-03, 1.05725668e-01, 1.03096809e-02, 6.15487191e-03,
  5.18702686e-03,-1.48038782e-03, 0.00000000e+00,-2.31187976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.06312129,  -3.09400258,  -8.06312129,
        12.78524809, -10.81219475,  -3.09400258, -10.81219475,
        36.81346927,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001342550038470114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03368868e-14,  8.26950946e-14,  1.00000000e+00,  8.54809834e-28,
        1.00000000e+00, -8.26950946e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03368868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02717446, -0.13121362,  0.06188142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93516481e-05,-1.06491740e-03,-2.98059126e-04,-3.28851486e-05,
  1.45111522e-05,-4.56470232e-04, 1.57077372e-05,-1.05919834e-04,
  3.02436876e-05,-5.25891639e-04,-9.07479566e-05,-1.42024393e-04,
 -9.37395000e-06, 7.13624573e-05, 2.11257860e-06,-2.75516660e-05,
 -3.31159882e-05, 1.52476194e-04,-1.21651774e+00, 1.57943402e-03,
  5.43646359e-04, 1.52088591e-04]


--- Step 1407 ---
qpos:
[-0.0101716 , 1.17421636,-0.0176538 , 0.94328217, 0.00423608, 1.14650458,
 -0.02961241, 0.93846774, 0.01672373, 1.22862905,-0.02307497, 0.95112145,
  1.29950403,-0.00255024, 1.04881706, 0.06409153,-0.00162328,-0.09773887,
  0.08160156, 0.53041246,-0.01229692,-0.00464783, 0.84763778]

qacc:
[-6.66807837e-02,-1.20009993e+01, 2.59739779e+01,-2.38563206e+01,
  5.14968063e-02,-1.83427719e+01, 5.37780351e+01,-7.06165928e+01,
  1.62963783e-01,-9.78883577e+00, 2.96362092e+01,-5.45065694e+01,
  2.17979383e-01,-5.34725700e-01, 2.10472990e+00,-7.40266329e+00,
  5.51927197e-01, 1.23072538e+00,-1.95741801e+00, 5.04974301e+01,
  4.41442357e+01, 7.71289625e-02]

qfrc_actuator:
[ 2.55003354e-03, 8.66952604e-02, 1.01967480e-02, 4.72910538e-03,
  1.76718316e-05, 9.57597499e-02, 1.01637789e-02, 6.83780225e-03,
 -2.82687593e-03, 1.05407788e-01, 1.02506533e-02, 6.00835962e-03,
  5.16431571e-03,-1.51965526e-03, 0.00000000e+00,-2.34757172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.14079269,  -2.88344779,  -8.14079269,
        12.47999967, -10.85167702,  -2.88344779, -10.85167702,
        39.27373228,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012897590956556099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61399767e-14,  1.29119813e-13,  1.00000000e+00, -2.08399077e-27,
        1.00000000e+00, -1.29119813e-13, -1.00000000e+00,  0.00000000e+00,
        1.61399767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02723354, -0.13129154,  0.06188563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82016626e-05,-1.14143357e-03,-2.74439306e-04,-7.31908017e-05,
  1.27888576e-05,-8.32974485e-04,-8.52582035e-05,-1.52818983e-04,
  4.44606426e-05,-6.45848161e-04,-1.79384985e-04,-1.66234730e-04,
 -1.14090885e-05,-2.43402300e-05,-7.05145807e-06,-3.80893390e-05,
 -3.11632727e-05, 1.98332987e-04,-1.21653361e+00, 1.58078367e-03,
  5.40905734e-04, 2.09838105e-04]


--- Step 1408 ---
qpos:
[-0.01017848, 1.17529109,-0.01765658, 0.94333776, 0.00423637, 1.14776181,
 -0.02961473, 0.93856209, 0.01672589, 1.23006411,-0.02308149, 0.95120305,
  1.29968429,-0.00254916, 1.04903125, 0.06409096,-0.00163453,-0.09768909,
  0.0815772 , 0.53040019,-0.01320499,-0.00372218, 0.84763636]

qacc:
[-4.45410394e-02,-1.35061911e+01, 3.11361631e+01,-3.09318988e+01,
  4.02187645e-02,-2.00966489e+01, 5.73376359e+01,-7.75448450e+01,
  8.69814225e-02,-8.28641950e+00, 2.07365548e+01,-2.92478255e+01,
  4.78071144e-01,-1.14307416e+00,-5.29843709e+00, 1.77370077e+01,
 -1.23487811e+00,-2.37321072e+00, 4.52606353e+00,-1.06164761e+02,
 -8.92977331e+01,-6.37569383e+00]

qfrc_actuator:
[ 2.54927021e-03, 8.62455389e-02, 1.01987864e-02, 4.68697061e-03,
  2.02983501e-05, 9.51680012e-02, 1.01697367e-02, 6.68179821e-03,
 -2.83022219e-03, 1.05105346e-01, 1.02179915e-02, 5.94221434e-03,
  5.13886955e-03,-1.56143889e-03, 0.00000000e+00,-2.26118720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013329646549605986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24934636e-13,  4.16448786e-14,  1.00000000e+00,  5.20288774e-27,
        1.00000000e+00, -4.16448786e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24934636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02970443, -0.05888891,  0.06188179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23652766e-05,-1.15011550e-03,-2.57425779e-04,-8.46390751e-05,
  9.79156856e-06,-1.09070495e-03,-1.75204400e-04,-1.85763591e-04,
  2.36223288e-05,-7.14676333e-04,-1.87211353e-04,-9.25845208e-05,
 -3.79726731e-05,-4.99207228e-05,-1.14517482e-05, 8.24250112e-05,
 -2.70235484e-05, 2.47827736e-04,-1.21655102e+00, 1.58191356e-03,
  5.37868762e-04, 2.71666136e-04]


--- Step 1409 ---
qpos:
[-0.01018494, 1.17635761,-0.01765977, 0.94339167, 0.00423689, 1.14900941,
 -0.02961653, 0.93865431, 0.01672801, 1.2314937 ,-0.02308824, 0.95128462,
  1.29986433,-0.00254833, 1.04924525, 0.06409206,-0.00165022,-0.09764785,
  0.08156545, 0.53039417,-0.01407842,-0.00304359, 0.84762879]

qacc:
[ 1.79732400e-01,-1.26112300e+01, 3.15354590e+01,-4.17939745e+01,
  9.70192071e-02,-1.76979275e+01, 4.68796802e+01,-5.93692432e+01,
 -2.03170692e-02,-6.61307366e+00, 1.29669072e+01,-8.24688288e+00,
  1.25595305e-01,-4.30320366e-01,-5.36423345e+00, 1.83186654e+01,
 -1.11106921e+00,-2.13554193e+00, 3.15460773e+00,-9.54842487e+01,
 -8.01504618e+01,-5.97407354e+00]

qfrc_actuator:
[ 2.60488211e-03, 8.59063967e-02, 1.02011299e-02, 4.60444040e-03,
  3.94558914e-05, 9.46349753e-02, 1.01734763e-02, 6.56992903e-03,
 -2.85096920e-03, 1.04868043e-01, 1.02190381e-02, 5.94166101e-03,
  5.13309538e-03,-1.56883638e-03, 0.00000000e+00,-2.17457033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.25650681,  -4.6829356 ,  -7.25650681,
        33.31801025, -38.24578258,  -4.6829356 , -38.24578258,
        67.90063837,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014431507724146503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.84652472e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.84652472e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02955465, -0.05907645,  0.06187249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73472947e-05,-1.04120115e-03,-2.57178348e-04,-1.25065604e-04,
  2.46165165e-05,-1.19301716e-03,-2.39036222e-04,-1.52799018e-04,
 -5.83033314e-06,-6.86793989e-04,-1.65633821e-04,-2.75511319e-05,
 -3.90359650e-05,-2.79566992e-05, 6.40848688e-07, 8.89759972e-05,
 -3.27143891e-05, 1.50326878e-04,-1.21652130e+00, 1.58774967e-03,
  5.38607843e-04, 1.60891042e-04]


--- Step 1410 ---
qpos:
[-0.01019073, 1.17741522,-0.01766275, 0.94344388, 0.00423777, 1.15024714,
 -0.02961789, 0.93874523, 0.01673   , 1.23291887,-0.02309432, 0.9513651 ,
  1.30004425,-0.00254814, 1.04945957, 0.06409116,-0.00166995,-0.09761437,
  0.0815617 , 0.53039422,-0.01492065,-0.00258904, 0.84761586]

qacc:
[ 2.99857920e-01,-1.52658780e+01, 3.91897393e+01,-4.84253544e+01,
  1.66474280e-01,-1.63981278e+01, 4.05699857e+01,-4.42764315e+01,
 -5.49901795e-02,-9.51593610e+00, 2.62560843e+01,-3.26892224e+01,
  2.73733597e-01,-8.91373117e-01, 6.46932244e+00,-2.20185731e+01,
 -1.00876451e+00,-1.93868526e+00, 1.99713560e+00,-8.66505817e+01,
 -7.25917466e+01,-5.62137600e+00]

qfrc_actuator:
[ 2.65834334e-03, 8.54410157e-02, 1.02040601e-02, 4.51660678e-03,
  6.83685252e-05, 9.41414461e-02, 1.01938783e-02, 6.50269719e-03,
 -2.86423568e-03, 1.04760701e-01, 1.02935209e-02, 5.89096815e-03,
  5.11783525e-03,-1.60896905e-03, 0.00000000e+00,-2.28382163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015150636308560311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02945787, -0.05919752,  0.06186648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.92728699e-05,-1.10822417e-03,-2.36433737e-04,-1.28067262e-04,
  4.27434268e-05,-1.22144106e-03,-2.48649301e-04,-1.12358503e-04,
 -1.53865477e-05,-5.35120285e-04,-8.23476507e-05,-7.47213239e-05,
 -4.37892889e-05,-5.58167371e-05, 6.17814988e-06,-1.05144933e-04,
 -2.94088014e-05, 8.20248975e-05,-1.21650044e+00, 1.59204090e-03,
  5.39494075e-04, 8.20293739e-05]


--- Step 1411 ---
qpos:
[-0.0101963 , 1.17846187,-0.01766484, 0.94349584, 0.00423902, 1.15147689,
 -0.0296204 , 0.93883422, 0.016732  , 1.23434032,-0.02309957, 0.95144396,
  1.30022375,-0.0025481 , 1.04967381, 0.06408965,-0.00169337,-0.09758799,
  0.08156202, 0.53040014,-0.01573455,-0.0023395 , 0.84759816]

qacc:
[ 9.55113955e-02,-1.72113574e+01, 3.93405327e+01,-3.04685776e+01,
  1.58216967e-01,-1.06566784e+01, 2.60936907e+01,-3.99314688e+01,
  6.07039942e-03,-9.91684865e+00, 2.97319724e+01,-4.21695442e+01,
 -2.47074824e-01, 1.09315742e-01, 1.77630315e+00,-6.34693422e+00,
 -9.24018048e-01,-1.77551332e+00, 1.02100159e+00,-7.93296872e+01,
 -6.63300557e+01,-5.31419024e+00]

qfrc_actuator:
[ 2.63906672e-03, 8.47795919e-02, 1.02068760e-02, 4.49730083e-03,
  8.51380463e-05, 9.38532347e-02, 1.01708931e-02, 6.40902677e-03,
 -2.85516125e-03, 1.04643705e-01, 1.03579908e-02, 5.81126520e-03,
  5.09155680e-03,-1.61498267e-03, 0.00000000e+00,-2.31231127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015557521147025466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78406157e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.78406157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02940362, -0.05926538,  0.06186312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47677028e-05,-1.33722241e-03,-2.47337652e-04,-6.10016469e-05,
  4.08501084e-05,-1.03231832e-03,-2.97453660e-04,-1.39003601e-04,
  1.42337573e-06,-4.45918025e-04,-5.46196372e-05,-9.78975243e-05,
 -6.43761452e-05,-2.92420488e-05,-1.40379508e-05,-3.47621628e-05,
 -1.95070334e-05, 3.58676944e-05,-1.21648640e+00, 1.59507357e-03,
  5.40560446e-04, 2.74247354e-05]


--- Step 1412 ---
qpos:
[-0.01020168, 1.17949623,-0.01766638, 0.94354596, 0.00424023, 1.15270178,
 -0.02962507, 0.93892189, 0.01673391, 1.23576011,-0.02310496, 0.95152116,
  1.3004027 ,-0.00254787, 1.04988773, 0.06408945,-0.00172021,-0.09756818,
  0.08156315, 0.53041166,-0.01652249,-0.00227915, 0.84757612]

qacc:
[ 8.24876057e-02,-2.08949920e+01, 5.24739314e+01,-5.96384385e+01,
 -1.14005541e-02,-2.80968645e+00, 4.19583918e+00,-1.59828664e+01,
 -3.97749751e-02,-4.71158610e+00, 1.60894709e+01,-3.21622758e+01,
 -4.74292003e-01, 6.33650197e-01,-4.41039155e+00, 1.48309326e+01,
 -8.53592990e-01,-1.64018278e+00, 1.98463535e-01,-7.32555862e+01,
 -6.11339233e+01,-5.04869882e+00]

qfrc_actuator:
[ 2.64735280e-03, 8.40594062e-02, 1.01911206e-02, 4.39407055e-03,
  5.89842027e-05, 9.38322870e-02, 1.01410414e-02, 6.35388183e-03,
 -2.86827737e-03, 1.04699506e-01, 1.03982738e-02, 5.73286822e-03,
  5.06935064e-03,-1.60076809e-03, 0.00000000e+00,-2.23966319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001571115874216343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53323088e-14,  3.53323088e-14,  1.00000000e+00,  1.24837205e-27,
        1.00000000e+00, -3.53323088e-14, -1.00000000e+00,  0.00000000e+00,
       -3.53323088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02938341, -0.05929082,  0.06186186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12364621e-05,-1.52259297e-03,-3.09889708e-04,-1.50511519e-04,
 -3.12069410e-06,-6.70632589e-04,-2.73610664e-04,-9.68383650e-05,
 -1.10471800e-05,-2.18959753e-04,-5.88844300e-05,-9.36767478e-05,
 -6.56634372e-05,-7.53463206e-06,-1.44618108e-05, 6.79628748e-05,
 -4.68036800e-06, 6.76279646e-06,-1.21647768e+00, 1.59707427e-03,
  5.41820984e-04,-8.47355563e-06]


--- Step 1413 ---
qpos:
[-0.01020691, 1.18051774,-0.01766778, 0.94359454, 0.00424114, 1.15392273,
 -0.02963064, 0.93900913, 0.01673541, 1.23717942,-0.02310988, 0.95159498,
  1.30058136,-0.00254803, 1.05010199, 0.06408641,-0.00174471,-0.09755457,
  0.08157854, 0.53042617,-0.01718381,-0.0023155 , 0.84755379]

qacc:
[ 7.01183403e-02,-1.99266441e+01, 4.78172214e+01,-5.15231920e+01,
 -1.36077882e-01,-3.51687361e+00, 6.11776806e+00,-7.87613371e+00,
 -1.78264151e-01,-7.69999893e+00, 3.11780658e+01,-6.57000181e+01,
 -1.03492751e-01,-2.32622400e-01, 9.06978569e+00,-3.10365970e+01,
  5.83375700e-01,-1.55284636e+00, 3.56834962e+00,-7.37629021e+00,
 -7.93011646e+01,-2.28225534e+00]

qfrc_actuator:
[ 2.65436841e-03, 8.33807125e-02, 1.01819537e-02, 4.31319686e-03,
  2.50687582e-05, 9.37587433e-02, 1.01440527e-02, 6.33978050e-03,
 -2.91236027e-03, 1.04787418e-01, 1.04601821e-02, 5.56718775e-03,
  5.04961371e-03,-1.62795607e-03, 0.00000000e+00,-2.39206522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001570061607827189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.07120675e-14,  3.53560338e-14,  1.00000000e+00, -2.50009825e-27,
        1.00000000e+00, -3.53560338e-14, -1.00000000e+00,  0.00000000e+00,
        7.07120675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00667443, -0.07687851,  0.06186195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79597311e-05,-1.59836098e-03,-3.49260890e-04,-1.37601530e-04,
 -3.57226786e-05,-5.17063237e-04,-1.65972442e-04,-4.32310634e-05,
 -4.92279292e-05,-6.19628250e-05, 6.73258346e-06,-1.74262374e-04,
 -5.85884550e-05,-4.42060194e-05,-2.82602643e-06,-1.51319073e-04,
  1.39094684e-05,-8.98721903e-06,-1.21647315e+00, 1.59821992e-03,
  5.43280114e-04,-2.97142394e-05]


--- Step 1414 ---
qpos:
[-0.01021216, 1.18152592,-0.01766877, 0.94364149, 0.00424169, 1.15514031,
 -0.02963637, 0.93909648, 0.0167366 , 1.23859729,-0.0231143 , 0.95166602,
  1.30075979,-0.00254903, 1.05031607, 0.06408257,-0.00176269,-0.09754457,
  0.08160428, 0.53043921,-0.01766711,-0.00233936, 0.84753563]

qacc:
[-6.24787269e-03,-2.14897501e+01, 5.23585737e+01,-5.64285977e+01,
 -1.55235487e-01,-3.76945164e+00, 6.71457611e+00,-2.30277316e+00,
 -1.31120933e-01,-8.02111256e+00, 2.95369585e+01,-5.69437330e+01,
  4.25235228e-01,-1.28523358e+00, 2.11836287e+00,-7.87319444e+00,
  1.63049976e+00,-9.02738337e-01, 2.58498589e+00, 5.24993065e+01,
 -7.21603572e+01, 1.62377214e+00]

qfrc_actuator:
[ 2.64282363e-03, 8.26968627e-02, 1.01946814e-02, 4.22840386e-03,
  4.54237226e-06, 9.36724211e-02, 1.01663737e-02, 6.34994454e-03,
 -2.92140702e-03, 1.04663287e-01, 1.04635115e-02, 5.42251984e-03,
  5.02603026e-03,-1.67946739e-03, 0.00000000e+00,-2.42732355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.71706408,  -3.87733141,  -7.71706408,
        20.79768702, -24.20471764,  -3.87733141, -24.20471764,
        56.81108424,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015837294606553948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50509052e-14,  3.50509052e-14,  1.00000000e+00,  1.22856596e-27,
        1.00000000e+00, -3.50509052e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50509052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03255164, -0.0896404 ,  0.06186093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45609524e-06,-1.65254541e-03,-3.46235087e-04,-1.44646303e-04,
 -4.07745221e-05,-4.22072810e-04,-1.02737019e-04,-9.94176273e-06,
 -3.63003327e-05,-1.76707614e-04,-1.60712462e-05,-1.48552917e-04,
 -6.74306331e-05,-7.53874691e-05,-2.32996581e-05,-4.52400808e-05,
  1.90541585e-05,-9.47593226e-06,-1.21646371e+00, 1.59569253e-03,
  5.42576671e-04,-1.14762273e-05]


--- Step 1415 ---
qpos:
[-0.01021777, 1.18252052,-0.01766975, 0.94368643, 0.00424194, 1.15635613,
 -0.02964204, 0.93918315, 0.01673787, 1.24001436,-0.02311924, 0.95173584,
  1.30093772,-0.00255034, 1.05053   , 0.06407829,-0.00177466,-0.09753786,
  0.08163677, 0.53045106,-0.01798527,-0.00235173, 0.84752149]

qacc:
[-1.57627253e-01,-2.13832806e+01, 5.23486105e+01,-6.04915648e+01,
 -1.34946744e-01,-3.64793130e+00, 1.05384542e+01,-1.60654259e+01,
  3.62974352e-02,-1.78753096e+00, 6.99252318e+00,-1.95932767e+01,
 -1.64923981e-01,-1.54738635e-01, 1.07998533e+00,-4.10552332e+00,
  1.50425832e+00,-8.21245116e-01, 1.68871301e+00, 4.86618499e+01,
 -6.69790301e+01, 1.48591791e+00]

qfrc_actuator:
[ 2.60250258e-03, 8.19977940e-02, 1.01847146e-02, 4.12422545e-03,
 -7.78318059e-06, 9.37214495e-02, 1.02176606e-02, 6.32102802e-03,
 -2.89162284e-03, 1.04661608e-01, 1.04492318e-02, 5.36223476e-03,
  5.00014341e-03,-1.69172034e-03, 0.00000000e+00,-2.44646325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.14762383,   2.86408848,   8.14762383,
        16.62409003, -22.72310728,   2.86408848, -22.72310728,
        73.27798742,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015900063219548982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.49125349e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.49125349e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03254658, -0.08963971,  0.06186058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28783416e-05,-1.69715904e-03,-3.79337535e-04,-1.65731560e-04,
 -3.54358788e-05,-2.20682198e-04,-4.69700950e-05,-4.35346439e-05,
  9.99654300e-06,-1.21316894e-04,-5.79081649e-05,-6.76385037e-05,
 -8.20541157e-05,-4.55925172e-05,-1.91954270e-05,-2.54439256e-05,
  1.00196881e-05,-4.94001703e-06,-1.21645289e+00, 1.59156624e-03,
  5.40116513e-04, 2.08601455e-05]


--- Step 1416 ---
qpos:
[-0.0102241 , 1.18350162,-0.01767066, 0.94373049, 0.0042421 , 1.15757178,
 -0.0296484 , 0.93926699, 0.0167392 , 1.24143255,-0.02312525, 0.9518036 ,
  1.3011148 ,-0.00255054, 1.0507441 , 0.06407145,-0.00178102,-0.09753417,
  0.08167301, 0.53046189,-0.01814889,-0.00235345, 0.84751122]

qacc:
[-3.07261156e-01,-1.94781326e+01, 4.40165937e+01,-4.04291973e+01,
 -3.67885449e-02,-3.19599461e+00, 1.60090369e+01,-4.66725489e+01,
  2.35143878e-02, 8.07306331e-01, 3.33283801e+00,-2.74429590e+01,
 -1.66005657e+00, 2.90476475e+00, 8.13299748e+00,-2.78083019e+01,
  1.40111050e+00,-7.55336011e-01, 9.39025935e-01, 4.54933120e+01,
 -6.26942972e+01, 1.36926574e+00]

qfrc_actuator:
[ 2.54526952e-03, 8.13484409e-02, 1.01968720e-02, 4.08044672e-03,
  2.65938270e-06, 9.38159268e-02, 1.02151619e-02, 6.18066230e-03,
 -2.89206510e-03, 1.04857630e-01, 1.04429475e-02, 5.26335898e-03,
  4.98888457e-03,-1.60959812e-03, 0.00000000e+00,-2.58024607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015785100784685424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51668019e-14,  3.51668019e-14,  1.00000000e+00,  1.23670396e-27,
        1.00000000e+00, -3.51668019e-14, -1.00000000e+00,  0.00000000e+00,
       -3.51668019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03256674, -0.0896339 ,  0.06186172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.28747208e-05,-1.67902976e-03,-3.70280941e-04,-1.08137014e-04,
 -9.64015956e-06,-5.38468452e-05,-5.59637465e-05,-1.48061177e-04,
  6.58513943e-06, 1.01339904e-04,-4.14498944e-05,-1.03929331e-04,
 -6.85069201e-05, 5.23524877e-05,-1.55573548e-05,-1.38541999e-04,
  4.21634216e-06,-2.03216189e-06,-1.21644579e+00, 1.58861427e-03,
  5.38429147e-04, 4.18135258e-05]


--- Step 1417 ---
qpos:
[-0.01023064, 1.18446893,-0.01767108, 0.94377404, 0.00424227, 1.15878621,
 -0.02965452, 0.93934891, 0.01674042, 1.24285231,-0.0231311 , 0.95186784,
  1.30129151,-0.00255018, 1.05095811, 0.06406269,-0.00178211,-0.09753329,
  0.08171051, 0.53047184,-0.01816676,-0.0023452 , 0.84750463]

qacc:
[-9.65821657e-02,-2.02982506e+01, 4.54288354e+01,-3.68766708e+01,
  3.44431964e-03,-5.53965727e+00, 2.01273116e+01,-3.90382970e+01,
 -4.89864004e-02,-4.42720348e+00, 2.40284766e+01,-6.23555071e+01,
 -8.21651660e-01, 1.45290278e+00, 5.70874589e+00,-1.99833985e+01,
  1.31703181e+00,-7.02151227e-01, 3.12915150e-01, 4.28798795e+01,
 -5.91551167e+01, 1.26963342e+00]

qfrc_actuator:
[ 2.56714078e-03, 8.06632493e-02, 1.02222438e-02, 4.05484710e-03,
  8.90958313e-06, 9.37237576e-02, 1.02166254e-02, 6.08235627e-03,
 -2.91064794e-03, 1.05010879e-01, 1.04777279e-02, 5.08940787e-03,
  4.98645114e-03,-1.57867010e-03, 0.00000000e+00,-2.67398571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015529620669145275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78726681e-14,  7.14906725e-14,  1.00000000e+00,  1.27772906e-27,
        1.00000000e+00, -7.14906725e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78726681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03260662, -0.08962408,  0.06186402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66219420e-05,-1.70115006e-03,-3.50743681e-04,-8.78274757e-05,
  7.86139632e-07,-1.53079321e-04,-2.34448206e-05,-1.03665006e-04,
 -1.35243584e-05, 1.83883181e-04, 4.39251949e-05,-1.72770987e-04,
 -2.91753633e-05, 2.76735643e-05,-2.76695060e-05,-1.04584435e-04,
  1.03367761e-06,-4.48989232e-07,-1.21644168e+00, 1.58660019e-03,
  5.37383396e-04, 5.34720478e-05]


--- Step 1418 ---
qpos:
[-0.01023735, 1.18542212,-0.01767109, 0.94381805, 0.00424233, 1.1599971 ,
 -0.02965962, 0.9394299 , 0.01674178, 1.24427301,-0.02313553, 0.95193022,
  1.30146814,-0.00255021, 1.05117174, 0.06405451,-0.00177821,-0.09753505,
  0.08174717, 0.53048099,-0.0180461 ,-0.00232755, 0.84750153]

qacc:
[-6.50779055e-02,-1.89096611e+01, 3.84168548e+01,-1.95953249e+01,
 -5.08590398e-02,-9.03346994e+00, 2.57657566e+01,-3.09331270e+01,
  6.28876032e-02,-5.82506234e+00, 2.42575949e+01,-4.32156458e+01,
  2.92513471e-01,-7.36274024e-01,-2.34165253e+00, 7.28324061e+00,
  1.24866532e+00,-6.59352992e-01,-2.09079771e-01, 4.07286366e+01,
 -5.62380810e+01, 1.18346247e+00]

qfrc_actuator:
[ 2.56526543e-03, 7.99444863e-02, 1.02373443e-02, 4.07561909e-03,
 -5.16530665e-06, 9.34141944e-02, 1.02198050e-02, 6.02726146e-03,
 -2.88671040e-03, 1.05066557e-01, 1.05540965e-02, 4.99695032e-03,
  4.96799832e-03,-1.61384787e-03, 0.00000000e+00,-2.63682100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015164585865723168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.15144530e-15,  3.66057812e-14,  1.00000000e+00, -3.34995804e-28,
        1.00000000e+00, -3.66057812e-14, -1.00000000e+00,  0.00000000e+00,
        9.15144530e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03266172, -0.08961117,  0.06186722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82034606e-05,-1.74232643e-03,-3.62466559e-04,-4.10806478e-05,
 -1.36384742e-05,-4.17591789e-04,-3.61160285e-05,-6.14574454e-05,
  1.73375448e-05, 1.46631599e-04, 1.09334252e-04,-8.79345527e-05,
 -2.90340917e-05,-3.49713884e-05,-2.80575622e-05, 2.69581015e-05,
  2.03872061e-08, 3.41778497e-08,-1.21644006e+00, 1.58534784e-03,
  5.36881156e-04, 5.73752878e-05]


--- Step 1419 ---
qpos:
[-0.01024428, 1.18636134,-0.01767158, 0.94386306, 0.00424209, 1.16120296,
 -0.0296644 , 0.93950946, 0.01674335, 1.24569328,-0.02313908, 0.95199395,
  1.30164454,-0.00255081, 1.05138492, 0.0640488 ,-0.00176953,-0.0975393 ,
  0.08178126, 0.5304894 ,-0.01779284,-0.00230093, 0.84750169]

qacc:
[ -0.10046526,-15.33752104, 25.88649244, -2.37119216, -0.12784421,
  -9.85633392, 27.18271898,-37.13825025,  0.09055822, -0.618197  ,
  -1.41230929, 17.13040517,  0.42721818, -1.09546652, -8.1329298 ,
  27.40796802,  1.19320608, -0.62502642, -0.64341808, 38.96325526,
 -53.84172756,  1.10772183]

qfrc_actuator:
[ 2.54916031e-03, 7.92469484e-02, 1.02106563e-02, 4.12346735e-03,
 -3.13136067e-05, 9.30480301e-02, 1.01876254e-02, 5.94461150e-03,
 -2.87297946e-03, 1.04957184e-01, 1.05653350e-02, 5.05966764e-03,
  4.93992118e-03,-1.65245239e-03, 0.00000000e+00,-2.50507911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001471570579482273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71529806e-15,  7.54447690e-14,  1.00000000e+00, -3.55744573e-28,
        1.00000000e+00, -7.54447690e-14, -1.00000000e+00,  0.00000000e+00,
        4.71529806e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03272837, -0.08959592,  0.0618711 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76080914e-05,-1.74456560e-03,-4.12211158e-04,-1.45010133e-05,
 -3.39077108e-05,-6.21636566e-04,-1.23409930e-04,-9.63674623e-05,
  2.50209746e-05,-2.36374922e-05, 4.68772972e-05, 7.00288429e-05,
 -5.30870221e-05,-5.33650603e-05,-1.25251051e-05, 1.29047279e-04,
  8.42529227e-07,-4.16225381e-07,-1.21644053e+00, 1.58472519e-03,
  5.36848737e-04, 5.46579229e-05]


--- Step 1420 ---
qpos:
[-0.01025111, 1.18728685,-0.01767248, 0.9439069 , 0.00424155, 1.16240261,
 -0.02966919, 0.93958687, 0.01674511, 1.24711106,-0.02314139, 0.9520571 ,
  1.30182077,-0.00255215, 1.05159809, 0.06404366,-0.00175626,-0.09754595,
  0.08181133, 0.53049709,-0.01741184,-0.00226572, 0.84750489]

qacc:
[ 4.71007438e-02,-1.89283666e+01, 4.24460375e+01,-4.20353043e+01,
 -1.30490849e-01,-1.18554759e+01, 3.32530224e+01,-4.98884564e+01,
  8.44860775e-02,-7.59809059e+00, 2.20263785e+01,-2.42697277e+01,
  4.60140646e-01,-1.24756725e+00,-1.80741152e+00, 6.20906643e+00,
  1.14830690e+00,-5.97600194e-01,-1.00402154e+00, 3.75206918e+01,
 -5.18821785e+01, 1.03982650e+00]

qfrc_actuator:
[ 2.57791707e-03, 7.85853921e-02, 1.01951236e-02, 4.06256319e-03,
 -4.67313983e-05, 9.26507867e-02, 1.01522983e-02, 5.82855446e-03,
 -2.86549518e-03, 1.04696522e-01, 1.05729685e-02, 5.01773498e-03,
  4.92738758e-03,-1.69279061e-03, 0.00000000e+00,-2.47848423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014204272908723975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95403002e-14,  3.90806003e-14,  1.00000000e+00,  7.63646660e-28,
        1.00000000e+00, -3.90806003e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95403002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280353, -0.08957895,  0.06187549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18880430e-05,-1.71855458e-03,-4.06326905e-04,-1.24178503e-04,
 -3.46896979e-05,-7.83640697e-04,-1.77425871e-04,-1.39287606e-04,
  2.32199084e-05,-2.76491662e-04, 7.58226998e-06,-3.78095101e-05,
 -5.49741165e-05,-6.53392171e-05, 5.52108013e-06, 3.14829599e-05,
  3.25321617e-06,-1.67713097e-06,-1.21644282e+00, 1.58463248e-03,
  5.37230551e-04, 4.61534800e-05]


--- Step 1421 ---
qpos:
[-0.01025772, 1.18820132,-0.01767393, 0.94394913, 0.00424092, 1.16359533,
 -0.02967373, 0.93966203, 0.01674718, 1.24852557,-0.02314324, 0.95211699,
  1.30199654,-0.00255344, 1.05181092, 0.06404157,-0.00173855,-0.0975549 ,
  0.08183619, 0.53050405,-0.01690703,-0.00222222, 0.84751086]

qacc:
[ 9.79388607e-02,-1.58467436e+01, 3.75290887e+01,-4.47215630e+01,
 -3.94995256e-02,-1.35884188e+01, 3.80308954e+01,-5.49137668e+01,
  1.30938200e-01,-1.11831423e+01, 3.78722241e+01,-6.84628515e+01,
 -1.95411495e-01, 1.47312188e-01,-9.66433073e+00, 3.31010503e+01,
  1.11200128e+00,-5.75782806e-01,-1.30266635e+00, 3.63486294e+01,
 -5.02897637e+01, 9.77568997e-01]

qfrc_actuator:
[ 2.59784165e-03, 7.82347814e-02, 1.02396652e-02, 3.99142725e-03,
 -3.78348744e-05, 9.22736164e-02, 1.01507648e-02, 5.71148894e-03,
 -2.84407527e-03, 1.04453818e-01, 1.05599788e-02, 4.84339337e-03,
  4.91353277e-03,-1.68051298e-03, 0.00000000e+00,-2.31880190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001364786587008851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03288474, -0.08956075,  0.06188023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56720963e-05,-1.39516452e-03,-3.43688942e-04,-1.36025241e-04,
 -1.08363490e-05,-8.64944654e-04,-1.82715505e-04,-1.47754864e-04,
  3.60950771e-05,-4.09179464e-04,-7.00398008e-05,-1.81362437e-04,
 -6.01720312e-05,-1.60077728e-05, 1.56389616e-06, 1.61122595e-04,
  7.07041549e-06,-3.65792498e-06,-1.21644672e+00, 1.58499361e-03,
  5.37984469e-04, 3.24699851e-05]


--- Step 1422 ---
qpos:
[-0.01026409, 1.1891086 ,-0.01767712, 0.94399094, 0.00424044, 1.16478009,
 -0.02967732, 0.93973631, 0.01674939, 1.24993624,-0.02314581, 0.95217483,
  1.30217188,-0.00255463, 1.05202316, 0.06404574,-0.00171915,-0.09756834,
  0.08186106, 0.53051325,-0.0163081 ,-0.00225066, 0.84751677]

qacc:
[ 1.05921019e-01,-5.46743116e+00, 7.27510747e+00,-6.61346902e+00,
  6.73176847e-02,-1.45436238e+01, 3.66338455e+01,-3.69045072e+01,
  5.90541236e-02,-6.65854012e+00, 1.97835621e+01,-3.85333885e+01,
 -1.38943156e-02,-6.88850577e-02,-1.97837301e+01, 6.79487454e+01,
  4.18880533e-01,-1.12185949e+00, 2.37789727e-03,-5.49867291e+00,
 -5.89606157e+01,-1.67630779e+00]

qfrc_actuator:
[ 2.61230812e-03, 7.81445750e-02, 1.02495515e-02, 3.98608874e-03,
 -1.44365127e-05, 9.18406696e-02, 1.01870289e-02, 5.66579985e-03,
 -2.84998515e-03, 1.04205926e-01, 1.04993887e-02, 4.73453898e-03,
  4.89891711e-03,-1.67265599e-03, 0.00000000e+00,-1.99319232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013113085486715706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00674886, -0.07663233,  0.06188478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81397442e-05,-9.43847006e-04,-3.08310793e-04,-5.90507232e-05,
  1.71931466e-05,-9.66856810e-04,-1.61643820e-04,-7.91813026e-05,
  1.62303764e-05,-5.07115465e-04,-1.56579287e-04,-1.25418102e-04,
 -5.19853327e-05,-1.00521453e-05, 1.46755493e-05, 3.33893528e-04,
  1.21605492e-05,-6.29237134e-06,-1.21645211e+00, 1.58574969e-03,
  5.39078374e-04, 1.40456164e-05]


--- Step 1423 ---
qpos:
[-0.01026978, 1.19001122,-0.01768169, 0.94403248, 0.00424016, 1.16595482,
 -0.02968011, 0.93981108, 0.01675135, 1.25134158,-0.02314856, 0.95223243,
  1.30234695,-0.0025558 , 1.05223581, 0.06405042,-0.00170261,-0.0975873 ,
  0.08187937, 0.53052736,-0.01568805,-0.00243532, 0.84751913]

qacc:
[  0.29666351, -2.84863402,  2.4909376 , -2.46244591,  0.09281463,
 -14.49535388, 30.38000738,-14.45885714, -0.10509121, -6.90481983,
  14.5720239 ,-12.03919891, -0.2207169 ,  0.24027257, -0.92832333,
   4.15879408, -0.71209963, -1.38103213, -1.63924837,-60.56193269,
 -50.35654191, -4.32506256]

qfrc_actuator:
[ 2.67664874e-03, 7.81224166e-02, 1.02578026e-02, 3.98415886e-03,
 -2.94833800e-07, 9.12005347e-02, 1.01741351e-02, 5.68020347e-03,
 -2.89000025e-03, 1.03868040e-01, 1.04644949e-02, 4.71833663e-03,
  4.89451005e-03,-1.66752635e-03, 0.00000000e+00,-1.98077988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012737497043767837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.35808943e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.35808943e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02980903, -0.05877079,  0.06188801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94682631e-05,-6.16845591e-04,-2.15400512e-04,-3.93935347e-05,
  2.38439788e-05,-1.22406888e-03,-2.26284879e-04,-1.99520380e-05,
 -2.94181759e-05,-6.66403854e-04,-1.58177589e-04,-3.68994320e-05,
 -3.52822039e-05,-9.68992945e-06, 4.01559660e-05, 3.20433875e-05,
  9.17825329e-06,-6.46932786e-06,-1.21645695e+00, 1.58566803e-03,
  5.39775897e-04, 2.37938544e-06]


--- Step 1424 ---
qpos:
[-0.0102749 , 1.1909095 ,-0.01768655, 0.94407291, 0.00424023, 1.16711712,
 -0.02968146, 0.93988393, 0.01675297, 1.2527402 ,-0.02315175, 0.95229199,
  1.30252187,-0.0025572 , 1.05244936, 0.06404924,-0.00168879,-0.09761155,
  0.08188965, 0.53054607,-0.0150477 ,-0.00276935, 0.847518  ]

qacc:
[  0.25135962, -6.86547547, 17.7648327 ,-25.60121586,  0.15362801,
 -23.46423893, 60.84456049,-67.37299271, -0.14510745, -4.28907995,
  -0.6046549 , 27.22370501, -0.31264741,  0.2451621 , 19.04425373,
 -64.64505259, -0.68152198, -1.32206619, -2.01035617,-57.88024323,
 -48.18838195, -4.06691016]

qfrc_actuator:
[ 2.69936888e-03, 7.79638911e-02, 1.02654117e-02, 3.93104567e-03,
  2.59279727e-05, 9.04235987e-02, 1.01847917e-02, 5.56988630e-03,
 -2.91464566e-03, 1.03443661e-01, 1.04092597e-02, 4.80998152e-03,
  4.88557828e-03,-1.68174943e-03, 0.00000000e+00,-2.29505967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012440666296161737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46207220e-14,  4.46207220e-14,  1.00000000e+00, -1.99100883e-27,
        1.00000000e+00, -4.46207220e-14, -1.00000000e+00,  0.00000000e+00,
        4.46207220e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02985032, -0.05871953,  0.06189057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72744611e-05,-5.53511317e-04,-1.40939331e-04,-7.76630915e-05,
  3.96906136e-05,-1.51384904e-03,-2.58634872e-04,-1.52941001e-04,
 -4.05822552e-05,-8.38527616e-04,-2.07173211e-04, 6.82425127e-05,
 -3.06971025e-05,-2.48454609e-05, 1.55785346e-05,-3.08839431e-04,
 -2.90012448e-06, 3.00830020e-06,-1.21645937e+00, 1.58364134e-03,
  5.39736385e-04, 1.47201656e-05]


--- Step 1425 ---
qpos:
[-0.01028017, 1.19180225,-0.01769108, 0.94411041, 0.00424048, 1.16826622,
 -0.02968155, 0.9399543 , 0.01675442, 1.25413171,-0.02315615, 0.95235126,
  1.30269637,-0.00255819, 1.05266275, 0.06404635,-0.0016776 ,-0.09764089,
  0.08189063, 0.53056903,-0.01438773,-0.00324709, 0.84751339]

qacc:
[-6.59369001e-02,-1.32714271e+01, 4.05191487e+01,-6.58772826e+01,
  7.98384740e-02,-2.49796662e+01, 6.56780515e+01,-7.74134459e+01,
 -7.07519954e-02,-6.52511162e+00, 1.06149099e+01,-8.12433746e+00,
 -7.30691243e-01, 1.20617639e+00, 4.95877625e+00,-1.75865313e+01,
 -6.56061725e-01,-1.27291563e+00,-2.32168751e+00,-5.56639463e+01,
 -4.64055706e+01,-3.83494365e+00]

qfrc_actuator:
[ 2.64369149e-03, 7.76185911e-02, 1.02543414e-02, 3.77715119e-03,
  2.36743590e-05, 8.97130013e-02, 1.02263752e-02, 5.44020638e-03,
 -2.91212520e-03, 1.03041932e-01, 1.03243963e-02, 4.78671659e-03,
  4.86860398e-03,-1.65407312e-03, 0.00000000e+00,-2.37312365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012069617700305596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59924685e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.59924685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02990105, -0.05865649,  0.06189371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80857426e-05,-6.91766013e-04,-1.39865190e-04,-1.75262736e-04,
  2.02073239e-05,-1.61799386e-03,-2.91962951e-04,-1.85061523e-04,
 -1.99297209e-05,-9.17353865e-04,-2.72858525e-04,-5.07516597e-05,
 -4.07214563e-05, 1.50366020e-05,-3.39434174e-05,-9.48428877e-05,
 -1.14357953e-05, 1.88655944e-05,-1.21646382e+00, 1.58121051e-03,
  5.39986645e-04, 3.35259595e-05]


--- Step 1426 ---
qpos:
[-0.01028534, 1.19268864,-0.01769534, 0.94414588, 0.00424066, 1.1694023 ,
 -0.02968093, 0.940024  , 0.0167558 , 1.25551485,-0.02316037, 0.95240745,
  1.30287021,-0.002558  , 1.05287563, 0.06404484,-0.00166894,-0.09767516,
  0.08188129, 0.5305959 ,-0.01370867,-0.00386387, 0.84750524]

qacc:
[ 4.14112817e-02,-1.26420798e+01, 3.53446801e+01,-5.05095737e+01,
 -2.69967681e-02,-2.01768128e+01, 4.65965036e+01,-4.01517790e+01,
 -3.24024165e-02,-1.68224739e+01, 4.78238869e+01,-7.18494606e+01,
 -1.31366300e+00, 2.49345079e+00,-4.77549567e+00, 1.59010597e+01,
 -6.34710952e-01,-1.23163816e+00,-2.58271294e+00,-5.38378884e+01,
 -4.49472187e+01,-3.62343688e+00]

qfrc_actuator:
[ 2.66574254e-03, 7.72529111e-02, 1.02493142e-02, 3.67157034e-03,
  4.36522493e-06, 8.90834619e-02, 1.02683536e-02, 5.40673900e-03,
 -2.91109528e-03, 1.02568100e-01, 1.03114801e-02, 4.62495352e-03,
  4.84683405e-03,-1.58406302e-03, 0.00000000e+00,-2.29351402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001164251566102753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76796878e-14, -9.53593757e-14,  1.00000000e+00,  4.54670526e-27,
        1.00000000e+00,  9.53593757e-14, -1.00000000e+00,  0.00000000e+00,
        4.76796878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02995882, -0.05858467,  0.06189729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07429372e-05,-7.91240612e-04,-1.63581332e-04,-1.33304196e-04,
 -7.92162760e-06,-1.60184446e-03,-3.16637554e-04,-9.37144798e-05,
 -9.43765084e-06,-1.04930860e-03,-2.27235902e-04,-1.96279609e-04,
 -4.18383877e-05, 6.45446753e-05,-2.95460557e-05, 6.91955327e-05,
 -1.68738015e-05, 4.04053836e-05,-1.21647006e+00, 1.57846002e-03,
  5.40485404e-04, 5.80793376e-05]


--- Step 1427 ---
qpos:
[-0.01029019, 1.19356771,-0.0176995 , 0.94418027, 0.00424085, 1.17052582,
 -0.02968054, 0.94009176, 0.01675729, 1.25688743,-0.0231627 , 0.95246279,
  1.30304384,-0.00255778, 1.05308877, 0.06404056,-0.00166276,-0.09771422,
  0.08186073, 0.53062629,-0.01301093,-0.00461591, 0.84749345]

qacc:
[ 1.43578884e-01,-1.17675922e+01, 2.90032085e+01,-3.32700638e+01,
  8.48986243e-03,-1.91893219e+01, 4.67193841e+01,-5.52483713e+01,
  5.04862687e-02,-2.04669418e+01, 5.17519918e+01,-4.82005900e+01,
 -3.58985636e-01, 4.74507369e-01, 8.76463084e+00,-3.00843348e+01,
 -6.16612219e-01,-1.19661202e+00,-2.80143411e+00,-5.23396101e+01,
 -4.37626429e+01,-3.42761258e+00]

qfrc_actuator:
[ 2.69874071e-03, 7.68247796e-02, 1.02300846e-02, 3.61300901e-03,
  1.05000592e-05, 8.84721474e-02, 1.02573584e-02, 5.30592866e-03,
 -2.89322863e-03, 1.01948603e-01, 1.03763173e-02, 4.57827652e-03,
  4.82755019e-03,-1.59609835e-03, 0.00000000e+00,-2.44124931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011174428550115717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96769486e-14, -4.96769486e-14,  1.00000000e+00, -2.46779922e-27,
        1.00000000e+00,  4.96769486e-14, -1.00000000e+00,  0.00000000e+00,
       -4.96769486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03002166, -0.05850651,  0.06190118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82121804e-05,-9.11989535e-04,-1.98667427e-04,-8.89743581e-05,
  1.53093200e-06,-1.57653847e-03,-3.66518237e-04,-1.59187835e-04,
  1.34780619e-05,-1.26323714e-03,-1.74307771e-04,-8.71605071e-05,
 -2.79088905e-05,-6.20467423e-06,-8.97527708e-06,-1.48359271e-04,
 -1.95490983e-05, 6.71287009e-05,-1.21647789e+00, 1.57545892e-03,
  5.41196962e-04, 8.78673309e-05]


--- Step 1428 ---
qpos:
[-0.01029468, 1.1944384 ,-0.0177034 , 0.94421415, 0.00424094, 1.17163706,
 -0.02968069, 0.94015607, 0.01675879, 1.2582483 ,-0.02316398, 0.95252044,
  1.30321748,-0.00255843, 1.05330174, 0.06403519,-0.00165474,-0.09775809,
  0.08184065, 0.53065803,-0.01221674,-0.00544166, 0.8474805 ]

qacc:
[ 1.59668355e-01,-1.26342438e+01, 2.90154570e+01,-2.61245262e+01,
 -4.79499098e-02,-2.05647122e+01, 5.47343871e+01,-7.97917096e+01,
  6.32560272e-03,-1.42118303e+01, 2.31743966e+01, 1.37065398e+01,
  6.27943123e-01,-1.51628060e+00, 2.95548044e+00,-1.08236902e+01,
  4.56599099e-01,-1.20605586e+00, 1.17095202e-01,-5.63886356e+00,
 -6.04203420e+01,-1.57831879e+00]

qfrc_actuator:
[ 2.72028312e-03, 7.63449343e-02, 1.02201529e-02, 3.58251524e-03,
 -3.65886718e-06, 8.78765139e-02, 1.02329911e-02, 5.13074397e-03,
 -2.90092583e-03, 1.01282747e-01, 1.03972585e-02, 4.68841798e-03,
  4.80974058e-03,-1.65668646e-03, 0.00000000e+00,-2.49100477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010825682174621515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12772778e-14,  5.12772778e-14,  1.00000000e+00,  2.62935922e-27,
        1.00000000e+00, -5.12772778e-14, -1.00000000e+00,  0.00000000e+00,
       -5.12772778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00681305, -0.07642278,  0.06190403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25073502e-05,-1.03590729e-03,-2.15633097e-04,-6.45089350e-05,
 -1.33845370e-05,-1.55840823e-03,-3.82496806e-04,-2.35792160e-04,
  1.21631114e-06,-1.41412398e-03,-2.50717382e-04, 6.74053985e-05,
 -3.55392918e-05,-6.81933131e-05,-2.53260638e-05,-6.02546317e-05,
 -1.97122518e-05, 9.86861331e-05,-1.21648716e+00, 1.57226570e-03,
  5.42089468e-04, 1.22530619e-04]


--- Step 1429 ---
qpos:
[-0.01029884, 1.1952998 ,-0.01770673, 0.94424921, 0.00424088, 1.17273653,
 -0.0296812 , 0.94021775, 0.01676041, 1.25959619,-0.02316478, 0.95257775,
  1.30339084,-0.00255969, 1.05351426, 0.06403157,-0.00164266,-0.0977946 ,
  0.08183104, 0.53069012,-0.01145874,-0.0060549 , 0.84746683]

qacc:
[ 1.42760303e-01,-1.16650272e+01, 2.09323489e+01, 1.21046289e+00,
 -5.85508510e-02,-1.89779600e+01, 4.86838260e+01,-6.54008659e+01,
  5.33737994e-02,-1.89236509e+01, 4.18193852e+01,-3.20255015e+01,
  3.70198660e-01,-1.06414280e+00,-5.98293270e+00, 1.98644677e+01,
  1.01578179e+00, 1.84205650e+00, 2.61863662e+00, 8.04452257e+01,
  7.17301261e+01, 1.05798561e+00]

qfrc_actuator:
[ 2.73478466e-03, 7.58380455e-02, 1.02333442e-02, 3.63974179e-03,
 -1.21189968e-05, 8.73482985e-02, 1.02365075e-02, 5.00197365e-03,
 -2.88839926e-03, 1.00523431e-01, 1.03742066e-02, 4.65905279e-03,
  4.78215116e-03,-1.69225308e-03, 0.00000000e+00,-2.39379742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010643985651874882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95572245e-14,  1.56457796e-13,  1.00000000e+00,  3.05988025e-27,
        1.00000000e+00, -1.56457796e-13, -1.00000000e+00,  0.00000000e+00,
       -1.95572245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02754982, -0.13163186,  0.06190549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79380622e-05,-1.13394865e-03,-2.17911586e-04, 1.95863349e-05,
 -1.61716537e-05,-1.48621689e-03,-3.55091597e-04,-1.91088667e-04,
  1.42856713e-05,-1.60115639e-03,-3.28278427e-04,-7.52119907e-05,
 -6.42171671e-05,-5.97116279e-05,-2.14342017e-05, 8.98796105e-05,
 -2.60335074e-05, 1.19476046e-04,-1.21649880e+00, 1.57079918e-03,
  5.42958948e-04, 1.33437502e-04]


--- Step 1430 ---
qpos:
[-0.01030258, 1.19615554,-0.01771197, 0.94428451, 0.00424101, 1.17382913,
 -0.02968428, 0.94027745, 0.01676232, 1.26093559,-0.02316786, 0.9526313 ,
  1.30356354,-0.00256033, 1.05372649, 0.06403011,-0.0016269 ,-0.09782431,
  0.08182807, 0.53072303,-0.01073367,-0.00647275, 0.84745263]

qacc:
[  0.1815261 , -1.85790559, -3.38543685,  9.24363855,  0.08100883,
  -5.49181214, 11.12876949,-28.35582739,  0.122464  ,-11.53496871,
  31.8001625 ,-65.90960841, -0.84342864,  1.42522202, -6.84076844,
  23.48751672,  0.92199071,  1.70216735,  1.65813603, 74.0563064 ,
  65.80360876,  0.73197437]

qfrc_actuator:
[ 2.76270781e-03, 7.57630150e-02, 1.02067515e-02, 3.65934109e-03,
  1.84147832e-05, 8.73265060e-02, 1.02212883e-02, 4.91936778e-03,
 -2.86385235e-03, 1.00353099e-01, 1.03426555e-02, 4.47668135e-03,
  4.77002335e-03,-1.64171458e-03, 0.00000000e+00,-2.28181592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.6283977 ,   6.55041344,   5.6283977 ,
        31.49564038, -19.64167632,   6.55041344, -19.64167632,
        25.51333892,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001122383851356143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09114119e-14,  1.48374777e-13,  1.00000000e+00,  4.58647385e-27,
        1.00000000e+00, -1.48374777e-13, -1.00000000e+00,  0.00000000e+00,
       -3.09114119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02748238, -0.13154031,  0.06190056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87504515e-05,-7.54108518e-04,-2.74603819e-04,-1.90779139e-05,
  2.12373556e-05,-9.32946194e-04,-3.55215848e-04,-1.40924155e-04,
  3.38885058e-05,-1.13483810e-03,-3.86270805e-04,-2.39353272e-04,
 -6.24526863e-05, 2.14625026e-05,-2.74775007e-06, 1.13581363e-04,
 -2.40005373e-05, 6.68654648e-05,-1.21648133e+00, 1.57175896e-03,
  5.44509959e-04, 6.83252800e-05]


--- Step 1431 ---
qpos:
[-0.01030594, 1.19700984,-0.01771933, 0.94431838, 0.00424124, 1.1749199 ,
 -0.02969002, 0.94033665, 0.01676407, 1.26227241,-0.02317464, 0.95268251,
  1.30373581,-0.00256046, 1.05393849, 0.06403132,-0.00160775,-0.09784767,
  0.08182849, 0.53075706,-0.01003884,-0.00670941, 0.84743799]

qacc:
[ 1.66995995e-01, 1.36408735e+00,-3.83360342e+00,-1.22357357e+01,
  4.66340684e-02, 3.91963481e+00,-1.46620862e+01, 8.04617346e+00,
 -6.71728813e-02, 2.60901141e+00,-7.87345659e+00,-1.84755539e+01,
 -5.54225993e-01, 9.93574133e-01,-8.37172029e+00, 2.88899909e+01,
  8.45121383e-01, 1.58574277e+00, 8.50114184e-01, 6.87587677e+01,
  6.08977967e+01, 4.76765528e-01]

qfrc_actuator:
[ 2.78070987e-03, 7.60004356e-02, 1.02117891e-02, 3.60357976e-03,
  1.88207940e-05, 8.76261158e-02, 1.02326759e-02, 4.91812340e-03,
 -2.90331523e-03, 1.00643375e-01, 1.03085663e-02, 4.38361241e-03,
  4.76189046e-03,-1.61151179e-03, 0.00000000e+00,-2.14432110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.71398517,   6.47588993,   5.71398517,
        34.13021535, -22.49443584,   6.47588993, -22.49443584,
        28.48427243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011565159780950601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.59972059e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.59972059e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02744339, -0.1314866 ,  0.06189768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50690600e-05,-2.43727560e-04,-1.76307685e-04,-8.57106881e-05,
  1.24441894e-05,-3.03832954e-04,-2.18853903e-04,-4.17693826e-05,
 -1.86958371e-05,-4.32458495e-04,-3.09123818e-04,-1.41777256e-04,
 -3.80554585e-05, 2.07258346e-05, 7.14312651e-06, 1.42524444e-04,
 -1.71679042e-05, 3.03592505e-05,-1.21646932e+00, 1.57254123e-03,
  5.45381690e-04, 2.13994504e-05]


--- Step 1432 ---
qpos:
[-0.01030959, 1.19786361,-0.01772687, 0.94435081, 0.00424154, 1.1760127 ,
 -0.0296979 , 0.94039605, 0.01676569, 1.26360615,-0.02318139, 0.95273139,
  1.30390793,-0.00256102, 1.05415084, 0.06403114,-0.00158548,-0.09786507,
  0.0818296 , 0.53079242,-0.00937201,-0.00677665, 0.84742295]

qacc:
[-1.26259798e-01,-2.76022030e+00, 1.11026754e+01,-2.61077031e+01,
  2.59711715e-02, 8.79341543e+00,-2.58974405e+01, 2.35422005e+01,
 -5.79454372e-02,-8.16370620e+00, 2.64663753e+01,-4.79570051e+01,
  1.08736508e-01,-5.01616372e-01, 4.66618355e+00,-1.56206548e+01,
  7.81976592e-01, 1.48888163e+00, 1.70765303e-01, 6.43641970e+01,
  5.68319932e+01, 2.76084253e-01]

qfrc_actuator:
[ 2.72161434e-03, 7.61038246e-02, 1.02545345e-02, 3.53967574e-03,
  1.89056977e-05, 8.80452731e-02, 1.02434031e-02, 4.94725837e-03,
 -2.90984743e-03, 1.00568399e-01, 1.03463080e-02, 4.27318078e-03,
  4.74018142e-03,-1.64689329e-03, 0.00000000e+00,-2.22368507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.81200749,   6.38806276,   5.81200749,
        36.82600272, -25.64758667,   6.38806276, -25.64758667,
        31.97113214,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011712951133704408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77723628e-14,  9.47859350e-14,  1.00000000e+00,  1.68457003e-27,
        1.00000000e+00, -9.47859350e-14, -1.00000000e+00,  0.00000000e+00,
       -1.77723628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02742723, -0.13146315,  0.06189644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41000824e-05,-7.82131944e-05,-2.95994337e-05,-7.73305851e-05,
  7.15612684e-06, 1.93523186e-04,-7.79470880e-05, 1.38297118e-05,
 -1.63551911e-05,-3.91216796e-04,-8.84551510e-05,-1.33829044e-04,
 -3.79784598e-05,-3.93647036e-05, 1.48052590e-05,-7.14964301e-05,
 -6.54545676e-06, 6.66976814e-06,-1.21646162e+00, 1.57326064e-03,
  5.45651262e-04,-1.10329974e-05]


--- Step 1433 ---
qpos:
[-0.01031371, 1.19871747,-0.01773545, 0.94438222, 0.00424218, 1.17711034,
 -0.02970758, 0.94045473, 0.01676719, 1.26493567,-0.02318623, 0.95278067,
  1.30407988,-0.00256198, 1.05436335, 0.06402903,-0.00156028,-0.09787684,
  0.08182911, 0.53082921,-0.00873132,-0.00668421, 0.84740748]

qacc:
[-2.01210254e-01, 1.19352975e+00,-1.67348916e+00,-1.03131881e+01,
  1.47255343e-01, 9.96380487e+00,-2.33630795e+01, 8.93931364e+00,
 -4.53134158e-02,-9.99786001e+00, 2.50846598e+01,-1.44672307e+01,
  7.07076264e-02,-4.41076040e-01, 6.06542074e+00,-2.08956625e+01,
  7.29935368e-01, 1.40830976e+00,-4.00014141e-01, 6.07199197e+01,
  5.34606208e+01, 1.17673545e-01]

qfrc_actuator:
[ 2.68779155e-03, 7.61442214e-02, 1.02122893e-02, 3.48923019e-03,
  5.43063471e-05, 8.85152804e-02, 1.02365295e-02, 4.92310853e-03,
 -2.91433114e-03, 1.00346811e-01, 1.04426377e-02, 4.29528380e-03,
  4.73161947e-03,-1.66764789e-03, 0.00000000e+00,-2.32366209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.87967698,   6.32583398,   5.87967698,
        39.88712535, -29.0466656 ,   6.32583398, -29.0466656 ,
        35.6343866 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011704841193794224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37129023e-14, -1.18564512e-14,  1.00000000e+00, -2.81150869e-28,
        1.00000000e+00,  1.18564512e-14, -1.00000000e+00,  0.00000000e+00,
       -2.37129023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02742929, -0.13146378,  0.06189651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42482467e-05,-2.07005703e-05,-6.52703374e-05,-5.44390518e-05,
  3.94907525e-05, 5.48810535e-04, 1.94611361e-05,-1.90704965e-05,
 -1.29526678e-05,-4.71571335e-04, 3.53741463e-06, 6.56356289e-06,
 -3.93187399e-05,-3.88505699e-05,-6.61542894e-06,-1.03331433e-04,
  7.14586310e-06,-6.62844830e-06,-1.21645739e+00, 1.57399093e-03,
  5.45381877e-04,-3.16979616e-05]


--- Step 1434 ---
qpos:
[-0.01031795, 1.19957193,-0.0177451 , 0.94441242, 0.00424303, 1.17821293,
 -0.02971764, 0.94051122, 0.01676847, 1.26626092,-0.02319034, 0.95283028,
  1.30425166,-0.00256323, 1.05457608, 0.06402339,-0.00154418,-0.09788413,
  0.08182976, 0.53085551,-0.00833487,-0.00661463, 0.84739554]

qacc:
[-5.53238709e-02, 1.54567011e+00,-1.64205921e+00,-1.30031934e+01,
  9.52157402e-02, 3.78211104e+00, 4.86777114e-02,-2.86509420e+01,
 -9.74334857e-02,-7.02078171e+00, 1.54854952e+01,-7.04327429e+00,
 -1.36977509e-01,-5.83469981e-02, 1.10034206e+01,-3.80169183e+01,
 -2.27346102e+00, 1.11963835e+00, 2.86879801e-01,-7.45432493e+01,
  9.73695644e+01, 6.09552755e+00]

qfrc_actuator:
[ 2.70492526e-03, 7.62174085e-02, 1.01732475e-02, 3.42925183e-03,
  5.73367094e-05, 8.88168953e-02, 1.02373517e-02, 4.81456434e-03,
 -2.93531247e-03, 1.00110655e-01, 1.04657266e-02, 4.30634023e-03,
  4.72562610e-03,-1.67946934e-03, 0.00000000e+00,-2.50591401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012400135488367311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47665683e-14,  6.71498525e-14,  1.00000000e+00, -3.00606846e-27,
        1.00000000e+00, -6.71498525e-14, -1.00000000e+00,  0.00000000e+00,
        4.47665683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05362681, -0.10738453,  0.0618907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48572372e-05, 3.76323910e-05,-5.42060988e-05,-6.27791654e-05,
  2.55749056e-05, 5.95026115e-04, 1.06797731e-04,-9.06793348e-05,
 -2.74835632e-05,-5.08299763e-04,-7.07839372e-05,-9.01866050e-07,
 -3.76840856e-05,-2.99480560e-05,-1.90544755e-05,-1.89906946e-04,
  2.33935979e-05,-1.13307376e-05,-1.21645602e+00, 1.57478001e-03,
  5.44624273e-04,-4.26147318e-05]


--- Step 1435 ---
qpos:
[-0.01032216, 1.20042652,-0.01775402, 0.94444267, 0.00424372, 1.1793193 ,
 -0.02972693, 0.940565  , 0.01676967, 1.26758027,-0.02319419, 0.95287916,
  1.30442317,-0.00256461, 1.05478857, 0.06401659,-0.00153643,-0.0978874 ,
  0.08182843, 0.53087252,-0.00816343,-0.00656585, 0.84738693]

qacc:
[ 1.00588483e-02,-1.69386380e+00, 5.66048582e+00,-4.50783118e+00,
 -7.38953345e-02,-1.74807287e+00, 1.73088038e+01,-4.89035317e+01,
 -3.54259697e-02,-9.71302694e+00, 2.38423299e+01,-2.55566524e+01,
 -1.67821299e-01, 5.64128786e-02, 3.14314095e+00,-1.15065840e+01,
 -2.08642571e+00, 1.00482941e+00,-4.97037173e-01,-6.85649156e+01,
  8.97686767e+01, 5.48021221e+00]

qfrc_actuator:
[ 2.71697703e-03, 7.62564877e-02, 1.02253355e-02, 3.43517362e-03,
  2.31765292e-05, 8.89621669e-02, 1.02598517e-02, 4.67490025e-03,
 -2.93052302e-03, 9.96899591e-02, 1.04275275e-02, 4.25742891e-03,
  4.71052988e-03,-1.68589188e-03, 0.00000000e+00,-2.55762756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61053395, -0.66744431, -8.61053395,  8.78443235,
       -1.91019783, -0.66744431, -1.91019783, 33.27935335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012859249930264743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31682653e-14,  6.47523979e-14,  1.00000000e+00, -2.79524869e-27,
        1.00000000e+00, -6.47523979e-14, -1.00000000e+00,  0.00000000e+00,
        4.31682653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351811, -0.10736754,  0.06188688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67735357e-06, 3.77217234e-05, 4.93463792e-05, 4.98720080e-06,
 -1.95405631e-05, 4.79152973e-04, 1.45352091e-04,-1.19502351e-04,
 -1.01935987e-05,-7.27799810e-04,-1.47888953e-04,-6.43043797e-05,
 -4.40877603e-05,-2.18747746e-05,-3.42182586e-05,-6.57371147e-05,
  9.88781797e-06,-4.44856406e-06,-1.21644595e+00, 1.57989925e-03,
  5.46137876e-04,-3.53562652e-06]


--- Step 1436 ---
qpos:
[-0.0103263 , 1.20128136,-0.01776208, 0.94447378, 0.00424413, 1.18042883,
 -0.02973596, 0.94061852, 0.01677069, 1.26889076,-0.02319649, 0.9529273 ,
  1.30459436,-0.00256605, 1.05500051, 0.06401184,-0.0015364 ,-0.09788703,
  0.08182246, 0.53088116,-0.00820098,-0.00653619, 0.84738139]

qacc:
[ 3.56256071e-02,-5.08997564e-01, 2.63069202e-01, 9.72374166e+00,
 -1.19972179e-01, 2.99671555e+00,-4.24387086e+00,-1.29141806e+00,
 -7.05435195e-02,-1.70947871e+01, 4.31844404e+01,-4.04043800e+01,
 -4.87744864e-02,-8.81001109e-02,-7.00973028e+00, 2.33526228e+01,
 -1.93098564e+00, 9.11464581e-01,-1.15906901e+00,-6.35966171e+01,
  8.34351031e+01, 4.96674828e+00]

qfrc_actuator:
[ 2.72588101e-03, 7.62930650e-02, 1.02774768e-02, 3.47985943e-03,
  2.50693846e-06, 8.90838304e-02, 1.02588526e-02, 4.65997837e-03,
 -2.94582925e-03, 9.90731067e-02, 1.04414983e-02, 4.20897510e-03,
  4.69531285e-03,-1.68911539e-03, 0.00000000e+00,-2.44321800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61226794, -0.64468426, -8.61226794,  8.79547618,
       -2.12556737, -0.64468426, -2.12556737, 37.03159047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013082302543876573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.24322485e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.24322485e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346545, -0.10736054,  0.06188502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.59939505e-06, 5.75686386e-05, 6.32196972e-05, 4.83760582e-05,
 -3.17858046e-05, 3.98102245e-04, 1.02720605e-04, 2.22203440e-06,
 -2.02337771e-05,-1.06218803e-03,-1.49186453e-04,-7.40778726e-05,
 -4.57989730e-05,-1.83052790e-05,-2.60541174e-05, 1.05674851e-04,
  2.51220289e-06,-8.39660196e-07,-1.21644101e+00, 1.58297992e-03,
  5.47076410e-04, 1.66551167e-05]


--- Step 1437 ---
qpos:
[-0.01033033, 1.20213957,-0.01777105, 0.94450399, 0.00424428, 1.18154256,
 -0.02974542, 0.9406721 , 0.01677155, 1.27019044,-0.02319721, 0.95297367,
  1.30476513,-0.00256726, 1.05521231, 0.06400811,-0.00154357,-0.09788331,
  0.08180962, 0.53088214,-0.00843418,-0.00652425, 0.84737857]

qacc:
[ 4.21514699e-02, 5.29403943e+00,-1.00758749e+01,-3.83274137e+00,
 -1.15518764e-01, 6.77738894e+00,-1.55736607e+01, 1.15825155e+01,
 -7.04187055e-02,-2.15716223e+01, 5.68384973e+01,-6.31863148e+01,
 -4.32927321e-01, 6.48292805e-01,-3.25747329e+00, 1.11555233e+01,
 -1.80128646e+00, 8.35359256e-01,-1.71813769e+00,-5.94638323e+01,
  7.81542958e+01, 4.53485543e+00]

qfrc_actuator:
[ 2.73282838e-03, 7.66475347e-02, 1.02937125e-02, 3.44044187e-03,
 -9.89608978e-06, 8.93679724e-02, 1.02617081e-02, 4.66527547e-03,
 -2.95532325e-03, 9.83971528e-02, 1.04676254e-02, 4.10782467e-03,
  4.68003691e-03,-1.67268188e-03, 0.00000000e+00,-2.39165889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6050947 , -0.73424931, -8.6050947 ,  8.87284101,
       -2.77141587, -0.73424931, -2.77141587, 41.11619819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001311417501829698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.46582437e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.46582437e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05345748, -0.10736151,  0.06188473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16222612e-05, 3.90470246e-04, 3.40593808e-05,-3.37174375e-05,
 -3.05151240e-05, 5.11087916e-04, 8.94494200e-05, 2.15790681e-05,
 -2.03051915e-05,-1.30661094e-03,-2.02733383e-04,-1.36941816e-04,
 -4.55256104e-05, 1.57058959e-06,-2.82406021e-06, 5.35189789e-05,
 -1.91894403e-08, 1.78776427e-07,-1.21644019e+00, 1.58452796e-03,
  5.47560024e-04, 2.19414466e-05]


--- Step 1438 ---
qpos:
[-0.01033412, 1.20300702,-0.01778259, 0.94453341, 0.00424422, 1.18266214,
 -0.02975505, 0.9407252 , 0.01677242, 1.27147795,-0.02319739, 0.95301902,
  1.30493559,-0.00256851, 1.05542416, 0.06400401,-0.00155752,-0.09787651,
  0.08178802, 0.53087602,-0.00885191,-0.00652888, 0.84737811]

qacc:
[ 1.06034456e-01, 1.77687076e+01,-4.17653471e+01, 2.17125047e+01,
 -9.39737107e-02, 7.31551651e+00,-1.35732614e+01, 2.36690619e+00,
  5.29609827e-03,-1.91447433e+01, 4.52117935e+01,-4.33596882e+01,
 -2.30813063e-01, 1.84806011e-01, 1.22555236e+00,-4.12898547e+00,
 -1.69251736e+00, 7.73147701e-01,-2.19023291e+00,-5.60254099e+01,
  7.37521299e+01, 4.16821125e+00]

qfrc_actuator:
[ 2.75630499e-03, 7.75090533e-02, 1.03075807e-02, 3.42300837e-03,
 -1.72407826e-05, 8.98005479e-02, 1.03029660e-02, 4.64698357e-03,
 -2.94350992e-03, 9.76734714e-02, 1.04471266e-02, 4.04741015e-03,
  4.65941971e-03,-1.68023714e-03, 0.00000000e+00,-2.41310004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57719667, -1.00919477, -8.57719667,  9.1428558 ,
       -4.30470214, -1.00919477, -4.30470214, 45.22224166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012992456721649948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06814193e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06814193e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348494, -0.10736881,  0.06188567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93340512e-05, 1.07346324e-03, 9.10108607e-05,-4.59295671e-06,
 -2.47306009e-05, 7.20006094e-04, 1.49017711e-04, 1.45291401e-06,
  9.33279066e-07,-1.50169214e-03,-3.04993302e-04,-1.06478179e-04,
 -4.58661204e-05,-1.76995389e-05, 4.46079045e-07,-1.97726392e-05,
  1.36228439e-06,-8.97293893e-07,-1.21644272e+00, 1.58491056e-03,
  5.47676911e-04, 1.52332422e-05]


--- Step 1439 ---
qpos:
[-0.01033764, 1.20388642,-0.01779566, 0.94456246, 0.00424415, 1.18379039,
 -0.02976524, 0.94077709, 0.01677306, 1.2727518 ,-0.02319652, 0.95306413,
  1.30510575,-0.00257008, 1.05563638, 0.06399632,-0.00157787,-0.09786681,
  0.08175606, 0.5308632 ,-0.00944492,-0.00654913, 0.84737959]

qacc:
[ 1.13786255e-01, 1.91888581e+01,-4.29301648e+01, 2.57070035e+01,
 -4.00124255e-03, 1.08356634e+01,-1.91477185e+01,-2.68599166e+00,
 -9.49441476e-02,-2.12445172e+01, 4.81404031e+01,-3.61147994e+01,
 -2.19486927e-01, 5.62798398e-03, 1.13590757e+01,-3.89240782e+01,
 -1.60070691e+00, 7.22115277e-01,-2.58887037e+00,-5.31663323e+01,
  7.00862340e+01, 3.85359950e+00]

qfrc_actuator:
[ 2.77175741e-03, 7.83480382e-02, 1.03220676e-02, 3.41900142e-03,
 -3.74237024e-06, 9.04431247e-02, 1.03494337e-02, 4.59731533e-03,
 -2.97227994e-03, 9.69090866e-02, 1.04700948e-02, 4.02913145e-03,
  4.63560441e-03,-1.70198866e-03, 0.00000000e+00,-2.60162655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.49875887, -1.53553723, -8.49875887,  9.93579609,
       -7.19198652, -1.53553723, -7.19198652, 48.4419495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001274861855516729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.70857513e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.70857513e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354026, -0.10738108,  0.06188759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15236230e-05, 1.44060345e-03, 2.32451003e-04, 3.15069610e-05,
 -5.77967030e-07, 1.05660431e-03, 2.01288777e-04,-2.23534182e-05,
 -2.72849351e-05,-1.66917882e-03,-3.10316261e-04,-7.24096293e-05,
 -5.39139948e-05,-3.65169893e-05,-6.63751484e-06,-1.90628069e-04,
  5.98208209e-06,-3.70752602e-06,-1.21644806e+00, 1.58439706e-03,
  5.47492967e-04,-1.34226673e-06]


--- Step 1440 ---
qpos:
[-0.01034108, 1.20477458,-0.0178074 , 0.94459034, 0.00424415, 1.18492846,
 -0.02977616, 0.94082792, 0.01677329, 1.27401135,-0.0231944 , 0.95310841,
  1.30527551,-0.00257162, 1.05584797, 0.06399113,-0.0016043 ,-0.09785439,
  0.0817124 , 0.53084399,-0.01020551,-0.00658421, 0.84738253]

qacc:
[ 3.60525847e-02, 5.88374225e+00,-2.95847966e+00,-1.63035493e+01,
  2.73416058e-02, 1.30091456e+01,-2.46562545e+01, 2.73469423e+00,
 -1.76122937e-01,-2.35933100e+01, 5.60023057e+01,-4.93538468e+01,
 -1.54702962e-01, 9.20945721e-02,-8.42837279e+00, 2.81447499e+01,
 -1.52256293e+00, 6.80066378e-01,-2.92547984e+00,-5.07922447e+01,
  6.70394210e+01, 3.58025920e+00]

qfrc_actuator:
[ 2.76452532e-03, 7.86345200e-02, 1.03369082e-02, 3.35194988e-03,
  4.38776004e-06, 9.10290187e-02, 1.03462177e-02, 4.54746979e-03,
 -3.00741632e-03, 9.61621496e-02, 1.05183942e-02, 3.98251246e-03,
  4.62053099e-03,-1.69647849e-03, 0.00000000e+00,-2.46098592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.31488111,  -2.33442262,  -8.31488111,
        11.8540472 , -11.4609309 ,  -2.33442262, -11.4609309 ,
        49.45856831,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012408987695452789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47346331e-14,  2.23673166e-14,  1.00000000e+00,  1.00059370e-27,
        1.00000000e+00, -2.23673166e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47346331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361727, -0.10739722,  0.06189027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01125821e-05, 1.11978339e-03, 3.21717859e-04,-1.56082633e-05,
  7.86348854e-06, 1.19557955e-03, 2.22698461e-04,-1.14201625e-05,
 -5.01421967e-05,-1.74419333e-03,-3.17255172e-04,-1.05081412e-04,
 -5.45421142e-05,-1.54253604e-05,-2.93694622e-05, 1.28006354e-04,
  1.33533996e-05,-7.99086815e-06,-1.21645579e+00, 1.58318769e-03,
  5.47058526e-04,-2.62326555e-05]


--- Step 1441 ---
qpos:
[-0.01034435, 1.20566696,-0.0178173 , 0.9446176 , 0.00424423, 1.18607382,
 -0.02978675, 0.94087933, 0.01677355, 1.27525653,-0.02319156, 0.95315151,
  1.30544485,-0.00257286, 1.05605939, 0.06398726,-0.00162741,-0.09783436,
  0.08167639, 0.5308279 ,-0.01099691,-0.00642232, 0.84738395]

qacc:
[ 7.25470576e-02,-5.36502679e-01, 9.69215718e+00,-1.82476708e+01,
  3.37762655e-02, 9.70894890e+00,-2.13108353e+01, 2.06777445e+01,
  1.64086296e-02,-2.28286466e+01, 5.40670264e+01,-5.15819578e+01,
 -4.60110804e-01, 7.20737885e-01,-4.22413679e+00, 1.44911499e+01,
  8.32573516e-01, 1.90408789e+00, 1.91315479e+00, 7.52914968e+01,
  6.53504444e+01,-6.25117629e-01]

qfrc_actuator:
[ 2.77926285e-03, 7.85346510e-02, 1.03142043e-02, 3.30126317e-03,
  9.22725489e-06, 9.12567376e-02, 1.03135840e-02, 4.56888778e-03,
 -2.97508179e-03, 9.54317723e-02, 1.05457730e-02, 3.91957589e-03,
  4.61072345e-03,-1.67481710e-03, 0.00000000e+00,-2.39376630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012777424095737205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62917671e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.62917671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0272942 , -0.13129958,  0.06188698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97496868e-05, 5.71963901e-04, 2.30234009e-04,-7.24381345e-06,
  9.40341126e-06, 9.18733814e-04, 2.23215877e-04, 6.49122935e-05,
  3.96286952e-06,-1.77126768e-03,-3.54533084e-04,-1.24595884e-04,
 -4.42478321e-05, 5.41004640e-06,-1.68177613e-06, 7.00477625e-05,
  2.31278597e-05,-1.35595466e-05,-1.21646558e+00, 1.58143382e-03,
  5.46413091e-04,-5.83105801e-05]


--- Step 1442 ---
qpos:
[-0.0103476 , 1.20655871,-0.01782493, 0.94464518, 0.00424422, 1.18722299,
 -0.0297957 , 0.94093017, 0.0167743 , 1.27648663,-0.02318837, 0.95319365,
  1.30561386,-0.00257365, 1.05627074, 0.06398421,-0.00164743,-0.09780737,
  0.08164455, 0.53081438,-0.01181718,-0.00607803, 0.84738392]

qacc:
[ 1.10494039e-02,-6.40923964e+00, 1.92871639e+01,-1.28765681e+01,
 -3.58476374e-02,-3.79557078e-01, 8.44332273e+00,-1.62625204e+01,
  2.08497142e-01,-2.24690045e+01, 5.13739961e+01,-4.64687543e+01,
 -5.48310156e-01, 9.94925334e-01,-2.52313794e+00, 8.80297971e+00,
  7.72349942e-01, 1.74006991e+00, 1.04296273e+00, 6.96241732e+01,
  6.06621982e+01,-3.79708145e-01]

qfrc_actuator:
[ 2.77156062e-03, 7.81685059e-02, 1.03034302e-02, 3.29582155e-03,
 -5.70013826e-06, 9.12326405e-02, 1.03158001e-02, 4.52532002e-03,
 -2.92030117e-03, 9.46283688e-02, 1.05428896e-02, 3.86527752e-03,
  4.60941692e-03,-1.64374443e-03, 0.00000000e+00,-2.35268292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.92795026,  -3.42554836,  -7.92795026,
        14.21537504, -12.91183784,  -3.42554836, -12.91183784,
        38.5189977 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013060476860354692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65644738e-14,  4.25031581e-14,  1.00000000e+00,  1.12907403e-27,
        1.00000000e+00, -4.25031581e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65644738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02725772, -0.13125563,  0.06188444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81990438e-06,-1.49555227e-05, 1.24915774e-04, 1.92198289e-05,
 -9.49934404e-06, 5.16135264e-04, 2.06200850e-04,-6.60276169e-06,
  5.79767174e-05,-1.86694963e-03,-3.94853696e-04,-1.18318884e-04,
 -2.48781185e-05, 2.21219408e-05, 2.83234628e-06, 4.38263389e-05,
  1.94236241e-06,-2.23259904e-06,-1.21646961e+00, 1.58306323e-03,
  5.46185085e-04,-3.75226946e-05]


--- Step 1443 ---
qpos:
[-0.01035056, 1.20744607,-0.01782975, 0.94467384, 0.00424409, 1.18837345,
 -0.02980257, 0.94097896, 0.0167756 , 1.27770025,-0.02318547, 0.95323603,
  1.30578269,-0.00257434, 1.0564821 , 0.06398134,-0.00166456,-0.09777396,
  0.08161396, 0.5308029 ,-0.01266473,-0.00556346, 0.8473824 ]

qacc:
[ 1.22777529e-01,-1.14871437e+01, 2.83235713e+01,-9.41341055e+00,
 -5.30879834e-02,-7.46814049e+00, 3.06860184e+01,-5.14603464e+01,
  2.40486913e-01,-2.04037347e+01, 3.99472935e+01,-2.15369952e+01,
 -2.17564400e-01, 3.23321091e-01,-5.05237318e-01, 1.81255451e+00,
  7.21386092e-01, 1.60495376e+00, 3.09469828e-01, 6.49138393e+01,
  5.67614445e+01,-1.64331285e-01]

qfrc_actuator:
[ 2.80372872e-03, 7.76990164e-02, 1.03519200e-02, 3.33459805e-03,
 -1.46054755e-05, 9.11290334e-02, 1.03552337e-02, 4.40816673e-03,
 -2.88802102e-03, 9.36988385e-02, 1.04864051e-02, 3.86968712e-03,
  4.59724041e-03,-1.64281013e-03, 0.00000000e+00,-2.34505922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.93931498,  -3.39912556,  -7.93931498,
        14.74490338, -14.26767568,  -3.39912556, -14.26767568,
        41.96127891,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013141052465873923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58409547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.58409547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02724549, -0.13124223,  0.0618836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29230059e-05,-4.62677330e-04, 5.82609542e-05, 4.35045948e-05,
 -1.43055253e-05, 2.08397418e-04, 1.60607145e-04,-9.44408524e-05,
  6.70034485e-05,-2.05348947e-03,-4.71497597e-04,-6.34923691e-05,
 -2.09773076e-05, 5.47427966e-07, 1.73022713e-06, 9.41634936e-06,
 -1.31593728e-05, 1.85070565e-05,-1.21647686e+00, 1.58492162e-03,
  5.45117047e-04,-6.73913097e-06]


--- Step 1444 ---
qpos:
[-0.0103529 , 1.20832667,-0.01783248, 0.94470268, 0.00424385, 1.18952269,
 -0.02980758, 0.94102622, 0.01677725, 1.27889673,-0.02318262, 0.95327822,
  1.3059513 ,-0.00257518, 1.05669368, 0.06397656,-0.0016747 ,-0.09774391,
  0.08159912, 0.53079035,-0.01330875,-0.00503731, 0.84738369]

qacc:
[ 2.73888548e-01,-1.42056128e+01, 3.53210548e+01,-2.46741055e+01,
 -4.92013487e-02,-9.22803611e+00, 3.12867676e+01,-4.39811504e+01,
  1.47209119e-01,-2.27170229e+01, 4.73384570e+01,-3.26952531e+01,
 -1.59726329e-01, 4.73548731e-02, 6.05585374e+00,-2.07194186e+01,
  1.74929022e+00,-8.40584710e-01, 3.94137763e+00, 5.89296083e+01,
 -8.31761932e+01, 7.03544736e-01]

qfrc_actuator:
[ 2.85955346e-03, 7.71715297e-02, 1.03812512e-02, 3.32799012e-03,
 -1.98240962e-05, 9.08899519e-02, 1.03803892e-02, 4.31960091e-03,
 -2.88726221e-03, 9.28075796e-02, 1.04692872e-02, 3.85522599e-03,
  4.57321546e-03,-1.65979340e-03, 0.00000000e+00,-2.44595601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013202068147450674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20473146e-14,  2.10236573e-14,  1.00000000e+00,  8.83988331e-28,
        1.00000000e+00, -2.10236573e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20473146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03292518, -0.08955159,  0.06188293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38813342e-05,-7.80528186e-04,-5.52626975e-05,-1.65894879e-05,
 -1.33868641e-05,-1.08887746e-04, 7.83466979e-05,-7.84734957e-05,
  4.07388828e-05,-2.13151074e-03,-4.75615876e-04,-8.88667831e-05,
 -3.58200327e-05,-2.15614709e-05,-2.54949520e-06,-1.01160489e-04,
 -2.33669880e-05, 4.67529408e-05,-1.21648670e+00, 1.58684828e-03,
  5.43397854e-04, 3.20616795e-05]


--- Step 1445 ---
qpos:
[-0.01035475, 1.20919901,-0.01783438, 0.94473007, 0.00424367, 1.19066913,
 -0.0298116 , 0.94107194, 0.01677895, 1.2800761 ,-0.02317914, 0.95331957,
  1.3061197 ,-0.00257643, 1.0569047 , 0.06397463,-0.0016784 ,-0.09771697,
  0.08159566, 0.53077683,-0.01376618,-0.00450031, 0.84738787]

qacc:
[ 2.15079688e-01,-1.56728238e+01, 4.10195705e+01,-4.75590127e+01,
  2.74508151e-02,-8.96927484e+00, 2.80733248e+01,-4.07221325e+01,
  2.55810298e-02,-2.56637787e+01, 5.83423822e+01,-4.98621183e+01,
  3.31374219e-01,-8.39109407e-01,-9.41133289e+00, 3.16870130e+01,
  1.60800475e+00,-7.78199000e-01, 2.84206096e+00, 5.41113463e+01,
 -7.61992869e+01, 7.79158181e-01]

qfrc_actuator:
[ 2.87585462e-03, 7.66133617e-02, 1.03631895e-02, 3.24137489e-03,
 -5.03728588e-06, 9.06248504e-02, 1.03786163e-02, 4.23070948e-03,
 -2.90542133e-03, 9.19820465e-02, 1.05111674e-02, 3.81203514e-03,
  4.55274170e-03,-1.68730120e-03, 0.00000000e+00,-2.29041195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013664069493295808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07820449e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.07820449e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285747, -0.08956781,  0.061879  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.79254973e-05,-1.01089976e-03,-1.79461141e-04,-1.10786988e-04,
  7.12263094e-06,-3.25998473e-04,-1.95418049e-05,-9.03773539e-05,
  6.46311359e-06,-2.11029029e-03,-4.33021013e-04,-1.20635401e-04,
 -4.60573386e-05,-4.07358234e-05,-1.71853980e-05, 1.48489049e-04,
 -1.66922935e-05, 4.92177482e-05,-1.21647254e+00, 1.58417678e-03,
  5.41899410e-04, 6.64572253e-05]


--- Step 1446 ---
qpos:
[-0.01035668, 1.21006175,-0.01783632, 0.94475674, 0.00424375, 1.19181349,
 -0.02981547, 0.94111555, 0.01678044, 1.28123776,-0.02317487, 0.95335912,
  1.30628766,-0.00257768, 1.05711612, 0.06397018,-0.00167614,-0.09769293,
  0.08159987, 0.53076242,-0.01405104,-0.00395311, 0.84739495]

qacc:
[-3.71232058e-02,-1.37387736e+01, 3.10850260e+01,-2.94551596e+01,
  1.15085567e-01,-6.75897971e+00, 2.30689991e+01,-4.31111961e+01,
 -8.51562547e-02,-2.84835916e+01, 6.84700948e+01,-6.91453592e+01,
 -4.96226228e-01, 5.67218721e-01, 8.21240416e+00,-2.78198771e+01,
  1.49118696e+00,-7.26045794e-01, 1.91890370e+00, 5.01252923e+01,
 -7.04329588e+01, 8.29349742e-01]

qfrc_actuator:
[ 2.83282058e-03, 7.60232502e-02, 1.03171043e-02, 3.19707886e-03,
  2.16229312e-05, 9.05592110e-02, 1.03963254e-02, 4.12451973e-03,
 -2.93478255e-03, 9.10607436e-02, 1.05345187e-02, 3.71683651e-03,
  4.52908103e-03,-1.68531421e-03, 0.00000000e+00,-2.42880153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013887362732897188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.99724212e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.99724212e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03282501, -0.08957586,  0.06187712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05865494e-05,-1.19724543e-03,-2.69410454e-04,-8.11673417e-05,
  3.07171151e-05,-2.66092014e-04,-5.40147899e-05,-1.17349114e-04,
 -2.47821542e-05,-2.18675378e-03,-4.43452349e-04,-1.71527959e-04,
 -5.91408821e-05,-1.84151161e-05, 5.90507874e-06,-1.32944396e-04,
 -7.47453568e-06, 4.98977967e-05,-1.21646318e+00, 1.58233107e-03,
  5.41110491e-04, 8.66665068e-05]


--- Step 1447 ---
qpos:
[-0.01035889, 1.21091347,-0.01783812, 0.94478281, 0.00424412, 1.19295711,
 -0.02981951, 0.94115746, 0.01678182, 1.28238169,-0.02317147, 0.95339803,
  1.30645479,-0.00257756, 1.05732792, 0.0639611 ,-0.00167175,-0.09767457,
  0.08161593, 0.5307505 ,-0.01421247,-0.00350015, 0.84740171]

qacc:
[-1.15495009e-01,-1.59166009e+01, 3.57189755e+01,-3.12843371e+01,
  1.24527358e-01,-3.41062883e+00, 1.34749570e+01,-3.09141066e+01,
 -4.73861926e-02,-2.20757444e+01, 4.52023849e+01,-3.55678750e+01,
 -1.98057516e+00, 3.52698763e+00, 1.46816107e+01,-5.01674168e+01,
  5.31316549e-01,-1.41738969e+00, 2.96199452e+00,-7.15941192e+00,
 -7.72990816e+01,-2.04564780e+00]

qfrc_actuator:
[ 2.80782721e-03, 7.53831061e-02, 1.02902586e-02, 3.16026166e-03,
  3.74285907e-05, 9.06314279e-02, 1.04261604e-02, 4.04462213e-03,
 -2.93512261e-03, 9.01426903e-02, 1.04753431e-02, 3.68047952e-03,
  4.50886110e-03,-1.59485761e-03, 0.00000000e+00,-2.66831650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001398761422101595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.96859324e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.96859324e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0067087 , -0.07673944,  0.0618763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19846815e-05,-1.36691225e-03,-2.95932066e-04,-8.11970305e-05,
  3.33735444e-05,-1.02593352e-04,-3.48713486e-05,-9.08938664e-05,
 -1.40465245e-05,-2.22914643e-03,-5.43549258e-04,-1.16459604e-04,
 -5.80575330e-05, 7.24542833e-05,-1.77185391e-05,-2.47446837e-04,
  3.71928429e-06, 4.91704538e-05,-1.21645761e+00, 1.58118867e-03,
  5.40918447e-04, 9.56278930e-05]


--- Step 1448 ---
qpos:
[-0.01036122, 1.21175424,-0.01783988, 0.94480757, 0.00424458, 1.19410442,
 -0.02982553, 0.94119747, 0.01678329, 1.28350879,-0.02316985, 0.95343724,
  1.30662142,-0.00257667, 1.05753883, 0.06395557,-0.00167081,-0.09766299,
  0.08163325, 0.53074442,-0.01434745,-0.00324005, 0.84740428]

qacc:
[-5.48913117e-02,-1.68022955e+01, 4.01467851e+01,-4.34340107e+01,
  3.80393165e-02, 6.92874895e+00,-1.28292923e+01,-1.33417803e+01,
  3.61579408e-02,-1.67416660e+01, 2.73709181e+01,-9.88785737e+00,
 -7.12247363e-01, 1.38633492e+00,-1.19661885e+01, 4.00739194e+01,
 -8.60450325e-01,-1.69511869e+00, 3.13813433e-01,-7.46638472e+01,
 -6.23467709e+01,-5.00241147e+00]

qfrc_actuator:
[ 2.81162740e-03, 7.48424638e-02, 1.02925343e-02, 3.09259590e-03,
  2.88414105e-05, 9.11053742e-02, 1.04280206e-02, 3.96318034e-03,
 -2.91805764e-03, 8.93579619e-02, 1.04034848e-02, 3.69673820e-03,
  4.49075806e-03,-1.55920592e-03, 0.00000000e+00,-2.46832252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.04363513,  -3.14431403,  -8.04363513,
        19.01899839, -26.56036417,  -3.14431403, -26.56036417,
        76.58182856,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014143067423730837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92497254e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.92497254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02962164, -0.05906467,  0.06187509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55125669e-05,-1.36628838e-03,-3.02957944e-04,-1.17883354e-04,
  1.05169593e-05, 3.94184938e-04,-2.78862884e-05,-8.63493074e-05,
  9.61379888e-06,-2.13697635e-03,-5.74228165e-04,-6.67668282e-05,
 -3.43831726e-05, 3.98714836e-05,-4.11848068e-05, 1.82715190e-04,
  7.01030132e-06, 3.24563953e-05,-1.21645073e+00, 1.58205546e-03,
  5.40857300e-04, 7.94682417e-05]


--- Step 1449 ---
qpos:
[-0.01036406, 1.21258446,-0.01784125, 0.94483129, 0.00424489, 1.19526025,
 -0.02983441, 0.9412372 , 0.01678459, 1.28461879,-0.02316791, 0.95347353,
  1.30678796,-0.00257612, 1.0577494 , 0.06395273,-0.00167308,-0.09765771,
  0.08164904, 0.53074387,-0.01445783,-0.00315947, 0.84740305]

qacc:
[-2.17510633e-01,-1.67070947e+01, 3.99359284e+01,-4.03465821e+01,
 -6.59393071e-02, 1.84171599e+01,-4.60190626e+01, 3.13694027e+01,
 -6.65692658e-02,-2.84105890e+01, 7.14851941e+01,-8.52074671e+01,
  3.57654946e-01,-7.92208743e-01,-8.62988458e+00, 2.94085062e+01,
 -8.03626284e-01,-1.57717628e+00,-3.80883044e-01,-6.94938522e+01,
 -5.80294490e+01,-4.68085373e+00]

qfrc_actuator:
[ 2.76166142e-03, 7.43658727e-02, 1.03300821e-02, 3.04287825e-03,
  5.70028586e-06, 9.18872499e-02, 1.04149841e-02, 3.97046719e-03,
 -2.94395791e-03, 8.85351401e-02, 1.04318092e-02, 3.54860706e-03,
  4.47392384e-03,-1.59188897e-03, 0.00000000e+00,-2.33048814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001422590074276267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02961188, -0.05907638,  0.0618745 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97814205e-05,-1.30421878e-03,-2.69413894e-04,-1.00988411e-04,
 -1.70934232e-05, 9.78440978e-04, 5.53410038e-05, 1.76228450e-05,
 -1.95273952e-05,-2.12841611e-03,-4.58029002e-04,-2.28191598e-04,
 -2.69567319e-05,-3.09839296e-05,-2.22407345e-07, 1.42386684e-04,
  8.66822644e-07, 1.10959833e-05,-1.21644403e+00, 1.58369455e-03,
  5.40520189e-04, 5.62327683e-05]


--- Step 1450 ---
qpos:
[-0.01036744, 1.21340435,-0.01784237, 0.94485563, 0.0042453 , 1.19642553,
 -0.02984368, 0.94128031, 0.01678567, 1.28571015,-0.02316432, 0.95351097,
  1.30695436,-0.00257592, 1.05796003, 0.06395054,-0.00167837,-0.09765836,
  0.08166097, 0.53074855,-0.01454511,-0.00324731, 0.8473983 ]

qacc:
[-2.32510374e-01,-1.31781117e+01, 2.54121087e+01,-8.74931984e+00,
  4.19463374e-02, 1.92311429e+01,-5.47354679e+01, 8.08002071e+01,
 -9.14740099e-02,-2.69319233e+01, 5.60194143e+01,-2.38177300e+01,
  1.92872040e-01,-5.70740783e-01,-1.89397259e+00, 6.71864947e+00,
 -7.56165869e-01,-1.47977053e+00,-9.65095874e-01,-6.52047415e+01,
 -5.44452197e+01,-4.40629657e+00]

qfrc_actuator:
[ 2.73312064e-03, 7.38784239e-02, 1.03529294e-02, 3.07519092e-03,
  2.72852464e-05, 9.25280302e-02, 1.04656872e-02, 4.15439248e-03,
 -2.95992297e-03, 8.75544514e-02, 1.05010866e-02, 3.60674348e-03,
  4.46315901e-03,-1.61151330e-03, 0.00000000e+00,-2.30151997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014138450701725522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92625418e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.92625418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02962484, -0.05905999,  0.06187531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.38491390e-05,-1.27354733e-03,-2.67633199e-04,-1.57449247e-05,
  1.18482855e-05, 1.17995057e-03, 2.45917105e-04, 2.16678858e-04,
 -2.66539213e-05,-2.26347469e-03,-4.06894300e-04,-2.20519745e-05,
 -3.30847971e-05,-3.33156355e-05, 1.22683290e-05, 3.60736796e-05,
 -4.50542639e-07, 1.15680224e-06,-1.21644093e+00, 1.58447372e-03,
  5.40491761e-04, 4.51262245e-05]


--- Step 1451 ---
qpos:
[-0.01037067, 1.21421493,-0.01784454, 0.94488015, 0.00424587, 1.19759942,
 -0.02985209, 0.94132532, 0.0167867 , 1.28678178,-0.02315877, 0.95354996,
  1.30712067,-0.00257624, 1.05817015, 0.06395307,-0.00168653,-0.0976646 ,
  0.08166707, 0.53075815,-0.01461057,-0.0034944 , 0.84739017]

qacc:
[ 6.72121900e-02,-9.10710981e+00, 1.45666521e+01,-4.68083210e+00,
  7.11963144e-02, 1.22573613e+01,-3.02443398e+01, 4.28683916e+01,
 -2.17316499e-02,-2.85679929e+01, 5.87822057e+01,-2.08559340e+01,
  6.25770412e-01,-1.30613879e+00,-1.50907211e+01, 5.15497746e+01,
 -7.16379645e-01,-1.39918382e+00,-1.45603170e+00,-6.16489446e+01,
 -5.14716890e+01,-4.17071450e+00]

qfrc_actuator:
[ 2.78868185e-03, 7.34594723e-02, 1.03136835e-02, 3.08448022e-03,
  4.00126795e-05, 9.29377910e-02, 1.05000474e-02, 4.24547734e-03,
 -2.95205129e-03, 8.65051659e-02, 1.05757382e-02, 3.67921840e-03,
  4.45604305e-03,-1.64091145e-03, 0.00000000e+00,-2.05286997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013915576228718668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98913781e-14,  3.98913781e-14,  1.00000000e+00,  1.59132204e-27,
        1.00000000e+00, -3.98913781e-14, -1.00000000e+00,  0.00000000e+00,
       -3.98913781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02965564, -0.05902151,  0.06187722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79142511e-05,-1.18505058e-03,-3.20983012e-04,-3.58333834e-05,
  1.95850698e-05, 1.10368693e-03, 2.96549790e-04, 1.40110973e-04,
 -7.01370503e-06,-2.39041115e-03,-4.15983336e-04,-5.43496490e-06,
 -3.34859422e-05,-4.50543818e-05, 4.92454447e-06, 2.51143525e-04,
  2.17021374e-06, 5.43422969e-07,-1.21644079e+00, 1.58455784e-03,
  5.40733613e-04, 4.39026065e-05]


--- Step 1452 ---
qpos:
[-0.01037352, 1.21501772,-0.01784818, 0.94490347, 0.00424645, 1.19877949,
 -0.02986017, 0.94136823, 0.01678803, 1.28783336,-0.02315247, 0.95358722,
  1.30728683,-0.00257695, 1.05838067, 0.06395486,-0.00169275,-0.09767602,
  0.08167873, 0.53077017,-0.01456841,-0.0038237 , 0.84738195]

qacc:
[ 1.62656821e-01,-8.32426500e+00, 1.72871546e+01,-2.42387427e+01,
  2.12550325e-03, 3.64976314e+00, 2.21394273e+00,-3.01166885e+01,
  1.31898227e-01,-3.13043069e+01, 7.38503373e+01,-7.15982038e+01,
  1.24982979e-01,-4.93548483e-01, 2.82605826e+00,-9.05031209e+00,
  4.85137376e-01,-1.29487147e+00, 1.38730649e+00,-6.25648031e+00,
 -6.74128860e+01,-1.83807594e+00]

qfrc_actuator:
[ 2.82321720e-03, 7.31735018e-02, 1.02738685e-02, 3.02686792e-03,
  2.95670711e-05, 9.30462198e-02, 1.04347527e-02, 4.12121272e-03,
 -2.91220027e-03, 8.54410373e-02, 1.05816221e-02, 3.58190491e-03,
  4.45111739e-03,-1.65810919e-03, 0.00000000e+00,-2.10280840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001364585564947264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.13597222e-14,  2.03399305e-14,  1.00000000e+00, -1.65485110e-27,
        1.00000000e+00, -2.03399305e-14, -1.00000000e+00,  0.00000000e+00,
        8.13597222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00671988, -0.07670412,  0.06187949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40266627e-05,-1.01402605e-03,-3.10895260e-04,-1.02149746e-04,
  8.45348913e-07, 7.67701554e-04, 1.85476392e-04,-7.78067937e-05,
  3.64335793e-05,-2.47651858e-03,-5.10040235e-04,-1.78877705e-04,
 -3.39303183e-05,-3.59340586e-05, 2.70154963e-05,-3.60615739e-05,
  8.08391302e-06, 7.72067797e-06,-1.21644313e+00, 1.58407074e-03,
  5.41214726e-04, 5.09122505e-05]


--- Step 1453 ---
qpos:
[-0.01037658, 1.21581396,-0.01785248, 0.94492578, 0.00424728, 1.1999623 ,
 -0.02986726, 0.94140825, 0.01678988, 1.28886444,-0.02314727, 0.95362286,
  1.30745287,-0.00257791, 1.05859187, 0.0639514 ,-0.0016935 ,-0.09769035,
  0.08169278, 0.53078107,-0.01437405,-0.00414317, 0.84737694]

qacc:
[ -0.08984178, -8.60316989, 19.73979842,-24.82700928,  0.10938596,
  -4.04806512, 23.52673492,-55.79277166,  0.22529795,-26.81265045,
  58.27531554,-56.6740202 , -0.25137595,  0.14110654, 16.89955503,
 -57.63478806,  1.368762  , -0.72673376,  0.59922171, 44.55815333,
 -61.90109213,  1.10533107]

qfrc_actuator:
[ 2.77384455e-03, 7.29695179e-02, 1.02878347e-02, 2.98369794e-03,
  5.85686436e-05, 9.29550861e-02, 1.03986121e-02, 3.95973199e-03,
 -2.87125194e-03, 8.43406937e-02, 1.04934299e-02, 3.49189409e-03,
  4.44751293e-03,-1.66791563e-03, 0.00000000e+00,-2.38157983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013441596704762346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12980336e-14,  4.12980336e-14,  1.00000000e+00,  1.70552758e-27,
        1.00000000e+00, -4.12980336e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12980336e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03289735, -0.08955798,  0.06188126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48047116e-05,-8.37353539e-04,-2.24469157e-04,-8.38764848e-05,
  2.95307412e-05, 3.53892770e-04, 1.29832099e-04,-1.33420561e-04,
  6.29431047e-05,-2.58369294e-03,-6.36675559e-04,-1.80936476e-04,
 -3.10450588e-05,-2.62883705e-05, 2.52481531e-06,-2.78684418e-04,
  7.26535043e-06, 1.60992799e-05,-1.21644506e+00, 1.58319895e-03,
  5.41240560e-04, 6.18309329e-05]


--- Step 1454 ---
qpos:
[-0.01037986, 1.2166045 ,-0.01785659, 0.94494695, 0.00424856, 1.20114472,
 -0.02987265, 0.94144734, 0.0167921 , 1.28987449,-0.02314292, 0.95365617,
  1.30761853,-0.00257869, 1.0588027 , 0.06394764,-0.00168906,-0.0977074 ,
  0.08170701, 0.53079092,-0.01403533,-0.00445342, 0.84737488]

qacc:
[-9.27492691e-02,-1.00044339e+01, 2.59652505e+01,-3.23697753e+01,
  1.91893439e-01,-6.70537272e+00, 2.31850209e+01,-3.07322619e+01,
  1.55756908e-01,-2.93363401e+01, 6.70787843e+01,-7.20026859e+01,
 -4.26753659e-01, 6.17475917e-01, 3.42106473e-01,-1.91543972e+00,
  1.29405155e+00,-6.82168556e-01, 4.46746609e-02, 4.22121590e+01,
 -5.87420175e+01, 9.93967820e-01]

qfrc_actuator:
[ 2.76332349e-03, 7.27811051e-02, 1.03338335e-02, 2.93172327e-03,
  9.32385632e-05, 9.27451889e-02, 1.04146719e-02, 3.90183114e-03,
 -2.86549171e-03, 8.32626054e-02, 1.04390851e-02, 3.37135288e-03,
  4.42872910e-03,-1.65550612e-03, 0.00000000e+00,-2.38452443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013240154913553431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19263608e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.19263608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03292776, -0.08955042,  0.06188301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56221515e-05,-7.06535948e-04,-1.47501109e-04,-8.44693544e-05,
  5.16319948e-05,-6.35712810e-06, 9.31070479e-05,-4.51927613e-05,
  4.32588727e-05,-2.64529373e-03,-6.38169718e-04,-2.18419116e-04,
 -4.31122126e-05,-6.78762235e-07,-3.56951740e-05,-1.95050071e-05,
  1.12733291e-07, 1.70470208e-05,-1.21644635e+00, 1.58329574e-03,
  5.41058726e-04, 6.14987642e-05]


--- Step 1455 ---
qpos:
[-0.01038316, 1.21739032,-0.01786119, 0.94496661, 0.00424965, 1.20232375,
 -0.0298765 , 0.9414847 , 0.01679441, 1.29086402,-0.0231388 , 0.95369015,
  1.30778374,-0.00257903, 1.05901314, 0.06394516,-0.0016797 ,-0.09772704,
  0.08171957, 0.53079974,-0.01355871,-0.00475499, 0.84737547]

qacc:
[-8.98884708e-03,-7.49988147e+00, 2.00603196e+01,-3.20578368e+01,
 -7.79838343e-02,-1.15250028e+01, 3.58068283e+01,-4.89878380e+01,
  4.00981443e-02,-2.51739809e+01, 4.82717144e+01,-2.14967252e+01,
 -5.79081166e-01, 9.79667581e-01,-4.36770950e+00, 1.45455406e+01,
  1.23281751e+00,-6.46086165e-01,-4.18658942e-01, 4.02779282e+01,
 -5.61404775e+01, 8.92935830e-01]

qfrc_actuator:
[ 2.77620397e-03, 7.26037891e-02, 1.03274504e-02, 2.85725102e-03,
  4.22573984e-05, 9.23595525e-02, 1.04076893e-02, 3.79875858e-03,
 -2.88089065e-03, 8.23131101e-02, 1.04585056e-02, 3.41136635e-03,
  4.41151492e-03,-1.63011103e-03, 0.00000000e+00,-2.31360994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012940377544007342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07244072e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07244072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03297213, -0.08953989,  0.06188558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68086067e-06,-6.07975838e-04,-1.65547687e-04,-1.00833606e-04,
 -2.13515709e-05,-3.85853298e-04,-1.98468162e-06,-1.00217966e-04,
  1.05594448e-05,-2.55196076e-03,-5.77659676e-04,-6.06338026e-05,
 -4.21289171e-05, 1.55365888e-05,-2.13791900e-05, 6.46122914e-05,
 -4.77286920e-06, 1.69885836e-05,-1.21644976e+00, 1.58392905e-03,
  5.41363828e-04, 5.42001701e-05]


--- Step 1456 ---
qpos:
[-0.0103867 , 1.2181719 ,-0.01786648, 0.94498556, 0.00425022, 1.20349613,
 -0.02987871, 0.94152052, 0.01679654, 1.29183401,-0.02313501, 0.95372464,
  1.30794877,-0.00257938, 1.05922326, 0.06394484,-0.00166561,-0.09774915,
  0.08172891, 0.53080754,-0.01294949,-0.0050483 , 0.84737841]

qacc:
[-1.04658148e-01,-4.96747295e+00, 1.09434041e+01,-1.51940020e+01,
 -2.23826289e-01,-1.58114799e+01, 4.42327679e+01,-5.21845619e+01,
 -7.21199123e-02,-2.39139223e+01, 4.60333082e+01,-2.20201468e+01,
  2.88369763e-04,-7.50763129e-02,-7.01673390e+00, 2.38395090e+01,
  1.18264211e+00,-6.16884502e-01,-8.05171198e-01, 3.86878255e+01,
 -5.40069294e+01, 7.99231895e-01]

qfrc_actuator:
[ 2.74975993e-03, 7.24344453e-02, 1.03080073e-02, 2.82336289e-03,
 -6.41147109e-06, 9.18006054e-02, 1.04041210e-02, 3.70525234e-03,
 -2.90885836e-03, 8.14131715e-02, 1.04686521e-02, 3.43913507e-03,
  4.40591411e-03,-1.63275080e-03, 0.00000000e+00,-2.19982033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012565026152655395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20895486e-14,  1.32537292e-13,  1.00000000e+00,  2.92768895e-27,
        1.00000000e+00, -1.32537292e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20895486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03302716, -0.08952709,  0.06188878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87618375e-05,-5.49438827e-04,-1.61867121e-04,-5.82361439e-05,
 -6.09470709e-05,-7.89306977e-04,-8.52395171e-05,-1.06118186e-04,
 -2.11718375e-05,-2.43405497e-03,-5.57150921e-04,-6.46998074e-05,
 -2.57994214e-05,-8.56086065e-06,-5.84795913e-06, 1.13922353e-04,
 -7.72757794e-06, 1.60688579e-05,-1.21645498e+00, 1.58499405e-03,
  5.42092181e-04, 4.08437450e-05]


--- Step 1457 ---
qpos:
[-0.01039051, 1.2189513 ,-0.01787275, 0.94500483, 0.0042504 , 1.2046596 ,
 -0.02987922, 0.94155724, 0.01679843, 1.29278472,-0.02313077, 0.95375915,
  1.30811365,-0.00257999, 1.0594332 , 0.06394654,-0.00164695,-0.09777363,
  0.08173374, 0.5308143 ,-0.01221201,-0.00533371, 0.84738339]

qacc:
[ -0.11572981,  0.38278725, -5.36811456,  9.86843755, -0.16957822,
 -14.75259596, 32.12484865,-11.73971971, -0.10079207,-26.51361419,
  55.90280517,-36.2712028 ,  0.20828878, -0.53956334, -6.33971419,
  21.77248931,  1.14149524, -0.59325256, -1.12704129, 37.38585882,
 -52.26707747,  0.71035993]

qfrc_actuator:
[ 2.73545582e-03, 7.24843237e-02, 1.03166212e-02, 2.84913945e-03,
 -1.77788787e-05, 9.12133099e-02, 1.04373864e-02, 3.74226745e-03,
 -2.92638773e-03, 8.04969414e-02, 1.05089284e-02, 3.44169884e-03,
  4.39129718e-03,-1.65194454e-03, 0.00000000e+00,-2.09721183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012132972530561684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57523093e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.57523093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03309014, -0.08951257,  0.06189244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16621106e-05,-2.95781712e-04,-1.20677286e-04, 4.26182080e-06,
 -4.64093923e-05,-1.05720579e-03,-1.36958893e-04, 9.69947746e-06,
 -2.93338081e-05,-2.38106274e-03,-5.01741562e-04,-8.59348160e-05,
 -3.11114595e-05,-2.71721154e-05, 6.53750207e-06, 1.07407179e-04,
 -9.00627757e-06, 1.43958746e-05,-1.21646182e+00, 1.58640919e-03,
  5.43194952e-04, 2.20910961e-05]


--- Step 1458 ---
qpos:
[-0.01039454, 1.21973287,-0.01788104, 0.94502463, 0.0042503 , 1.2058135 ,
 -0.02987909, 0.94159391, 0.01680009, 1.29371681,-0.02312693, 0.95379309,
  1.30827821,-0.00258075, 1.05964383, 0.06394375,-0.00162386,-0.09780041,
  0.08173298, 0.53081995,-0.01134976,-0.00561154, 0.84739004]

qacc:
[ -0.09569459,  9.22752311,-27.76076795, 29.04310293, -0.1213765 ,
 -14.35700569, 31.77250548,-22.04580482, -0.09533109,-24.34418574,
  51.07017132,-39.35205652, -0.42026311,  0.39937262, 14.55940634,
 -49.40742635,  1.10767053, -0.57411563, -1.39457682, 36.32547592,
 -50.85900937,  0.62424199]

qfrc_actuator:
[ 2.72855740e-03, 7.28961482e-02, 1.03248896e-02, 2.89220266e-03,
 -2.44351480e-05, 9.06671867e-02, 1.04387741e-02, 3.73149165e-03,
 -2.93751724e-03, 7.95962374e-02, 1.04956167e-02, 3.41166341e-03,
  4.36594819e-03,-1.66305902e-03, 0.00000000e+00,-2.33932539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00116598149564541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38044735e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.38044735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03315886, -0.08949681,  0.06189644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59158061e-05, 2.16421885e-04,-6.49004825e-05, 3.17524316e-05,
 -3.33744841e-05,-1.17070229e-03,-2.23689132e-04,-4.49762385e-05,
 -2.77330573e-05,-2.32584689e-03,-5.39265164e-04,-1.15862843e-04,
 -4.90751547e-05,-2.48739247e-05, 1.08697837e-05,-2.36242843e-04,
 -8.80260746e-06, 1.20500548e-05,-1.21647012e+00, 1.58810935e-03,
  5.44634255e-04,-1.58140553e-06]


--- Step 1459 ---
qpos:
[-0.01039887, 1.22052041,-0.01789126, 0.94504447, 0.00425015, 1.20695736,
 -0.02987919, 0.94162995, 0.01680157, 1.29463014,-0.02312378, 0.95382509,
  1.30844242,-0.00258161, 1.05985462, 0.06393711,-0.0015979 ,-0.09782111,
  0.08173347, 0.53082724,-0.01051554,-0.00571721, 0.84739553]

qacc:
[-1.32524043e-01, 1.31531200e+01,-3.35175910e+01, 2.59094513e+01,
 -1.76105450e-02,-1.36485027e+01, 2.99125665e+01,-2.70392822e+01,
 -7.81991221e-02,-2.61339033e+01, 5.94618603e+01,-6.24640930e+01,
 -4.33600977e-01, 4.31294078e-01, 1.19107890e+01,-4.12542467e+01,
  7.18060603e-01, 1.51949552e+00, 3.09788801e-01, 6.55105835e+01,
  5.75766653e+01, 5.36774878e-02]

qfrc_actuator:
[ 2.70840863e-03, 7.34861608e-02, 1.03343747e-02, 2.90980131e-03,
 -1.04657923e-05, 9.01144701e-02, 1.04036618e-02, 3.69262756e-03,
 -2.94472376e-03, 7.86408909e-02, 1.04508326e-02, 3.30939520e-03,
  4.34483115e-03,-1.66933380e-03, 0.00000000e+00,-2.53404885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011801144944556946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76395441e-14,  9.40775687e-14,  1.00000000e+00,  1.65948543e-27,
        1.00000000e+00, -9.40775687e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76395441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02741213, -0.13145371,  0.06189525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58245405e-05, 6.89620533e-04, 4.35885925e-05, 2.37997006e-05,
 -5.27328325e-06,-1.25856215e-03,-2.93838768e-04,-8.02914969e-05,
 -2.28883862e-05,-2.35799292e-03,-5.65060652e-04,-1.88280508e-04,
 -5.49835411e-05,-2.33961098e-05,-2.75612622e-05,-2.07935067e-04,
 -7.26389952e-06, 9.09108630e-06,-1.21647978e+00, 1.59004076e-03,
  5.46380254e-04,-2.98370105e-05]


--- Step 1460 ---
qpos:
[-0.01040377, 1.22131524,-0.01790227, 0.9450635 , 0.00425005, 1.20809065,
 -0.02987895, 0.94166599, 0.01680305, 1.29552491,-0.02312167, 0.95385633,
  1.30860623,-0.00258253, 1.06006455, 0.06393384,-0.00158103,-0.0978381 ,
  0.08173592, 0.53082604,-0.00993386,-0.00584411, 0.84740243]

qacc:
[-2.46530080e-01, 1.02847111e+01,-2.04099966e+01, 4.06554785e+00,
  2.18551438e-02,-1.48013169e+01, 3.15617000e+01,-2.08477571e+01,
  2.70247228e-03,-2.29211892e+01, 4.68938349e+01,-3.79219240e+01,
 -1.42159678e-02,-1.64553790e-01,-1.14682815e+01, 3.82544044e+01,
 -2.27412224e+00, 9.27233030e-01, 4.90328901e-01,-7.60672623e+01,
  1.01335505e+02, 4.58454454e+00]

qfrc_actuator:
[ 2.66272884e-03, 7.39831295e-02, 1.03453184e-02, 2.87690520e-03,
 -1.99969770e-06, 8.95798627e-02, 1.04182815e-02, 3.69078117e-03,
 -2.93177298e-03, 7.77313602e-02, 1.04053694e-02, 3.27191098e-03,
  4.32626908e-03,-1.67269123e-03, 0.00000000e+00,-2.34411735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001183239663831312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69145457e-14, -4.69145457e-14,  1.00000000e+00,  2.20097459e-27,
        1.00000000e+00,  4.69145457e-14, -1.00000000e+00,  0.00000000e+00,
        4.69145457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05375156, -0.10742571,  0.06189499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70566849e-05, 8.79218511e-04, 1.49646579e-04,-9.61285073e-06,
  5.36504930e-06,-1.30369742e-03,-2.70280703e-04,-4.87979937e-05,
  8.91018932e-08,-2.33696633e-03,-5.77037656e-04,-1.26914968e-04,
 -5.57507727e-05,-2.13254165e-05,-3.99755269e-05, 1.73862101e-04,
  9.60353074e-06,-7.71935689e-06,-1.21647377e+00, 1.58769001e-03,
  5.47638430e-04,-5.61594891e-05]


--- Step 1461 ---
qpos:
[-0.01040906, 1.22211863,-0.01791408, 0.94508086, 0.00425002, 1.20921444,
 -0.02987873, 0.94170201, 0.01680444, 1.29640145,-0.02312089, 0.95388585,
  1.30876952,-0.0025832 , 1.06027396, 0.0639348 ,-0.00157252,-0.09785168,
  0.08173709, 0.53081711,-0.00958409,-0.00599059, 0.84741103]

qacc:
[-1.72476579e-01, 1.05192539e+01,-1.73698449e+01,-9.52136586e+00,
  3.16509901e-02,-1.24462474e+01, 2.55302621e+01,-1.62187007e+01,
 -3.28670403e-02,-2.32960333e+01, 5.05764806e+01,-5.23846471e+01,
 -3.22603835e-01, 4.53385500e-01,-1.34975035e+01, 4.61748232e+01,
 -2.08874347e+00, 8.53571975e-01,-3.22107454e-01,-6.98771666e+01,
  9.30330100e+01, 4.30438449e+00]

qfrc_actuator:
[ 2.65537358e-03, 7.45093430e-02, 1.03390015e-02, 2.79677630e-03,
  3.09139194e-06, 8.91849230e-02, 1.04445062e-02, 3.69301941e-03,
 -2.94234817e-03, 7.68388727e-02, 1.03423547e-02, 3.18412032e-03,
  4.30392984e-03,-1.65654614e-03, 0.00000000e+00,-2.12435959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012389375825084953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96108925e-14,  4.48054462e-14,  1.00000000e+00,  4.01505602e-27,
        1.00000000e+00, -4.48054462e-14, -1.00000000e+00,  0.00000000e+00,
       -8.96108925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05361802, -0.10739916,  0.06189033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67656331e-05, 1.03300209e-03, 1.80526551e-04,-4.88579744e-05,
  8.10314280e-06,-1.18326890e-03,-2.63854996e-04,-4.46572426e-05,
 -9.98316049e-06,-2.30862229e-03,-5.90005370e-04,-1.75547453e-04,
 -5.88164219e-05,-1.83621905e-06,-6.23405533e-07, 2.23964948e-04,
  7.61519392e-07,-3.56372855e-07,-1.21645769e+00, 1.58844555e-03,
  5.47177736e-04,-8.04325690e-06]


--- Step 1462 ---
qpos:
[-0.01041416, 1.22293514,-0.01792807, 0.94509645, 0.00425021, 1.21033135,
 -0.0298794 , 0.94173623, 0.0168056 , 1.29725919,-0.02312048, 0.95391412,
  1.30893242,-0.00258372, 1.06048414, 0.06393166,-0.00157175,-0.09786208,
  0.08173421, 0.53080104,-0.00944907,-0.00615526, 0.84742143]

qacc:
[ 8.30671554e-02, 2.00660527e+01,-4.11222765e+01, 7.40488565e+00,
  9.46474675e-02,-9.69893238e+00, 2.44773075e+01,-3.78459312e+01,
 -1.02923893e-01,-2.58621991e+01, 5.71190619e+01,-5.24108562e+01,
 -6.92925330e-01, 9.72231098e-01, 1.35247724e+01,-4.55758416e+01,
 -1.93448879e+00, 7.92671737e-01,-1.00830696e+00,-6.47321190e+01,
  8.61311482e+01, 4.05662205e+00]

qfrc_actuator:
[ 2.70657390e-03, 7.54749775e-02, 1.03404235e-02, 2.72500926e-03,
  2.38682242e-05, 8.90189814e-02, 1.04601650e-02, 3.60894452e-03,
 -2.96695668e-03, 7.58926929e-02, 1.03227895e-02, 3.12066522e-03,
  4.29000165e-03,-1.64674405e-03, 0.00000000e+00,-2.35047814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001269586170357162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37238153e-14,  4.37238153e-14,  1.00000000e+00,  1.91177203e-27,
        1.00000000e+00, -4.37238153e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37238153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354489, -0.1073845 ,  0.06188778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35043628e-05, 1.56226929e-03, 2.20666519e-04,-3.59196646e-05,
  2.53716333e-05,-8.86115691e-04,-2.49969846e-04,-1.27075669e-04,
 -2.99360873e-05,-2.35044538e-03,-5.43885694e-04,-1.51911824e-04,
 -4.69603848e-05,-4.51775025e-06, 2.10674978e-05,-2.14523768e-04,
 -2.12100060e-06, 3.55974796e-06,-1.21644778e+00, 1.58818541e-03,
  5.46571814e-04, 1.93762544e-05]


--- Step 1463 ---
qpos:
[-0.01041903, 1.22376865,-0.01794358, 0.94511104, 0.00425063, 1.21144383,
 -0.02988147, 0.94176833, 0.01680663, 1.29809916,-0.02312086, 0.9539424 ,
  1.30909503,-0.00258438, 1.06069415, 0.0639279 ,-0.00157819,-0.09786952,
  0.08172499, 0.5307783 ,-0.00951451,-0.00633697, 0.8474336 ]

qacc:
[ 9.81271698e-02, 2.46905621e+01,-5.16088373e+01, 2.28858848e+01,
  9.93241238e-02,-5.71089022e+00, 1.59866655e+01,-3.58338378e+01,
 -4.83435192e-02,-2.11980352e+01, 4.09855800e+01,-2.44441733e+01,
 -1.55946240e-01, 2.37030934e-02, 1.68765667e+00,-6.22525072e+00,
 -1.80563539e+00, 7.42202435e-01,-1.58786315e+00,-6.04511820e+01,
  8.03872216e+01, 3.83660863e+00]

qfrc_actuator:
[ 2.72146271e-03, 7.66430178e-02, 1.03836834e-02, 2.69452113e-03,
  3.61296658e-05, 8.89738410e-02, 1.04526080e-02, 3.51038628e-03,
 -2.96428277e-03, 7.50819317e-02, 1.03111095e-02, 3.12529587e-03,
  4.27047551e-03,-1.65849871e-03, 0.00000000e+00,-2.37592374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00127989350684473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33716953e-14,  2.16858477e-14,  1.00000000e+00,  9.40551978e-28,
        1.00000000e+00, -2.16858477e-14, -1.00000000e+00,  0.00000000e+00,
       -4.33716953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351999, -0.10737931,  0.0618869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77993678e-05, 2.06551432e-03, 3.70871883e-04, 2.25877188e-05,
  2.68097121e-05,-6.00588075e-04,-2.15868528e-04,-1.34142839e-04,
 -1.43733958e-05,-2.22825992e-03,-5.38194747e-04,-8.31909729e-05,
 -4.72347916e-05,-2.35847016e-05,-2.09721551e-05,-3.62488176e-05,
 -3.29052084e-07, 4.76388399e-06,-1.21644275e+00, 1.58709209e-03,
  5.45811282e-04, 3.05500061e-05]


--- Step 1464 ---
qpos:
[-0.01042353, 1.2246183 ,-0.01795824, 0.94512476, 0.00425093, 1.21255233,
 -0.02988445, 0.94179963, 0.01680761, 1.29892205,-0.02312123, 0.95397009,
  1.3092572 ,-0.00258488, 1.06090319, 0.06393051,-0.00159143,-0.09787416,
  0.08170746, 0.53074923,-0.00976853,-0.00653477, 0.84744742]

qacc:
[ 1.57508214e-01, 1.74373014e+01,-2.95745107e+01, 5.83066047e+00,
 -4.74861657e-02,-4.08035807e+00, 8.62711199e+00,-1.40885964e+01,
 -2.11612404e-02,-2.34783847e+01, 5.07316174e+01,-4.02629424e+01,
 -2.94664727e-02,-5.14814557e-03,-2.07007092e+01, 7.03381128e+01,
 -1.69747509e+00, 7.00270629e-01,-2.07733143e+00,-5.68881861e+01,
  7.56053103e+01, 3.64010873e+00]

qfrc_actuator:
[ 2.74995548e-03, 7.74618077e-02, 1.04345035e-02, 2.65324512e-03,
  7.67831039e-06, 8.88417308e-02, 1.04319855e-02, 3.47519951e-03,
 -2.96302238e-03, 7.43056537e-02, 1.03402310e-02, 3.09900300e-03,
  4.25292236e-03,-1.64745308e-03, 0.00000000e+00,-2.03425132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012738020331312938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.3579104e-14,  4.3579104e-14,  1.0000000e+00,  1.8991383e-27,
        1.0000000e+00, -4.3579104e-14, -1.0000000e+00,  0.0000000e+00,
       -4.3579104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353341, -0.10738162,  0.06188737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.39004674e-05, 2.02555029e-03, 4.95586036e-04, 3.25549187e-05,
 -1.30550402e-05,-5.23050644e-04,-1.69377103e-04,-6.13635726e-05,
 -6.67124548e-06,-2.12287845e-03,-4.70834087e-04,-1.08757094e-04,
 -5.00244688e-05,-5.36574848e-06,-1.72258133e-05, 3.36150726e-04,
  5.21447829e-06, 3.78947511e-06,-1.21644165e+00, 1.58530853e-03,
  5.44894075e-04, 2.87271731e-05]


--- Step 1465 ---
qpos:
[-0.01042721, 1.22548196,-0.01797158, 0.94513876, 0.00425088, 1.21365531,
 -0.02988719, 0.94183107, 0.01680872, 1.29972839,-0.02312207, 0.95399587,
  1.30941918,-0.00258557, 1.06111259, 0.06393279,-0.00160165,-0.09787123,
  0.08169503, 0.53072403,-0.01005063,-0.00654699, 0.84745981]

qacc:
[ 3.50136888e-01, 1.52907449e+01,-2.82828438e+01, 1.91710686e+01,
 -1.54946588e-01,-7.69618573e+00, 1.60834520e+01,-8.98239655e+00,
  5.40199662e-02,-2.37781669e+01, 5.51823930e+01,-5.96510364e+01,
 -3.83688278e-02,-1.52383509e-01, 1.55744006e+00,-4.67017247e+00,
  7.55394414e-01, 1.88934188e+00, 1.27540872e+00, 7.11966534e+01,
  6.11661161e+01,-1.02220112e+00]

qfrc_actuator:
[ 2.82188709e-03, 7.80295931e-02, 1.04526000e-02, 2.65901208e-03,
 -2.72011206e-05, 8.84989744e-02, 1.04213573e-02, 3.47754069e-03,
 -2.94487425e-03, 7.35032214e-02, 1.03223405e-02, 3.00149504e-03,
  4.24722679e-03,-1.65847573e-03, 0.00000000e+00,-2.06490729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012744328213363729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17787671e-14,  1.08893836e-14,  1.00000000e+00,  2.37157348e-28,
        1.00000000e+00, -1.08893836e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17787671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02729274, -0.13132243,  0.06188723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66307934e-05, 1.77697564e-03, 4.69519493e-04, 8.23261831e-05,
 -4.24226784e-05,-6.79412916e-04,-1.36754106e-04,-1.84596633e-05,
  1.47240750e-05,-2.07819677e-03,-4.90327289e-04,-1.75501226e-04,
 -3.46056466e-05,-2.41359217e-05, 2.74810040e-05,-1.45901146e-05,
  1.38474703e-05, 1.02420602e-06,-1.21644375e+00, 1.58294701e-03,
  5.43822546e-04, 1.62840135e-05]


--- Step 1466 ---
qpos:
[-0.01043021, 1.22635877,-0.01798459, 0.94515218, 0.00425074, 1.21475244,
 -0.02988936, 0.94186405, 0.01681013, 1.30051827,-0.02312297, 0.95402027,
  1.30958086,-0.00258636, 1.06132215, 0.06393438,-0.00160903,-0.0978614 ,
  0.08168465, 0.53070218,-0.01035924,-0.00638624, 0.847471  ]

qacc:
[ 2.94974301e-01, 1.54051391e+01,-2.82562534e+01, 9.79277374e+00,
 -3.43360128e-02,-6.55315638e+00, 8.91384427e+00, 1.39416532e+01,
  1.33246316e-01,-2.38199600e+01, 5.44195134e+01,-5.29135559e+01,
 -2.09417400e-01, 1.31819327e-01, 2.28794924e+00,-7.65340643e+00,
  7.09415475e-01, 1.72781857e+00, 5.13911352e-01, 6.62717325e+01,
  5.71521853e+01,-7.82259320e-01]

qfrc_actuator:
[ 2.84827926e-03, 7.86022398e-02, 1.04324910e-02, 2.62120346e-03,
 -1.23867437e-05, 8.82104969e-02, 1.04514336e-02, 3.55505711e-03,
 -2.91674883e-03, 7.27091638e-02, 1.03299778e-02, 2.93382359e-03,
  4.22733736e-03,-1.66469056e-03, 0.00000000e+00,-2.10176110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.032     , -3.17391759, -8.032     , 11.8237227 ,
       -8.06601535, -3.17391759, -8.06601535, 29.04843593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012903469079654367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.30203311e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.30203311e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02727184, -0.13130105,  0.06188584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.15493176e-05, 1.64062917e-03, 3.81206110e-04, 3.17676812e-05,
 -9.65034515e-06,-7.03846584e-04,-1.21633441e-04, 5.39662341e-05,
  3.72430265e-05,-2.05075234e-03,-4.60218153e-04,-1.46490968e-04,
 -4.48499415e-05,-2.00824420e-05, 5.15057383e-06,-3.55020279e-05,
  3.07413183e-06,-2.01871252e-06,-1.21644253e+00, 1.58161883e-03,
  5.45143172e-04, 1.59317704e-05]


--- Step 1467 ---
qpos:
[-0.01043327, 1.22724599,-0.01799621, 0.9451656 , 0.00425064, 1.21584642,
 -0.02989231, 0.94189756, 0.01681172, 1.30129155,-0.02312299, 0.95404539,
  1.30974211,-0.00258694, 1.06153153, 0.06393687,-0.00161373,-0.09784519,
  0.08167377, 0.5306832 ,-0.01069305,-0.00606298, 0.84748112]

qacc:
[-3.05048397e-02, 9.92303538e+00,-1.58925689e+01, 7.40247959e+00,
  1.28395602e-02,-1.14961923e+00,-2.33381317e+00, 1.01208866e+01,
  7.51062319e-02,-2.29683354e+01, 4.71812811e+01,-2.24450861e+01,
 -4.25834931e-01, 6.13155255e-01,-2.90734993e+00, 9.87152727e+00,
  6.70424988e-01, 1.59568205e+00,-1.26541985e-01, 6.21843216e+01,
  5.38116657e+01,-5.79145881e-01]

qfrc_actuator:
[ 2.79389185e-03, 7.89600155e-02, 1.04431887e-02, 2.61125246e-03,
 -3.39565242e-06, 8.82234073e-02, 1.04700080e-02, 3.58744325e-03,
 -2.91837758e-03, 7.19088919e-02, 1.03882161e-02, 2.97304808e-03,
  4.20959967e-03,-1.65029495e-03, 0.00000000e+00,-2.05309320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.02410574, -3.19382278, -8.02410574, 12.41660632,
       -9.49741709, -3.19382278, -9.49741709, 32.49751193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012890039956587745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69157191e-14,  1.29195452e-13,  1.00000000e+00,  3.47738850e-27,
        1.00000000e+00, -1.29195452e-13, -1.00000000e+00,  0.00000000e+00,
       -2.69157191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02727167, -0.13130525,  0.0618859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.95533046e-06, 1.33145447e-03, 3.73792054e-04, 5.18156527e-05,
  3.39376881e-06,-4.10713822e-04,-1.34033935e-04, 1.02224298e-05,
  2.06926752e-05,-2.03488871e-03,-3.99954201e-04,-3.72504159e-05,
 -4.77482211e-05,-7.67729227e-07,-6.51330483e-06, 4.62079827e-05,
 -2.86512680e-06, 4.35009814e-06,-1.21644450e+00, 1.58090322e-03,
  5.45584774e-04, 2.58411485e-05]


--- Step 1468 ---
qpos:
[-0.0104365 , 1.22814008,-0.01800566, 0.94518081, 0.00425044, 1.21694044,
 -0.02989713, 0.94192961, 0.0168134 , 1.30204864,-0.02312305, 0.95407116,
  1.309903  ,-0.00258713, 1.06174079, 0.06394023,-0.00161588,-0.09782302,
  0.08166023, 0.53066663,-0.01105095,-0.00558591, 0.84749018]

qacc:
[-6.98089002e-02, 6.28006194e+00,-1.32754049e+01, 2.81564177e+01,
 -3.85401660e-02, 2.62336200e+00,-5.49049918e+00,-1.22085411e+01,
  4.03823585e-02,-2.00277865e+01, 3.83846415e+01,-1.57724696e+01,
 -5.17850766e-01, 8.85283857e-01,-2.78703289e+00, 9.58770903e+00,
  6.37300384e-01, 1.48739661e+00,-6.64784342e-01, 5.87941231e+01,
  5.10357787e+01,-4.03714900e-01]

qfrc_actuator:
[ 2.78027983e-03, 7.90798369e-02, 1.04711756e-02, 2.68867880e-03,
 -1.57289467e-05, 8.84345471e-02, 1.04472905e-02, 3.52214471e-03,
 -2.92009317e-03, 7.11116296e-02, 1.03871342e-02, 3.00386091e-03,
  4.20382606e-03,-1.62380331e-03, 0.00000000e+00,-2.00766692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.02648276,  -3.18784432,  -8.02648276,
        13.02797072, -11.05736507,  -3.18784432, -11.05736507,
        36.47704249,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012738794276488663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81293993e-14,  4.35764563e-14,  1.00000000e+00,  1.66154410e-27,
        1.00000000e+00, -4.35764563e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81293993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02728792, -0.13132973,  0.06188711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89499296e-05, 9.21568304e-04, 3.30388615e-04, 1.30263900e-04,
 -1.04003115e-05,-5.39983122e-05,-1.20658675e-04,-8.00351312e-05,
  1.08826461e-05,-2.00792646e-03,-4.46090259e-04,-4.09067568e-05,
 -3.27992161e-05, 1.52627884e-05,-1.90447210e-06, 4.62307037e-05,
 -4.86824971e-06, 1.84285120e-05,-1.21644909e+00, 1.58061312e-03,
  5.45325121e-04, 4.41931103e-05]


--- Step 1469 ---
qpos:
[-0.01043959, 1.22903963,-0.01801429, 0.94519672, 0.00425044, 1.2180356 ,
 -0.02990336, 0.94196122, 0.01681527, 1.30279003,-0.02312331, 0.95409639,
  1.31006371,-0.00258729, 1.06194995, 0.06394443,-0.00161559,-0.09779526,
  0.08164222, 0.53065202,-0.01143203,-0.00496222, 0.84749815]

qacc:
[  0.06105158,  6.18895228,-12.92818374, 15.82862386,  0.0810698 ,
   4.51387267,-12.01321597,  4.5646215 ,  0.08228976,-21.04118336,
  44.83128493,-35.33185158, -0.10977246,  0.10873596, -2.67270605,
   9.15684706,  0.60906396,  1.39843686, -1.1167472 , 55.98627811,
  48.7349232 , -0.2487036 ]

qfrc_actuator:
[ 2.80900524e-03, 7.92160368e-02, 1.04549355e-02, 2.71021384e-03,
  1.25065433e-05, 8.86029221e-02, 1.04189660e-02, 3.50652684e-03,
 -2.90409616e-03, 7.03578978e-02, 1.03865343e-02, 2.97614414e-03,
  4.19458944e-03,-1.62581840e-03, 0.00000000e+00,-1.96453051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.05116885,  -3.12497313,  -8.05116885,
        13.50787571, -12.5509451 ,  -3.12497313, -12.5509451 ,
        40.97257065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012478769499912057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44844752e-14,  4.44844752e-14,  1.00000000e+00,  1.97886853e-27,
        1.00000000e+00, -4.44844752e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44844752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02731704, -0.13137012,  0.06188921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70010668e-05, 7.05069210e-04, 2.03418817e-04, 6.27475545e-05,
  2.22395751e-05, 1.00496548e-04,-5.76020877e-05,-2.13400068e-05,
  2.28270532e-05,-1.95845729e-03,-4.45664438e-04,-1.00093605e-04,
 -2.40874530e-05,-5.88771617e-06, 4.25901927e-08, 4.44876536e-05,
 -3.59763407e-06, 3.89761752e-05,-1.21645591e+00, 1.58061112e-03,
  5.44495084e-04, 6.96684107e-05]


--- Step 1470 ---
qpos:
[-0.01044289, 1.22994383,-0.01802247, 0.94521184, 0.00425083, 1.21913117,
 -0.02991042, 0.94199314, 0.01681718, 1.30351633,-0.02312353, 0.95411933,
  1.31022443,-0.00258801, 1.06215906, 0.06394911,-0.00161918,-0.09777513,
  0.08163115, 0.53064345,-0.01178176,-0.00456071, 0.84750099]

qacc:
[-9.45707434e-02, 3.49304729e+00,-2.46537703e+00,-9.78657732e+00,
  1.73502672e-01, 3.32985577e+00,-1.08425621e+01, 1.27998209e+01,
  1.89949415e-02,-2.38627839e+01, 5.85831673e+01,-6.80231220e+01,
  4.71451954e-01,-1.06188974e+00,-1.54481485e+00, 5.19959347e+00,
 -9.68639445e-01,-1.90797878e+00, 1.73185818e+00,-8.58105517e+01,
 -7.21878928e+01,-5.26397315e+00]

qfrc_actuator:
[ 2.77413106e-03, 7.93784676e-02, 1.04481583e-02, 2.66310357e-03,
  4.70897638e-05, 8.86025036e-02, 1.03697982e-02, 3.52028483e-03,
 -2.91311199e-03, 6.96540350e-02, 1.04041435e-02, 2.86097653e-03,
  4.18859799e-03,-1.66248301e-03, 0.00000000e+00,-1.94083367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012697957780738733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.37165977e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.37165977e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0297993 , -0.05882287,  0.06188728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58175271e-05, 5.84688309e-04, 1.54112740e-04,-1.76260588e-05,
  4.74094260e-05, 3.13212536e-05,-3.93036954e-05, 1.58873371e-05,
  4.81722418e-06,-1.88276544e-03,-4.19454321e-04,-1.87467222e-04,
 -2.09623943e-05,-4.35723513e-05, 8.56196854e-07, 2.52131518e-05,
  4.57794502e-07, 6.50928755e-05,-1.21646467e+00, 1.58079392e-03,
  5.43192009e-04, 1.01315856e-04]


--- Step 1471 ---
qpos:
[-0.01044664, 1.23085046,-0.01802907, 0.94522609, 0.00425163, 1.22022624,
 -0.02991731, 0.94202331, 0.01681892, 1.30422711,-0.02312288, 0.95414107,
  1.31038492,-0.00258885, 1.06236826, 0.06395302,-0.00162634,-0.09776203,
  0.08162333, 0.53064061,-0.01210278,-0.00436319, 0.84749928]

qacc:
[-1.92514928e-01,-2.57600571e+00, 1.40419760e+01,-2.38211518e+01,
  1.74900233e-01,-4.10747979e+00, 1.61984603e+01,-3.40749443e+01,
 -7.04706726e-02,-2.48229052e+01, 5.87933587e+01,-5.52141268e+01,
 -1.45817964e-01, 4.99601908e-02, 2.44593157e+00,-8.34580802e+00,
 -8.94315398e-01,-1.75563392e+00, 8.16733653e-01,-7.87951392e+01,
 -6.62479030e+01,-4.90807115e+00]

qfrc_actuator:
[ 2.73690595e-03, 7.93777581e-02, 1.04825952e-02, 2.61150634e-03,
  6.74408041e-05, 8.85365719e-02, 1.03613698e-02, 3.42681913e-03,
 -2.93706276e-03, 6.88792353e-02, 1.04502873e-02, 2.80183460e-03,
  4.17389023e-03,-1.66610226e-03, 0.00000000e+00,-1.98202802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013187087347745347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20950812e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.20950812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02973188, -0.05890692,  0.06188313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.29492441e-05, 3.42899741e-04, 1.63811148e-04,-2.90019381e-05,
  4.76903920e-05,-6.77105229e-05,-8.90333204e-06,-9.20126981e-05,
 -2.06984558e-05,-1.90919034e-03,-3.75697178e-04,-1.30491132e-04,
 -3.68687589e-05,-1.88277744e-05,-7.93516117e-07,-4.06347257e-05,
 -4.49833587e-06, 2.79964042e-05,-1.21645330e+00, 1.58341546e-03,
  5.43044842e-04, 5.99219200e-05]


--- Step 1472 ---
qpos:
[-0.01045038, 1.23175746,-0.01803441, 0.94523984, 0.00425261, 1.22131999,
 -0.02992304, 0.94205148, 0.01682044, 1.30492211,-0.02312079, 0.95416401,
  1.310545  ,-0.00258943, 1.06257772, 0.06395406,-0.00163684,-0.09775544,
  0.0816157 , 0.53064322,-0.01239728,-0.00435453, 0.84749343]

qacc:
[ 4.77706524e-03,-3.80310175e+00, 1.40133207e+01,-1.82829242e+01,
  7.89235416e-02,-8.29504574e+00, 2.91055381e+01,-4.76536852e+01,
 -9.15073028e-02,-2.25652046e+01, 4.61828447e+01,-1.63945874e+01,
 -6.89173697e-01, 1.02924692e+00, 9.09638211e+00,-3.11592807e+01,
 -8.31937897e-01,-1.62901762e+00, 4.50705574e-02,-7.29725459e+01,
 -6.13161681e+01,-4.60217038e+00]

qfrc_actuator:
[ 2.76959613e-03, 7.92439978e-02, 1.04871966e-02, 2.57536680e-03,
  6.13371616e-05, 8.84498543e-02, 1.04122321e-02, 3.32421750e-03,
 -2.95202783e-03, 6.81038525e-02, 1.05304475e-02, 2.86488838e-03,
  4.15397494e-03,-1.65011893e-03, 0.00000000e+00,-2.13212004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013432424792274023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.13262327e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.13262327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02969782, -0.05894931,  0.06188104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24790494e-06, 7.76788263e-05, 8.74925478e-05,-2.07056787e-05,
  2.14004404e-05,-1.40553459e-04, 3.13126320e-05,-1.05733359e-04,
 -2.67088756e-05,-1.91400375e-03,-3.40170182e-04,-6.49205084e-06,
 -4.52493990e-05, 3.04340320e-06,-9.45408722e-06,-1.53529747e-04,
 -3.37574362e-06, 6.91111817e-06,-1.21644690e+00, 1.58500297e-03,
  5.43156690e-04, 3.57230223e-05]


--- Step 1473 ---
qpos:
[-0.01045394, 1.23266458,-0.01803963, 0.94525282, 0.00425351, 1.2224119 ,
 -0.02992756, 0.94207793, 0.01682176, 1.30560243,-0.02311844, 0.95418821,
  1.3107048 ,-0.00259008, 1.06278694, 0.06395463,-0.00165045,-0.09775495,
  0.08160565, 0.53065094,-0.01266706,-0.0045222 , 0.84748373]

qacc:
[ 7.63623937e-02,-1.52904134e+00, 6.76967309e+00,-1.49986372e+01,
 -3.43628158e-02,-8.60924160e+00, 2.87395268e+01,-4.38022718e+01,
 -8.49315472e-02,-1.78119556e+01, 3.23203953e+01,-4.51310409e+00,
 -1.88162213e-01, 1.22150666e-01, 1.10021184e+00,-4.33671871e+00,
 -7.79410276e-01,-1.52361594e+00,-6.05231463e-01,-6.81374249e+01,
 -5.72186108e+01,-4.33879830e+00]

qfrc_actuator:
[ 2.79069947e-03, 7.92090339e-02, 1.04735854e-02, 2.53073117e-03,
  3.94216782e-05, 8.83339184e-02, 1.04620932e-02, 3.23483538e-03,
 -2.96148420e-03, 6.74233477e-02, 1.05590816e-02, 2.92832372e-03,
  4.13628480e-03,-1.65820258e-03, 0.00000000e+00,-2.14985794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013480568989716613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11786411e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.11786411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02969041, -0.05895845,  0.0618806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10143087e-05, 1.51425450e-05, 9.00488963e-06,-3.91339941e-05,
 -9.57563224e-06,-2.02563441e-04, 2.02480289e-05,-9.38408499e-05,
 -2.47445097e-05,-1.81101556e-03,-3.84933653e-04,-2.34483041e-06,
 -4.28572345e-05,-1.75791837e-05,-2.63354314e-05,-2.86402226e-05,
  2.50741551e-06,-1.55160861e-06,-1.21644446e+00, 1.58576328e-03,
  5.43504637e-04, 2.50659903e-05]


--- Step 1474 ---
qpos:
[-0.01045744, 1.2335708 ,-0.01804457, 0.94526664, 0.00425425, 1.22350154,
 -0.0299315 , 0.9421032 , 0.01682291, 1.30626874,-0.02311714, 0.95421163,
  1.3108645 ,-0.00259136, 1.06299603, 0.06395459,-0.001667  ,-0.0977602 ,
  0.08159098, 0.53066345,-0.01291364,-0.00485578, 0.84747033]

qacc:
[ 2.76959303e-02,-4.41464158e-01,-1.71638574e+00, 1.19142498e+01,
 -6.88691403e-02,-6.59401490e+00, 2.03253306e+01,-2.98726074e+01,
 -6.92852549e-02,-1.68982298e+01, 3.45216300e+01,-3.03035943e+01,
  3.83196121e-01,-1.02204183e+00, 1.56477847e+00,-5.86129422e+00,
 -7.34970295e-01,-1.43568606e+00,-1.15289821e+00,-6.41234320e+01,
 -5.38143864e+01,-4.11144062e+00]

qfrc_actuator:
[ 2.78692752e-03, 7.91091748e-02, 1.04674313e-02, 2.57023851e-03,
  2.59610654e-05, 8.81837427e-02, 1.04753419e-02, 3.17166121e-03,
 -2.96756397e-03, 6.67339776e-02, 1.05041603e-02, 2.88494329e-03,
  4.12525963e-03,-1.69825762e-03, 0.00000000e+00,-2.17819210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013370521325301449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.15175668e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.15175668e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02970418, -0.05894123,  0.06188147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.58265140e-06,-1.00210508e-04,-5.23604504e-06, 4.04153466e-05,
 -1.89971186e-05,-2.72858298e-04,-2.93917908e-05,-6.95442331e-05,
 -2.02233070e-05,-1.77141783e-03,-4.53317702e-04,-1.07342983e-04,
 -3.96622213e-05,-5.39801963e-05,-1.85178544e-05,-3.40600664e-05,
  1.22088842e-05, 1.41380180e-07,-1.21644520e+00, 1.58585275e-03,
  5.44067724e-04, 2.52832686e-05]


--- Step 1475 ---
qpos:
[-0.01046106, 1.2344748 ,-0.01804894, 0.94528165, 0.00425498, 1.22458952,
 -0.02993582, 0.94212857, 0.01682394, 1.30692004,-0.02311581, 0.95423302,
  1.31102388,-0.0025926 , 1.06320531, 0.0639515 ,-0.00167702,-0.09776893,
  0.08158618, 0.53067456,-0.01298045,-0.00517795, 0.84746045]

qacc:
[-5.42591446e-02,-2.39408783e+00, 1.88193177e+00, 1.34188938e+01,
 -5.29249112e-03,-9.32661310e-01, 2.07005465e-01, 2.07175239e+00,
 -5.23835677e-02,-2.33074678e+01, 5.63391484e+01,-6.29944124e+01,
 -4.73800426e-01, 6.06644219e-01, 9.53783237e+00,-3.28594054e+01,
  1.63227581e+00,-8.71775484e-01, 2.46515256e+00, 5.25321082e+01,
 -7.31789584e+01, 1.16259170e+00]

qfrc_actuator:
[ 2.76827259e-03, 7.89180940e-02, 1.04655503e-02, 2.62340678e-03,
  3.54377749e-05, 8.81384733e-02, 1.04667595e-02, 3.17761289e-03,
 -2.97157398e-03, 6.59379635e-02, 1.04890737e-02, 2.77900673e-03,
  4.11822597e-03,-1.68589092e-03, 0.00000000e+00,-2.33684009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013449022697676338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.25504611e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.25504611e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03289915, -0.08958485,  0.06188074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50791836e-05,-2.55595822e-04,-2.27706754e-05, 5.20788256e-05,
 -1.50369967e-06,-2.15757104e-04,-6.98946499e-05,-3.42248223e-06,
 -1.55080861e-05,-1.87252087e-03,-4.16578176e-04,-1.73192492e-04,
 -4.24104625e-05,-9.59830116e-06,-1.57043753e-05,-1.63723104e-04,
  2.50570509e-05, 1.01925331e-05,-1.21644856e+00, 1.58538960e-03,
  5.44827283e-04, 3.44241420e-05]


--- Step 1476 ---
qpos:
[-0.0104647 , 1.23537613,-0.01805239, 0.94529584, 0.00425574, 1.22567699,
 -0.02994054, 0.94215409, 0.01682487, 1.30755698,-0.02311442, 0.95425362,
  1.31118283,-0.00259343, 1.06341437, 0.06394753,-0.001681  ,-0.09778087,
  0.08158779, 0.53068443,-0.01288006,-0.00548967, 0.84745383]

qacc:
[-4.61781933e-03,-7.45406435e+00, 2.17730835e+01,-2.68239803e+01,
  1.65147723e-02, 6.28527710e-01,-3.15083782e+00, 4.69367230e+00,
 -3.83821171e-02,-2.04049273e+01, 4.53942394e+01,-3.95509985e+01,
 -6.77612655e-01, 1.10379320e+00, 2.40959954e+00,-8.79231714e+00,
  1.50950574e+00,-7.99729594e-01, 1.60406779e+00, 4.87949492e+01,
 -6.80975168e+01, 1.02903321e+00]

qfrc_actuator:
[ 2.77635802e-03, 7.87627304e-02, 1.05013386e-02, 2.57758418e-03,
  4.08406028e-05, 8.82096891e-02, 1.04813288e-02, 3.18872449e-03,
 -2.97431495e-03, 6.52798512e-02, 1.05149773e-02, 2.74361284e-03,
  4.10295956e-03,-1.66025416e-03, 0.00000000e+00,-2.37570678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013607473086730201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52979775e-14,  4.07946067e-14,  1.00000000e+00,  6.24074975e-28,
        1.00000000e+00, -4.07946067e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52979775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287706, -0.08958868,  0.0618794 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46787374e-06,-3.08845016e-04,-1.71068210e-05,-5.17742282e-05,
  4.52336776e-06,-7.35494766e-05,-3.82209104e-05, 3.79812089e-06,
 -1.14852740e-05,-1.78517773e-03,-3.93062246e-04,-1.06122501e-04,
 -4.19227271e-05, 1.38262441e-05,-2.99380520e-05,-5.10385414e-05,
  1.26926241e-05, 1.34991853e-05,-1.21644510e+00, 1.58431016e-03,
  5.43668418e-04, 4.97494893e-05]


--- Step 1477 ---
qpos:
[-0.010468  , 1.23627364,-0.01805453, 0.94530948, 0.00425641, 1.22676331,
 -0.02994494, 0.94218027, 0.01682559, 1.30818162,-0.02311456, 0.9542739 ,
  1.31134138,-0.00259393, 1.0636232 , 0.0639434 ,-0.00167935,-0.09779577,
  0.08159293, 0.53069316,-0.01262288,-0.00579171, 0.84745023]

qacc:
[ 1.46489847e-01,-9.49600816e+00, 2.60589999e+01,-2.67708319e+01,
 -4.43878438e-02,-1.22822913e+00, 7.89412369e-01, 7.82745797e+00,
 -9.01759973e-02,-1.25533249e+01, 2.21227460e+01,-1.52949070e+01,
 -5.60033274e-01, 8.94241082e-01, 1.51469860e-01,-9.32546155e-01,
  1.40849607e+00,-7.41204644e-01, 8.81841449e-01, 4.57022046e+01,
 -6.38903872e+01, 9.11114090e-01]

qfrc_actuator:
[ 2.81817640e-03, 7.85058557e-02, 1.05413802e-02, 2.54490481e-03,
  2.60007273e-05, 8.81372830e-02, 1.04921929e-02, 3.22060618e-03,
 -2.99402968e-03, 6.47808455e-02, 1.04766630e-02, 2.73235907e-03,
  4.08277475e-03,-1.64478178e-03, 0.00000000e+00,-2.37914895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013589882089913574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08474120e-14,  4.08474120e-14,  1.00000000e+00,  1.66851106e-27,
        1.00000000e+00, -4.08474120e-14, -1.00000000e+00,  0.00000000e+00,
       -4.08474120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03288048, -0.08958703,  0.06187956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01511302e-05,-4.41753998e-04,-2.56656014e-05,-4.24616344e-05,
 -1.22309857e-05,-1.32038374e-04,-1.02746498e-05, 2.99367666e-05,
 -2.61039370e-05,-1.57105643e-03,-4.35560539e-04,-7.71684801e-05,
 -4.09609987e-05, 9.37744486e-06,-2.27498261e-05,-1.08750971e-05,
  3.75452266e-06, 1.52766796e-05,-1.21644485e+00, 1.58404148e-03,
  5.43186090e-04, 5.46908280e-05]


--- Step 1478 ---
qpos:
[-0.01047104, 1.23716571,-0.01805513, 0.94532416, 0.00425693, 1.22784679,
 -0.02994835, 0.94220471, 0.01682624, 1.30879444,-0.02311586, 0.9542935 ,
  1.31149945,-0.00259392, 1.06383187, 0.06393922,-0.00167455,-0.09780447,
  0.08160088, 0.53070326,-0.01239548,-0.00591611, 0.8474464 ]

qacc:
[ 1.13162508e-01,-9.51487758e+00, 2.03258747e+01,-2.36545700e+00,
 -5.82218894e-02,-9.39339167e+00, 2.97789926e+01,-4.44093103e+01,
 -3.09476578e-02,-1.36019907e+01, 2.70274505e+01,-2.40291645e+01,
 -7.55623206e-01, 1.26955059e+00,-1.97184339e-02,-1.27390866e-01,
  7.87895962e-01, 1.54915750e+00, 7.03872937e-01, 6.73772708e+01,
  5.97606052e+01, 5.71971032e-01]

qfrc_actuator:
[ 2.82663152e-03, 7.81370416e-02, 1.05832375e-02, 2.59118276e-03,
  1.68938820e-05, 8.78907923e-02, 1.05002816e-02, 3.12234305e-03,
 -2.98826540e-03, 6.42389643e-02, 1.04369030e-02, 2.69993449e-03,
  4.05965194e-03,-1.61774643e-03, 0.00000000e+00,-2.37947334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013468008163638606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54563923e-14,  1.23651138e-13,  1.00000000e+00,  1.91120049e-27,
        1.00000000e+00, -1.23651138e-13, -1.00000000e+00,  0.00000000e+00,
       -1.54563923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02720553, -0.13120901,  0.0618806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09030684e-05,-6.28529268e-04,-5.05103930e-05, 3.25075128e-05,
 -1.61800855e-05,-3.32165629e-04,-2.05249405e-05,-1.00537275e-04,
 -9.21722115e-06,-1.50285620e-03,-3.99152199e-04,-9.25902712e-05,
 -4.42466883e-05, 2.00050371e-05,-1.51067025e-05,-4.62579732e-06,
 -2.39585626e-06, 1.58121029e-05,-1.21644719e+00, 1.58439834e-03,
  5.43265208e-04, 5.11115782e-05]


--- Step 1479 ---
qpos:
[-0.01047403, 1.23805302,-0.01805563, 0.94533966, 0.00425733, 1.2289256 ,
 -0.02995043, 0.94222795, 0.01682716, 1.30939424,-0.0231167 , 0.95431328,
  1.31165711,-0.00259355, 1.06404026, 0.06393639,-0.00166681,-0.09780735,
  0.08160897, 0.53071477,-0.01219583,-0.00587429, 0.84744238]

qacc:
[ 2.05955039e-02,-5.09465476e+00, 7.40177705e+00, 6.04031119e+00,
 -5.33690182e-02,-1.17633335e+01, 3.34055495e+01,-3.98411025e+01,
  1.19802925e-01,-1.80058317e+01, 3.77253191e+01,-2.24910972e+01,
 -4.84117610e-01, 7.93755595e-01,-4.42252933e+00, 1.49477262e+01,
  7.33344969e-01, 1.45474783e+00, 3.25133427e-02, 6.30776900e+01,
  5.58709780e+01, 4.58810333e-01]

qfrc_actuator:
[ 2.81501114e-03, 7.79172418e-02, 1.05899145e-02, 2.63020731e-03,
  1.13011581e-05, 8.75419835e-02, 1.05236530e-02, 3.05466318e-03,
 -2.94951465e-03, 6.35515320e-02, 1.04497612e-02, 2.70855684e-03,
  4.04011393e-03,-1.60183705e-03, 0.00000000e+00,-2.30695685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013480558468441303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11786732e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11786732e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02720537, -0.13120727,  0.06188054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46945377e-06,-5.85346537e-04,-1.22792038e-04, 2.07119142e-05,
 -1.49599417e-05,-5.51083119e-04,-4.93810040e-05,-7.92914201e-05,
  3.36855807e-05,-1.60393294e-03,-3.29508279e-04,-4.88368447e-05,
 -3.98779714e-05, 1.06017909e-05,-1.13655139e-05, 6.94427927e-05,
 -1.58239996e-06, 2.65358520e-06,-1.21644283e+00, 1.58446024e-03,
  5.43682949e-04, 3.46590378e-05]


--- Step 1480 ---
qpos:
[-0.01047705, 1.23893703,-0.01805752, 0.94535479, 0.00425763, 1.22999968,
 -0.02995208, 0.94225097, 0.01682815, 1.30998072,-0.02311729, 0.95433514,
  1.31181443,-0.00259297, 1.06424849, 0.06393474,-0.00165632,-0.09780473,
  0.08161493, 0.53072769,-0.01202224,-0.0056757 , 0.84743812]

qacc:
[-1.21885254e-02,-1.22961708e+00,-4.50876545e-01,-1.87542098e+00,
 -4.32111330e-02,-7.72193860e+00, 1.81707676e+01,-1.53738944e+01,
  2.74273768e-02,-1.45941933e+01, 2.23341506e+01, 1.27909967e+01,
 -3.52628630e-01, 5.33411782e-01,-3.80643054e+00, 1.30548245e+01,
  6.88181484e-01, 1.37650716e+00,-5.31166098e-01, 5.95146066e+01,
  5.26491563e+01, 3.74991825e-01]

qfrc_actuator:
[ 2.80920773e-03, 7.78238562e-02, 1.05408037e-02, 2.61141990e-03,
  7.86079836e-06, 8.72945446e-02, 1.05377106e-02, 3.04097562e-03,
 -2.96230633e-03, 6.28714626e-02, 1.04575418e-02, 2.81221777e-03,
  4.02273706e-03,-1.59264631e-03, 0.00000000e+00,-2.24536174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013345814564574912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59965170e-14,  4.15944272e-14,  1.00000000e+00,  1.08131023e-27,
        1.00000000e+00, -4.15944272e-14, -1.00000000e+00,  0.00000000e+00,
       -2.59965170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02722235, -0.13122808,  0.06188171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44459509e-06,-4.49460898e-04,-1.78702914e-04,-3.82183745e-05,
 -1.21163684e-05,-5.75735697e-04,-1.04158955e-04,-3.22300904e-05,
  7.34548002e-06,-1.63744223e-03,-3.45102705e-04, 4.62493939e-05,
 -3.73075544e-05, 2.54389458e-06,-1.11776472e-06, 6.31882384e-05,
  2.78867900e-06,-1.12381804e-06,-1.21644160e+00, 1.58465989e-03,
  5.43576876e-04, 2.87090540e-05]


--- Step 1481 ---
qpos:
[-0.01048026, 1.23981923,-0.01806107, 0.94536879, 0.004258  , 1.23107061,
 -0.02995418, 0.94227255, 0.01682896, 1.31055493,-0.02311841, 0.95435666,
  1.31197165,-0.00259283, 1.06445633, 0.06393652,-0.00164323,-0.09779686,
  0.08161687, 0.53074194,-0.01187334,-0.00532818, 0.84743355]

qacc:
[-8.24919574e-02, 1.50706134e-01,-1.05317402e+00,-1.10344623e+01,
  3.17941658e-02,-5.41859289e+00, 1.56550253e+01,-2.83995656e+01,
 -7.28165596e-02,-1.52938681e+01, 3.11511029e+01,-2.34090318e+01,
  4.68436523e-01,-1.01103462e+00,-1.09274188e+01, 3.72971539e+01,
  6.50661832e-01, 1.31162199e+00,-1.00397443e+00, 5.65660362e+01,
  4.99836232e+01, 3.14905449e-01]

qfrc_actuator:
[ 2.78919828e-03, 7.78422619e-02, 1.04951730e-02, 2.55881437e-03,
  2.34906810e-05, 8.72341036e-02, 1.05465508e-02, 2.97042922e-03,
 -2.98816530e-03, 6.23078311e-02, 1.04445435e-02, 2.79341327e-03,
  4.01199191e-03,-1.62299856e-03, 0.00000000e+00,-2.06644418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013094619418003925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64952103e-14,  4.23923365e-14,  1.00000000e+00,  1.12319387e-27,
        1.00000000e+00, -4.23923365e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64952103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02725277, -0.13126654,  0.06188383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28054914e-05,-2.75150471e-04,-1.56756429e-04,-7.10146968e-05,
  8.59441611e-06,-4.11583654e-04,-1.19027940e-04,-9.03468474e-05,
 -2.12148651e-05,-1.53963659e-03,-3.71385768e-04,-7.54654357e-05,
 -3.10429404e-05,-3.83918742e-05, 2.40224105e-06, 1.81356661e-04,
  1.01174462e-05, 2.87275368e-06,-1.21644297e+00, 1.58498689e-03,
  5.43011681e-04, 3.14836331e-05]


--- Step 1482 ---
qpos:
[-0.01048368, 1.24070185,-0.01806636, 0.94538153, 0.00425834, 1.2321391 ,
 -0.02995662, 0.94229272, 0.01682983, 1.31111689,-0.02311995, 0.95437573,
  1.31212868,-0.00259302, 1.06466396, 0.06394174,-0.00162766,-0.09778396,
  0.08161321, 0.53075742,-0.01174795,-0.00483818, 0.84742854]

qacc:
[-8.93891606e-02, 3.04028378e+00,-6.70578249e+00,-8.96498277e+00,
 -1.27550112e-02,-4.67689970e+00, 1.42841265e+01,-2.71598130e+01,
  2.82545306e-02,-1.91671101e+01, 4.80603958e+01,-6.24111613e+01,
  3.24120330e-01,-7.68630039e-01,-1.07672802e+01, 3.71432256e+01,
  6.19332188e-01, 1.25772709e+00,-1.40012955e+00, 5.41316905e+01,
  4.77829879e+01, 2.74333810e-01]

qfrc_actuator:
[ 2.77859196e-03, 7.80340848e-02, 1.04702111e-02, 2.50457754e-03,
  1.49236939e-05, 8.71796727e-02, 1.05529620e-02, 2.90258707e-03,
 -2.96839606e-03, 6.16940720e-02, 1.04197539e-02, 2.66721412e-03,
  3.99989052e-03,-1.64101010e-03, 0.00000000e+00,-1.89084156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012752688332774084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44112247e-15,  4.35289798e-14,  1.00000000e+00,  2.36846510e-28,
        1.00000000e+00, -4.35289798e-14, -1.00000000e+00,  0.00000000e+00,
       -5.44112247e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02729357, -0.13131865,  0.0618867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46178302e-05,-1.97419996e-06,-1.00476268e-04,-6.75855612e-05,
 -3.61723952e-06,-3.19363003e-04,-9.27300740e-05,-8.44994556e-05,
  7.61871698e-06,-1.54432672e-03,-3.70613087e-04,-1.83584660e-04,
 -3.82983555e-05,-3.45803470e-05, 1.78965360e-05, 1.85223387e-04,
  1.99684324e-05, 1.34616310e-05,-1.21644655e+00, 1.58542879e-03,
  5.42037863e-04, 4.16773513e-05]


--- Step 1483 ---
qpos:
[-0.01048726, 1.24158584,-0.01807265, 0.94539342, 0.00425862, 1.23320448,
 -0.02995883, 0.94231232, 0.01683085, 1.31166649,-0.02312195, 0.95439627,
  1.31228558,-0.00259394, 1.06487216, 0.06394469,-0.00161625,-0.09777802,
  0.08161372, 0.53077737,-0.01159177,-0.00455683, 0.84741976]

qacc:
[-7.23992036e-02, 3.02654977e+00,-5.97144241e+00,-5.52004008e+00,
 -2.61774916e-02,-5.68757584e+00, 1.47968672e+01,-1.74966465e+01,
  5.84139753e-02,-1.24810992e+01, 1.81828869e+01, 8.85838458e+00,
  3.03838216e-01,-9.86168546e-01, 7.69041026e+00,-2.57678384e+01,
 -1.04007155e+00,-1.74006608e+00, 1.04141486e+00,-8.02174557e+01,
 -6.83905905e+01,-4.19374780e+00]

qfrc_actuator:
[ 2.77371941e-03, 7.82041916e-02, 1.04583873e-02, 2.46769587e-03,
  9.66506522e-06, 8.70051248e-02, 1.05579925e-02, 2.87240841e-03,
 -2.95692326e-03, 6.10906302e-02, 1.04057572e-02, 2.74511511e-03,
  3.98166100e-03,-1.68704406e-03, 0.00000000e+00,-2.02042610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013077296448106707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24484919e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.24484919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02975169, -0.05889728,  0.06188396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99219169e-05, 1.38522217e-04,-2.74321116e-05,-4.03780681e-05,
 -7.36717416e-06,-3.83077114e-04,-7.28880402e-05,-4.31624468e-05,
  1.62650859e-05,-1.53956151e-03,-3.63800319e-04, 1.78623489e-05,
 -4.73792882e-05,-6.34921737e-05, 2.45387939e-05,-1.17973804e-04,
  3.20273802e-05, 2.97763227e-05,-1.21645209e+00, 1.58597230e-03,
  5.40694902e-04, 5.83350391e-05]


--- Step 1484 ---
qpos:
[-0.01049096, 1.24247265,-0.01807937, 0.945406  , 0.00425899, 1.23427029,
 -0.02996351, 0.94233402, 0.01683199, 1.31220433,-0.02312446, 0.95441927,
  1.31244208,-0.00259487, 1.06508125, 0.06393973,-0.00160864,-0.09777856,
  0.08161517, 0.53080172,-0.01140729,-0.00446827, 0.84740748]

qacc:
[-5.01181332e-02, 6.10441869e+00,-1.68933023e+01, 2.11661055e+01,
  3.65259381e-02, 1.07940285e+01,-3.88551957e+01, 5.77884514e+01,
  5.82848054e-02,-9.82118087e+00, 8.42538339e+00, 2.84109236e+01,
 -8.26980475e-01, 1.05001554e+00, 2.52060024e+01,-8.61425786e+01,
 -9.48619094e-01,-1.61854569e+00, 2.34983131e-01,-7.41546403e+01,
 -6.31223653e+01,-3.98033242e+00]

qfrc_actuator:
[ 2.77233047e-03, 7.84844169e-02, 1.04899156e-02, 2.51233696e-03,
  2.41876381e-05, 8.72394757e-02, 1.05084976e-02, 2.98882367e-03,
 -2.95052514e-03, 6.05516402e-02, 1.03984241e-02, 2.87151892e-03,
  3.96508112e-03,-1.67834467e-03, 0.00000000e+00,-2.43528539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.19146246,  -6.02101067,  -6.19146246,
        30.26856226, -22.24459531,  -6.02101067, -22.24459531,
        31.51069227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013387480343840033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14649731e-14,  4.14649731e-14,  1.00000000e+00,  1.71934399e-27,
        1.00000000e+00, -4.14649731e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14649731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02971205, -0.05895112,  0.06188136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37086382e-05, 3.41452750e-04, 5.25051297e-05, 4.81009909e-05,
  1.02400470e-05,-4.21942650e-06,-1.36383272e-04, 1.03056236e-04,
  1.62651854e-05,-1.46504660e-03,-3.49503835e-04, 7.13790734e-05,
 -5.81676659e-05,-1.75939726e-05,-7.96436311e-06,-4.19715857e-04,
  1.51220051e-05, 7.94490181e-06,-1.21644455e+00, 1.58440857e-03,
  5.41664172e-04, 3.60955467e-05]


--- Step 1485 ---
qpos:
[-0.01049473, 1.24336306,-0.0180862 , 0.94541931, 0.00425933, 1.2353419 ,
 -0.02997146, 0.94235687, 0.0168331 , 1.31273129,-0.02312708, 0.95444111,
  1.312598  ,-0.0025952 , 1.06528985, 0.06393354,-0.00160452,-0.09778516,
  0.08161484, 0.53083037,-0.01119657,-0.00455931, 0.84739186]

qacc:
[-2.95097043e-02, 6.26992394e+00,-1.62132131e+01, 2.01758742e+01,
 -1.37494602e-02, 1.84235200e+01,-5.32915276e+01, 5.59602986e+01,
 -1.46737992e-02,-1.59741041e+01, 3.72402069e+01,-3.90478858e+01,
 -9.47076668e-01, 1.57823870e+00, 3.09103801e+00,-1.16904948e+01,
 -8.73227742e-01,-1.51718708e+00,-4.44494478e-01,-6.91182288e+01,
 -5.87551962e+01,-3.78302506e+00]

qfrc_actuator:
[ 2.77304662e-03, 7.87399536e-02, 1.05117801e-02, 2.55141529e-03,
  1.49504827e-05, 8.79121438e-02, 1.04821460e-02, 3.06648897e-03,
 -2.96497845e-03, 6.00734366e-02, 1.04130891e-02, 2.81241024e-03,
  3.94952175e-03,-1.63724672e-03, 0.00000000e+00,-2.48220368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.28021391,  -5.92838006,  -6.28021391,
        33.15402943, -25.97272515,  -5.92838006, -25.97272515,
        36.1505021 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013489017890001703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05764243e-14,  4.11528487e-14,  1.00000000e+00,  8.46778478e-28,
        1.00000000e+00, -4.11528487e-14, -1.00000000e+00,  0.00000000e+00,
       -2.05764243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0297002 , -0.05896936,  0.06188052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.99055679e-06, 4.47273023e-04, 9.42169134e-05, 5.29807116e-05,
 -3.31050731e-06, 6.35719016e-04,-4.20383279e-05, 7.72148240e-05,
 -4.59146863e-06,-1.35856685e-03,-3.09737860e-04,-1.10277202e-04,
 -5.32983803e-05, 2.38365712e-05,-5.66913117e-05,-7.27773651e-05,
  4.49813049e-06,-6.81040888e-07,-1.21644125e+00, 1.58240334e-03,
  5.42690922e-04, 2.77511234e-05]


--- Step 1486 ---
qpos:
[-0.01049868, 1.24425651,-0.01809254, 0.94543232, 0.00425975, 1.23641966,
 -0.02997976, 0.94237857, 0.01683412, 1.31324814,-0.02312966, 0.95446235,
  1.3127537 ,-0.00259562, 1.06549757, 0.0639311 ,-0.00160364,-0.0977975 ,
  0.08161045, 0.53086311,-0.01096131,-0.00481901, 0.84737299]

qacc:
[-7.67514315e-02, 2.18048047e+00,-1.70061789e+00,-3.74416893e+00,
  3.59732211e-02, 7.09500458e+00,-1.10300769e+01,-7.57555437e+00,
 -3.89355860e-02,-1.44421339e+01, 3.22916462e+01,-2.86127768e+01,
  1.63858337e-01,-3.87031415e-01,-1.26138657e+01, 4.22165040e+01,
 -8.10935015e-01,-1.43245211e+00,-1.01667499e+00,-6.49341122e+01,
 -5.51351592e+01,-3.60041324e+00]

qfrc_actuator:
[ 2.75727145e-03, 7.88722543e-02, 1.05276967e-02, 2.53360813e-03,
  2.70429760e-05, 8.83274375e-02, 1.05069870e-02, 3.01449555e-03,
 -2.97407214e-03, 5.96355106e-02, 1.04407636e-02, 2.78666320e-03,
  3.93992944e-03,-1.64832650e-03, 0.00000000e+00,-2.27635159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.31146853,  -5.89509473,  -6.31146853,
        37.58323318, -30.99140292,  -5.89509473, -30.99140292,
        41.81670645,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013422721444159708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.13561076e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.13561076e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02971045, -0.05895931,  0.06188108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11600647e-05, 3.90855051e-04, 1.13845689e-04, 5.86497195e-07,
  1.02087790e-05, 7.50020819e-04, 1.44321755e-04,-3.10531384e-05,
 -1.15001530e-05,-1.25694829e-03,-2.76723472e-04,-7.68448435e-05,
 -3.46629566e-05,-1.72756026e-05,-3.63427158e-05, 1.94046154e-04,
 -1.07836227e-06, 1.25593042e-06,-1.21644133e+00, 1.58003279e-03,
  5.43800939e-04, 3.04840787e-05]


--- Step 1487 ---
qpos:
[-0.0105025 , 1.24515141,-0.01809729, 0.94544375, 0.00426043, 1.23750201,
 -0.02998712, 0.94239751, 0.01683518, 1.31375526,-0.02313275, 0.95448417,
  1.31290914,-0.00259592, 1.06570546, 0.06392771,-0.0016058 ,-0.09781528,
  0.08160006, 0.53089971,-0.01070291,-0.0052383 , 0.84735087]

qacc:
[ 5.31645999e-02,-5.16224827e+00, 2.23697577e+01,-3.88112688e+01,
  1.11020280e-01,-1.28061929e+00, 1.71524648e+01,-4.99128820e+01,
  2.02796966e-02,-1.04191816e+01, 1.74422305e+01,-2.54550605e+00,
 -3.59512602e-01, 5.14507113e-01, 3.10277661e+00,-1.04458290e+01,
 -7.59289807e-01,-1.36139314e+00,-1.49819789e+00,-6.14605118e+01,
 -5.21372509e+01,-3.43081756e+00]

qfrc_actuator:
[ 2.78499670e-03, 7.88587133e-02, 1.05749946e-02, 2.44688064e-03,
  5.18310482e-05, 8.84791140e-02, 1.05254301e-02, 2.86878738e-03,
 -2.96212577e-03, 5.91720818e-02, 1.04228650e-02, 2.81633201e-03,
  3.93390689e-03,-1.63699367e-03, 0.00000000e+00,-2.33163624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.20882397,  -6.00310602,  -6.20882397,
        45.59672928, -38.22694508,  -6.00310602, -38.22694508,
        48.17329204,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013222722438119283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04954088e-14,  2.09908177e-14,  1.00000000e+00,  2.20307214e-28,
        1.00000000e+00, -2.09908177e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04954088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02973811, -0.05892696,  0.06188272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46910058e-05, 2.16076119e-04, 1.34893557e-04,-7.06456937e-05,
  3.07384494e-05, 5.82806995e-04, 1.78310858e-04,-1.18375706e-04,
  5.47264551e-06,-1.21872960e-03,-2.97704302e-04,-1.66912932e-05,
 -2.96513708e-05,-7.80552347e-07, 3.44865610e-06,-4.94618138e-05,
 -2.51430692e-06, 1.18359425e-05,-1.21644418e+00, 1.57736059e-03,
  5.45006493e-04, 4.22464400e-05]


--- Step 1488 ---
qpos:
[-0.01050566, 1.24604475,-0.01809997, 0.94545397, 0.00426153, 1.23858727,
 -0.02999349, 0.94241611, 0.01683603, 1.31425247,-0.02313622, 0.95450481,
  1.31306441,-0.00259612, 1.06591378, 0.06392001,-0.00161491,-0.09782961,
  0.08158473, 0.53092784,-0.01065402,-0.00567624, 0.84733105]

qacc:
[  0.2860111 , -9.76010765, 31.82399796,-40.76958126,  0.18109022,
   0.56756623,  3.47167187, -8.77212164, -0.08722293,-14.00891925,
  32.35186094,-35.42950083, -0.47880936,  0.69408435, 13.70496209,
 -46.93409667, -1.73840382,  0.86076791, -1.23554231,-63.55066017,
  83.78369393,  4.64971075]

qfrc_actuator:
[ 2.85634524e-03, 7.85805238e-02, 1.06043220e-02, 2.37347401e-03,
  8.40296650e-05, 8.85249903e-02, 1.05388701e-02, 2.84645906e-03,
 -2.99091548e-03, 5.86615025e-02, 1.03959120e-02, 2.75405490e-03,
  3.93003725e-03,-1.63015261e-03, 0.00000000e+00,-2.55816847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013174927612464582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21339326e-14,  8.42678652e-14,  1.00000000e+00,  3.55053656e-27,
        1.00000000e+00, -8.42678652e-14, -1.00000000e+00,  0.00000000e+00,
       -4.21339326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339624, -0.10738329,  0.06188307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91205182e-05,-1.43241441e-04, 8.30651993e-05,-6.35528890e-05,
  5.00334468e-05, 3.88503141e-04, 1.41895665e-04,-1.04047806e-06,
 -2.52862320e-05,-1.24697117e-03,-2.99900028e-04,-1.06732516e-04,
 -2.08612326e-05,-8.40553600e-08,-8.72886714e-06,-2.29947057e-04,
 -4.76280221e-07, 2.96661622e-05,-1.21644933e+00, 1.57443978e-03,
  5.46311029e-04, 6.15514380e-05]


--- Step 1489 ---
qpos:
[-0.01050808, 1.24693404,-0.01810149, 0.94546353, 0.00426318, 1.23967276,
 -0.02999785, 0.94243624, 0.01683648, 1.31473934,-0.02313948, 0.95452319,
  1.31321933,-0.0025957 , 1.06612171, 0.06391233,-0.0016201 ,-0.09783731,
  0.08157723, 0.53095641,-0.01063934,-0.0059149 , 0.8473117 ]

qacc:
[  0.32113405, -9.61410887, 26.33078778,-28.17067029,  0.23719266,
  -2.47906637,  5.28127752, 13.05887974, -0.17290889,-18.0522072 ,
  47.05186312,-60.52592154, -0.71509408,  1.33824422, -0.58070743,
   1.32505146,  0.98293545,  1.65967438,  1.95667885, 75.34622927,
  67.38616166,  1.09640683]

qfrc_actuator:
[ 0.00290002, 0.07818149, 0.01058625, 0.00232606, 0.00012041, 0.08838295,
  0.01058439, 0.00291459,-0.00302616, 0.05812671, 0.01039911, 0.00263812,
  0.00392214,-0.00159052, 0.        ,-0.0025464 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013283474716005925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.35792628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.35792628e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02724712, -0.13121968,  0.06188209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88520380e-05,-4.72694009e-04,-4.02457211e-05,-4.95933993e-05,
  6.53873732e-05, 8.95326090e-05, 1.35275028e-04, 8.52409143e-05,
 -4.98425164e-05,-1.28982133e-03,-2.78137162e-04,-1.63398369e-04,
 -2.03506956e-05, 3.52206787e-05,-3.45834382e-05,-3.30160930e-06,
  1.31310381e-05, 2.86039821e-05,-1.21644845e+00, 1.57950210e-03,
  5.47230688e-04, 6.06957277e-05]


--- Step 1490 ---
qpos:
[-0.01051014, 1.24781736,-0.01810239, 0.94547198, 0.00426502, 1.24075652,
 -0.03000047, 0.94245587, 0.01683666, 1.31521559,-0.02314149, 0.95454105,
  1.31337409,-0.00259506, 1.066329  , 0.06390814,-0.00162171,-0.09783881,
  0.08157405, 0.53098572,-0.01065599,-0.00596945, 0.84729273]

qacc:
[ 1.52617960e-01,-1.14523994e+01, 3.01587068e+01,-3.54026938e+01,
  8.47755849e-02,-7.85523878e+00, 2.39408663e+01,-2.55499470e+01,
 -1.11680461e-01,-1.82207723e+01, 4.36584318e+01,-3.72326071e+01,
 -5.75261624e-02, 1.65010989e-01,-1.14657571e+01, 3.87476231e+01,
  8.90505199e-01, 1.54841638e+00, 1.08300276e+00, 6.96882741e+01,
  6.21563136e+01, 8.60497157e-01]

qfrc_actuator:
[ 0.00289124, 0.07773079, 0.01055756, 0.00225869, 0.00010574, 0.08814744,
  0.01061225, 0.00287548,-0.00302949, 0.0576173 , 0.01047322, 0.00261583,
  0.00391183,-0.00158503, 0.        ,-0.00235875, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   5.87722456,   6.32811254,   5.87722456,
        26.05336566, -16.1760132 ,   6.32811254, -16.1760132 ,
        23.65981043,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001357049296828547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.09057735e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.09057735e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02721556, -0.13117308,  0.06187966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20472264e-05,-7.30186212e-04,-1.28860291e-04,-8.26547663e-05,
  2.32303973e-05,-1.67968669e-04, 6.09289629e-05,-2.91577467e-05,
 -3.23816597e-05,-1.28548773e-03,-2.14762910e-04,-7.17273641e-05,
 -1.39438373e-05, 9.62440556e-06,-1.89390324e-05, 1.82434651e-04,
  4.28881090e-06, 8.54486613e-06,-1.21644233e+00, 1.58209872e-03,
  5.46724690e-04, 3.89293548e-05]


--- Step 1491 ---
qpos:
[-0.01051219, 1.24869314,-0.01810253, 0.94548006, 0.00426675, 1.24183855,
 -0.03000336, 0.94247536, 0.01683696, 1.31568237,-0.02314329, 0.95455744,
  1.31352875,-0.00259458, 1.06653591, 0.06390785,-0.00162008,-0.0978345 ,
  0.08157227, 0.53101595,-0.01070162,-0.00585243, 0.84727403]

qacc:
[ 5.85203497e-03,-1.26378905e+01, 3.00395384e+01,-2.58150179e+01,
 -5.02427049e-02,-1.73703641e+00, 3.21501376e+00,-3.29755880e+00,
  5.30187463e-02,-1.55652625e+01, 3.87386811e+01,-4.47624611e+01,
  2.92306205e-01,-5.58726395e-01,-1.23589439e+01, 4.23865464e+01,
  8.14755871e-01, 1.45546327e+00, 3.47928789e-01, 6.49920637e+01,
  5.78275575e+01, 6.85456917e-01]

qfrc_actuator:
[ 2.86883171e-03, 7.72526473e-02, 1.05580836e-02, 2.23329765e-03,
  7.83338867e-05, 8.80174834e-02, 1.05756965e-02, 2.86222402e-03,
 -2.99588860e-03, 5.71985302e-02, 1.04999908e-02, 2.54235709e-03,
  3.90009295e-03,-1.59987575e-03, 0.00000000e+00,-2.15780864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.94653554,   6.26302578,   5.94653554,
        28.4487648 , -18.81121869,   6.26302578, -18.81121869,
        26.49699273,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013652601822932847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06597599e-14,  4.06597599e-14,  1.00000000e+00,  1.65321608e-27,
        1.00000000e+00, -4.06597599e-14, -1.00000000e+00,  0.00000000e+00,
       -4.06597599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02720787, -0.13115855,  0.06187896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23216524e-06,-9.18272370e-04,-1.61013046e-04,-5.17031286e-05,
 -1.39504606e-05,-2.22830663e-04,-6.56667941e-05,-1.58729209e-05,
  1.48047828e-05,-1.17726194e-03,-2.51360049e-04,-1.18802649e-04,
 -1.73065399e-05,-1.56668534e-05, 9.26736538e-06, 2.08147682e-04,
  5.03646901e-07, 5.82313494e-07,-1.21644018e+00, 1.58458687e-03,
  5.45723652e-04, 3.05453402e-05]


--- Step 1492 ---
qpos:
[-0.01051435, 1.24956014,-0.01810181, 0.94548998, 0.00426842, 1.24291906,
 -0.03000704, 0.94249457, 0.01683765, 1.31614008,-0.02314578, 0.95457147,
  1.31368335,-0.00259449, 1.0667431 , 0.06390762,-0.00161543,-0.09782467,
  0.08156941, 0.53104714,-0.0107743 ,-0.00557427, 0.84725544]

qacc:
[-4.41953809e-02,-1.06411082e+01, 1.71059486e+01, 1.17170955e+01,
 -2.67025890e-02,-3.61573185e-01,-6.89264206e-01,-1.60543985e+00,
  1.64275342e-01,-1.41532687e+01, 3.65454174e+01,-5.33381162e+01,
  2.40110084e-01,-6.45312227e-01, 1.98050582e-01,-1.68824768e-01,
  7.52580765e-01, 1.37776748e+00,-2.70017859e-01, 6.10951131e+01,
  5.42450881e+01, 5.58589139e-01]

qfrc_actuator:
[ 2.85620073e-03, 7.67442503e-02, 1.05757466e-02, 2.32156569e-03,
  7.90204845e-05, 8.79515436e-02, 1.05373414e-02, 2.84655532e-03,
 -2.95817233e-03, 5.67484862e-02, 1.04633847e-02, 2.42159335e-03,
  3.88748470e-03,-1.62663939e-03, 0.00000000e+00,-2.16374057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.99694483,   6.2147751 ,   5.99694483,
        31.58083053, -22.14025444,   6.2147751 , -22.14025444,
        30.00059359,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013570236369574856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0906547e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0906547e-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([-0.02721918, -0.1311695 ,  0.06187964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27047936e-05,-1.05781397e-03,-1.83361878e-04, 5.61328643e-05,
 -7.41282494e-06,-2.13478906e-04,-9.22072644e-05,-2.33327407e-05,
  4.66854851e-05,-1.15715602e-03,-2.99125527e-04,-1.65072098e-04,
 -2.56450121e-05,-3.46888643e-05, 2.38491294e-05, 6.02829526e-06,
  7.95211505e-07, 2.29473136e-06,-1.21644119e+00, 1.58702059e-03,
  5.44284430e-04, 3.28907480e-05]


--- Step 1493 ---
qpos:
[-0.01051663, 1.2504185 ,-0.01810027, 0.94550159, 0.00427005, 1.24399944,
 -0.0300113 , 0.94251334, 0.0168386 , 1.31658799,-0.02314849, 0.95458468,
  1.31383782,-0.00259494, 1.0669509 , 0.063903  ,-0.00160797,-0.09780959,
  0.0815634 , 0.53107928,-0.01087242,-0.00514357, 0.84723676]

qacc:
[-5.18249230e-02,-1.06404479e+01, 1.76116730e+01, 9.46797547e+00,
 -1.64415846e-02, 6.41800644e-01,-1.35432352e+00,-3.97082680e+00,
  1.13374774e-01,-1.36339068e+01, 3.06105213e+01,-2.98747343e+01,
  1.82178399e-02,-4.36915669e-01, 1.41577336e+01,-4.82343875e+01,
  7.01421509e-01, 1.31275626e+00,-7.89016943e-01, 5.78648803e+01,
  5.12832439e+01, 4.70254878e-01]

qfrc_actuator:
[ 2.84954794e-03, 7.63284589e-02, 1.06210507e-02, 2.40496346e-03,
  7.88031630e-05, 8.80665347e-02, 1.05517768e-02, 2.82963142e-03,
 -2.95380117e-03, 5.62298158e-02, 1.04428265e-02, 2.38044858e-03,
  3.86903226e-03,-1.66024309e-03, 0.00000000e+00,-2.39802654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.98709416,   6.22426545,   5.98709416,
        36.07850288, -26.39647569,   6.22426545, -26.39647569,
        34.02702004,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013357190618515646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.31180041e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.31180041e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02724544, -0.13120053,  0.0618814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48244983e-05,-1.04341440e-03,-1.82330060e-04, 4.89573463e-05,
 -4.52658519e-06,-3.27378361e-05,-4.08108993e-05,-2.52587415e-05,
  3.20963739e-05,-1.22529311e-03,-2.85924861e-04,-8.73489938e-05,
 -4.08750703e-05,-4.79703472e-05, 6.28355817e-06,-2.32133128e-04,
  4.44359481e-06, 1.19167455e-05,-1.21644480e+00, 1.58942989e-03,
  5.42454048e-04, 4.40362236e-05]


--- Step 1494 ---
qpos:
[-0.01051901, 1.25126832,-0.01809812, 0.9455124 , 0.00427135, 1.24508113,
 -0.03001587, 0.94253129, 0.01683958, 1.31702615,-0.02315143, 0.95459662,
  1.31399181,-0.00259521, 1.0671581 , 0.06390064,-0.00160809,-0.09779057,
  0.08155206, 0.53110192,-0.01117507,-0.00473195, 0.84722103]

qacc:
[-4.30337894e-02,-1.42767402e+01, 3.46824336e+01,-3.41690933e+01,
 -1.40719259e-01, 1.15139419e+00,-1.57572633e-02,-1.02473998e+01,
  1.33141093e-02,-1.44164972e+01, 3.41387397e+01,-3.82938947e+01,
 -3.50881286e-01, 4.64287577e-01,-7.71353524e+00, 2.57601816e+01,
 -1.89277355e+00, 9.83182728e-01,-1.32999152e+00,-6.24302739e+01,
  8.15355470e+01, 5.22853007e+00]

qfrc_actuator:
[ 2.84654192e-03, 7.59006002e-02, 1.06471271e-02, 2.36058626e-03,
  4.25389712e-05, 8.82537771e-02, 1.05802431e-02, 2.79448764e-03,
 -2.96947107e-03, 5.57453187e-02, 1.04317169e-02, 2.31545928e-03,
  3.84708111e-03,-1.64439582e-03, 0.00000000e+00,-2.26782380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013397926187613957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14326445e-14,  4.14326445e-14,  1.00000000e+00,  1.71666403e-27,
        1.00000000e+00, -4.14326445e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14326445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05333467, -0.10739628,  0.06188102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24009843e-05,-1.04742118e-03,-1.98812583e-04,-7.85324841e-05,
 -3.88912474e-05, 1.49539763e-04, 1.43823369e-05,-3.65889301e-05,
  3.46199334e-06,-1.22383159e-03,-2.85989600e-04,-1.11029720e-04,
 -5.66755353e-05,-4.97502340e-06,-2.86638454e-05, 1.16753194e-04,
  1.09204320e-05, 2.81620763e-05,-1.21645062e+00, 1.59182938e-03,
  5.40271016e-04, 6.25803220e-05]


--- Step 1495 ---
qpos:
[-0.01052132, 1.25210935,-0.01809613, 0.94552337, 0.00427213, 1.24616347,
 -0.03002048, 0.94254772, 0.0168405 , 1.317455  ,-0.02315387, 0.95460761,
  1.31414522,-0.002595  , 1.06736518, 0.06389914,-0.00161252,-0.09777832,
  0.08154478, 0.53112834,-0.01144635,-0.00452797, 0.84720197]

qacc:
[ 3.36752782e-02,-1.08140252e+01, 2.10384102e+01,-1.10388876e+01,
 -2.25291908e-01,-1.65585734e+00, 9.57614110e+00,-2.64536567e+01,
 -2.50740681e-02,-1.51871681e+01, 3.66875198e+01,-3.68785979e+01,
 -7.36085247e-01, 1.17527561e+00,-2.67932765e+00, 9.24661487e+00,
 -1.07995115e+00,-1.68956442e+00, 1.01408677e+00,-7.96227206e+01,
 -6.84019982e+01,-3.71983525e+00]

qfrc_actuator:
[ 2.86350551e-03, 7.54333485e-02, 1.06260355e-02, 2.36561697e-03,
  2.70289505e-06, 8.82522135e-02, 1.05638307e-02, 2.71345003e-03,
 -2.97928335e-03, 5.53384702e-02, 1.04796198e-02, 2.27245711e-03,
  3.82306686e-03,-1.61714528e-03, 0.00000000e+00,-2.22562904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001386813810090079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00208746e-14,  2.00139164e-14,  1.00000000e+00,  6.00835273e-28,
        1.00000000e+00, -2.00139164e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00208746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02966929, -0.05905966,  0.06187703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.98591998e-06,-1.09596088e-03,-2.52377479e-04,-3.26998979e-05,
 -6.23949369e-05, 7.20512018e-05, 1.11178090e-05,-7.56520671e-05,
 -7.53821716e-06,-1.14601297e-03,-2.27379559e-04,-8.95677346e-05,
 -5.70323357e-05, 1.29236559e-05,-2.73385203e-06, 4.44540213e-05,
 -1.19739321e-06, 2.90545914e-05,-1.21645461e+00, 1.59349988e-03,
  5.41713478e-04, 6.11966729e-05]


--- Step 1496 ---
qpos:
[-0.01052364, 1.25294111,-0.01809422, 0.94553472, 0.0042724 , 1.24724413,
 -0.03002407, 0.9425653 , 0.01684134, 1.31787488,-0.02315569, 0.95461937,
  1.31429823,-0.00259473, 1.0675727 , 0.06389412,-0.00162087,-0.09777237,
  0.08153832, 0.53115862,-0.011689  ,-0.00451579, 0.84717973]

qacc:
[-6.55245941e-03,-1.13283167e+01, 2.15139960e+01,-8.62999604e+00,
 -2.16419820e-01,-2.96554739e+00, 4.64632823e+00, 1.04129051e+01,
 -3.52163410e-02,-1.21904040e+01, 2.40249809e+01,-6.58559937e+00,
 -6.04022455e-01, 7.72011171e-01, 1.12913439e+01,-3.84721595e+01,
 -9.78446415e-01,-1.57585073e+00, 2.05276090e-01,-7.36243674e+01,
 -6.30311511e+01,-3.64540440e+00]

qfrc_actuator:
[ 2.85680776e-03, 7.49461282e-02, 1.06126880e-02, 2.38190140e-03,
 -2.11962252e-05, 8.80487384e-02, 1.05736041e-02, 2.76568972e-03,
 -2.98550229e-03, 5.49284025e-02, 1.05267925e-02, 2.31382946e-03,
  3.79784015e-03,-1.61890933e-03, 0.00000000e+00,-2.41325019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.75858525,  -6.43626233,  -5.75858525,
        21.96774642, -11.92771524,  -6.43626233, -11.92771524,
        19.30820415,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014120814821336064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9655789e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9655789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02963783, -0.05910521,  0.06187489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23176124e-06,-1.15176526e-03,-2.58843816e-04,-2.34084976e-05,
 -6.01087061e-05,-1.74516592e-04, 2.06350664e-05, 5.42984623e-05,
 -1.04229095e-05,-1.09404072e-03,-2.05610845e-04,-6.88809576e-07,
 -5.40629315e-05,-1.19302423e-05,-7.03572014e-07,-1.86484316e-04,
 -2.13702753e-06, 7.75125150e-06,-1.21644738e+00, 1.59149582e-03,
  5.43427145e-04, 3.69632612e-05]


--- Step 1497 ---
qpos:
[-0.0105263 , 1.25376241,-0.01809167, 0.94554628, 0.00427212, 1.24832027,
 -0.03002561, 0.94258498, 0.01684209, 1.31828576,-0.02315698, 0.95463327,
  1.31445098,-0.00259475, 1.06778048, 0.06388455,-0.0016328 ,-0.09777234,
  0.08152996, 0.53119278,-0.01190528,-0.00468222, 0.8471544 ]

qacc:
[-1.44103765e-01,-1.51109481e+01, 3.23560474e+01,-1.94785643e+01,
 -2.39800207e-01,-7.88484942e+00, 1.42326033e+01, 1.48816605e+01,
 -3.35159895e-02,-9.51744803e+00, 1.24802899e+01, 1.95010563e+01,
 -2.55417321e-01, 7.70131261e-02, 1.41220558e+01,-4.88238879e+01,
 -8.94987391e-01,-1.48045327e+00,-4.76380281e-01,-6.86395393e+01,
 -5.85793651e+01,-3.56196864e+00]

qfrc_actuator:
[ 2.81822386e-03, 7.43621588e-02, 1.06217092e-02, 2.38690196e-03,
 -5.30960885e-05, 8.76551662e-02, 1.06158006e-02, 2.86032011e-03,
 -2.98951699e-03, 5.44842927e-02, 1.05554444e-02, 2.42226150e-03,
  3.78254426e-03,-1.63787320e-03, 0.00000000e+00,-2.64597550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.75746952,  -6.43726041,  -5.75746952,
        24.19028052, -13.91138415,  -6.43726041, -13.91138415,
        21.07867065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014167106987921924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02963354, -0.05911558,  0.06187447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06345942e-05,-1.28025014e-03,-2.47816910e-04,-3.63352706e-05,
 -6.68041639e-05,-4.95159634e-04, 9.74958266e-06, 9.25804982e-05,
 -9.92170445e-06,-1.09237840e-03,-2.08890581e-04, 7.06045352e-05,
 -4.88102606e-05,-3.42136584e-05,-2.65568618e-05,-2.44452575e-04,
  1.92372047e-06,-4.88634934e-07,-1.21644438e+00, 1.58931180e-03,
  5.45068509e-04, 2.67546877e-05]


--- Step 1498 ---
qpos:
[-0.0105289 , 1.25457362,-0.0180894 , 0.94555818, 0.0042715 , 1.24938963,
 -0.03002555, 0.94260417, 0.01684293, 1.31868814,-0.02315742, 0.95464659,
  1.31460341,-0.00259521, 1.06798744, 0.0638776 ,-0.00164803,-0.09777791,
  0.08151739, 0.53123071,-0.01209706,-0.00501632, 0.84712598]

qacc:
[ 2.66261000e-02,-1.18987288e+01, 2.21153317e+01,-8.93866370e+00,
 -1.41821004e-01,-1.40643585e+01, 3.61274476e+01,-3.27166500e+01,
  3.42697512e-02,-1.44744035e+01, 3.49130268e+01,-3.17553836e+01,
  2.83519590e-01,-8.23169439e-01,-9.11936377e+00, 3.00798632e+01,
 -8.26126826e-01,-1.40026614e+00,-1.05045489e+00,-6.44981361e+01,
 -5.48889296e+01,-3.47434122e+00]

qfrc_actuator:
[ 2.84959936e-03, 7.38670526e-02, 1.06079695e-02, 2.40291500e-03,
 -5.40340411e-05, 8.71332979e-02, 1.06227472e-02, 2.81920249e-03,
 -2.97442669e-03, 5.40943737e-02, 1.06083439e-02, 2.39170735e-03,
  3.75723006e-03,-1.66681845e-03, 0.00000000e+00,-2.49501337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.69301164,  -6.49433563,  -5.69301164,
        27.31372299, -16.37279475,  -6.49433563, -16.37279475,
        22.98894971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014047876138933851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.95156895e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.95156895e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02965081, -0.05909804,  0.06187542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98719274e-06,-1.26055539e-03,-2.94784682e-04,-2.91288027e-05,
 -3.97550273e-05,-8.01720085e-04,-8.83128340e-05,-5.22243716e-05,
  9.47126322e-06,-1.03571685e-03,-1.82586808e-04,-6.67775648e-05,
 -6.15897967e-05,-4.81290196e-05,-4.36185050e-05, 1.32980414e-04,
  9.98252263e-06, 1.70346992e-06,-1.21644476e+00, 1.58692617e-03,
  5.46707058e-04, 2.77168347e-05]


--- Step 1499 ---
qpos:
[-0.01053116, 1.25537651,-0.01808815, 0.94557078, 0.00427099, 1.25044974,
 -0.03002433, 0.94262266, 0.01684403, 1.31908264,-0.02315805, 0.95465945,
  1.31475543,-0.00259599, 1.06819332, 0.06387878,-0.00166125,-0.09778932,
  0.08151418, 0.53127083,-0.01217167,-0.0054396 , 0.84709714]

qacc:
[ 1.47876838e-01,-6.98568259e+00, 8.20014654e+00, 6.01478761e+00,
  4.58967957e-02,-1.64487499e+01, 4.04648884e+01,-3.75117067e+01,
  1.13446908e-01,-1.06424952e+01, 2.31644592e+01,-2.05224816e+01,
  4.63881354e-01,-1.03927201e+00,-2.61879511e+01, 8.92306004e+01,
  5.05262547e-01,-1.45851594e+00, 2.33767009e+00,-6.64248082e+00,
 -7.33019986e+01,-1.87533506e+00]

qfrc_actuator:
[ 2.88718258e-03, 7.35711112e-02, 1.05989860e-02, 2.44305214e-03,
 -1.86455491e-05, 8.64852700e-02, 1.06081748e-02, 2.76939316e-03,
 -2.94800052e-03, 5.37223282e-02, 1.06042471e-02, 2.36839783e-03,
  3.73657100e-03,-1.68373730e-03, 0.00000000e+00,-2.06592067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001382549083266682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.0075653e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.0075653e-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([-0.00670468, -0.07673293,  0.06187721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09125917e-05,-1.05934262e-03,-2.91289951e-04,-5.64436292e-06,
  1.22582693e-05,-1.12093541e-03,-1.85196967e-04,-7.63563844e-05,
  3.22204798e-05,-9.85384474e-04,-2.29543267e-04,-6.02951584e-05,
 -6.67338870e-05,-4.27912313e-05,-6.70214040e-06, 4.30594544e-04,
  2.13217871e-05, 1.24166518e-05,-1.21644787e+00, 1.58433277e-03,
  5.48386208e-04, 3.77718705e-05]


--- Step 1500 ---
qpos:
[-0.01053348, 1.25617239,-0.01808773, 0.94558262, 0.00427086, 1.25149821,
 -0.03002144, 0.94263993, 0.01684526, 1.3194698 ,-0.0231596 , 0.95467262,
  1.31490705,-0.00259679, 1.06839946, 0.06388204,-0.00167042,-0.09779441,
  0.0815174 , 0.53131067,-0.01228039,-0.00566975, 0.84706908]

qacc:
[-2.38216813e-02,-8.26789513e+00, 1.74481729e+01,-1.97113622e+01,
  1.68529807e-01,-2.18768561e+01, 5.54268404e+01,-5.48332103e+01,
  5.90128856e-02,-6.63033517e+00, 9.37650684e+00, 1.11344765e-02,
 -1.94090677e-01, 1.23747671e-01,-5.87082831e+00, 2.11054884e+01,
  1.00974857e+00, 1.57824730e+00, 1.61003405e+00, 7.27422509e+01,
  6.57392038e+01, 1.59705524e+00]

qfrc_actuator:
[ 2.85717281e-03, 7.33259266e-02, 1.05937063e-02, 2.40842167e-03,
  2.04830979e-05, 8.57489675e-02, 1.06337620e-02, 2.69703307e-03,
 -2.95049658e-03, 5.33815326e-02, 1.05666462e-02, 2.38504962e-03,
  3.72937621e-03,-1.67562781e-03, 0.00000000e+00,-1.97359563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013910636573395488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.97638586e-15,  7.98110869e-14,  1.00000000e+00, -7.96226199e-28,
        1.00000000e+00, -7.98110869e-14, -1.00000000e+00,  0.00000000e+00,
        9.97638586e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02719693, -0.13109457,  0.06187649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.91639585e-06,-8.95812657e-04,-2.47149140e-04,-7.37928310e-05,
  4.61952642e-05,-1.40535778e-03,-2.19188353e-04,-1.11899112e-04,
  1.66888647e-05,-9.35216087e-04,-2.58354682e-04,-2.00785808e-05,
 -5.38225387e-05,-1.82185225e-05, 4.28521946e-05, 1.15018402e-04,
  2.07282598e-05, 2.43057708e-05,-1.21644856e+00, 1.58045109e-03,
  5.48322652e-04, 5.63286922e-05]


--- Step 1501 ---
qpos:
[-0.01053598, 1.25696477,-0.01808932, 0.94559234, 0.00427086, 1.25253339,
 -0.030017  , 0.9426557 , 0.01684657, 1.31984894,-0.0231605 , 0.95468553,
  1.31505838,-0.00259759, 1.0686059 , 0.06388542,-0.00167595,-0.09779358,
  0.08152378, 0.53135062,-0.01242037,-0.00572095, 0.84704163]

qacc:
[-7.77992056e-02,-2.88747305e+00, 8.18396488e+00,-2.94924741e+01,
  5.48878213e-02,-2.41935393e+01, 6.09492987e+01,-6.19635707e+01,
  2.88825999e-02,-1.27142132e+01, 2.92918880e+01,-2.34346077e+01,
 -2.30565315e-01, 2.29437002e-01, 5.83529330e-02, 4.64961930e-01,
  9.10418339e-01, 1.48097800e+00, 7.87752354e-01, 6.74920804e+01,
  6.07817449e+01, 1.29861504e+00]

qfrc_actuator:
[ 2.84012778e-03, 7.33794865e-02, 1.05731204e-02, 2.31235590e-03,
  8.27211394e-06, 8.49657858e-02, 1.06647015e-02, 2.61192923e-03,
 -2.95257185e-03, 5.29733375e-02, 1.05985103e-02, 2.37183140e-03,
  3.72494883e-03,-1.67043474e-03, 0.00000000e+00,-1.97400347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.45424942,   6.6961138 ,   5.45424942,
        21.9782701 , -10.86751029,   6.6961138 , -10.86751029,
        17.48838041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014093431800520223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44644640e-14,  7.87759178e-14,  1.00000000e+00,  2.71496978e-27,
        1.00000000e+00, -7.87759178e-14, -1.00000000e+00,  0.00000000e+00,
       -3.44644640e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02717958, -0.13106449,  0.06187499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17720363e-05,-4.99947945e-04,-2.27458373e-04,-1.30662669e-04,
  1.45648013e-05,-1.61715382e-03,-2.74354199e-04,-1.35014534e-04,
  7.96262537e-06,-9.79245972e-04,-1.81177011e-04,-4.83811417e-05,
 -3.81591713e-05,-1.20859726e-05, 2.62885915e-05, 1.00747566e-05,
  9.10083963e-06, 6.60291746e-06,-1.21644348e+00, 1.58449004e-03,
  5.46953034e-04, 3.83478784e-05]


--- Step 1502 ---
qpos:
[-0.01053852, 1.25776301,-0.01809621, 0.94560052, 0.00427072, 1.25355483,
 -0.03001274, 0.94267118, 0.01684804, 1.32022037,-0.02316198, 0.95469858,
  1.31520934,-0.00259785, 1.06881239, 0.06388914,-0.00167817,-0.09778715,
  0.08153054, 0.53139096,-0.0125893 ,-0.00560492, 0.84701461]

qacc:
[-1.88385470e-02, 1.93933003e+01,-5.09138083e+01, 2.31624734e+01,
 -5.81118056e-02,-1.80588259e+01, 3.77263258e+01,-2.74429174e+01,
  7.35801922e-02,-8.34369950e+00, 1.47353093e+01,-6.46947194e+00,
 -6.73447975e-01, 1.20419346e+00,-8.80105264e-01, 3.32439494e+00,
  8.29522731e-01, 1.39961091e+00, 9.65157331e-02, 6.31344121e+01,
  5.66832448e+01, 1.07459247e+00]

qfrc_actuator:
[ 2.84876145e-03, 7.42861966e-02, 1.05270971e-02, 2.26985548e-03,
 -1.68806077e-05, 8.42140505e-02, 1.06273054e-02, 2.59096615e-03,
 -2.93662546e-03, 5.25815749e-02, 1.05643470e-02, 2.37664316e-03,
  3.72218589e-03,-1.63149531e-03, 0.00000000e+00,-1.95792778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.54508828,   6.62108547,   5.54508828,
        24.11623072, -12.96422316,   6.62108547, -12.96422316,
        19.49376191,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014087659326463137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85102456e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.85102456e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02718381, -0.13106391,  0.06187507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.71832113e-06, 5.74341857e-04,-1.74954611e-04,-6.60815725e-05,
 -1.67653304e-05,-1.71420448e-03,-3.91043573e-04,-7.93998760e-05,
  2.08395124e-05,-9.72864088e-04,-2.47848772e-04,-3.00655353e-05,
 -2.67491755e-05, 2.70638619e-05, 7.46627366e-06, 1.86798300e-05,
  2.40706083e-06, 1.90925795e-07,-1.21644208e+00, 1.58818872e-03,
  5.45249962e-04, 3.28327598e-05]


--- Step 1503 ---
qpos:
[-0.01054103, 1.258574  ,-0.01810758, 0.94560748, 0.00427067, 1.2545621 ,
 -0.03000935, 0.94268743, 0.0168494 , 1.32058458,-0.02316462, 0.95471055,
  1.31535999,-0.00259787, 1.06901883, 0.06389337,-0.00167515,-0.09778394,
  0.0815417 , 0.53142969,-0.01259783,-0.0054785 , 0.84699101]

qacc:
[ 7.32871126e-03, 2.67397534e+01,-6.45986060e+01, 3.43417475e+01,
  4.05895613e-02,-1.49252712e+01, 2.46361646e+01,-3.51182496e+00,
 -4.86679896e-02,-8.19746539e+00, 1.74857800e+01,-2.31711439e+01,
 -3.87560539e-01, 6.09047179e-01,-1.55052340e+00, 5.39622980e+00,
  1.30796472e+00,-8.05938226e-01, 1.09872080e+00, 4.70158413e+01,
 -6.51977383e+01, 1.20568961e+00]

qfrc_actuator:
[ 2.85498083e-03, 7.54660545e-02, 1.05054235e-02, 2.24199901e-03,
  3.67221388e-06, 8.34691929e-02, 1.05677638e-02, 2.62562824e-03,
 -2.96325630e-03, 5.22380779e-02, 1.05092808e-02, 2.32097291e-03,
  3.69913604e-03,-1.62610331e-03, 0.00000000e+00,-1.93222051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013994538131710949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98331487e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98331487e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280829, -0.08954548,  0.06187588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84511834e-06, 1.45380094e-03, 6.72205887e-05,-1.64621666e-05,
  1.07230254e-05,-1.78199912e-03,-4.43780360e-04,-2.88349397e-05,
 -1.41597085e-05,-9.33484663e-04,-2.74534846e-04,-9.18941521e-05,
 -3.16379459e-05, 5.80205824e-06, 6.91677725e-07, 2.65894310e-05,
 -2.65494897e-07, 2.87456855e-06,-1.21644363e+00, 1.59165343e-03,
  5.43231657e-04, 3.73849638e-05]


--- Step 1504 ---
qpos:
[-0.0105438 , 1.25939802,-0.01811931, 0.9456145 , 0.00427093, 1.25555481,
 -0.03000628, 0.94270401, 0.01685041, 1.3209414 ,-0.02316687, 0.95472308,
  1.31551039,-0.00259801, 1.06922598, 0.06389183,-0.00166715,-0.09778372,
  0.08155468, 0.53146702,-0.01245531,-0.00534246, 0.84697056]

qacc:
[ -0.10853363, 18.22483771,-38.94728797, 26.66299712,  0.13225371,
 -17.72848577, 34.07042568,-16.62654389, -0.14679078, -9.8265524 ,
  19.20086974, -5.56964596, -0.47855671,  0.51642198, 18.45461656,
 -62.98442824,  1.24596263, -0.74519095,  0.45720376, 44.2146733 ,
 -61.42938999,  1.07740938]

qfrc_actuator:
[ 2.82420003e-03, 7.62679944e-02, 1.05529155e-02, 2.25874298e-03,
  3.37211778e-05, 8.27343879e-02, 1.05489625e-02, 2.63946402e-03,
 -2.99746191e-03, 5.19083793e-02, 1.05490100e-02, 2.35444370e-03,
  3.67457364e-03,-1.64075532e-03, 0.00000000e+00,-2.23833364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.83846411, -6.36389139,  5.83846411, 34.02004908,
       23.28791103, -6.36389139, 23.28791103, 30.00153543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013862509613244284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00440849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.00440849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03282667, -0.08953922,  0.06187704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97170034e-05, 1.61101051e-03, 3.37286099e-04, 6.25600253e-05,
  3.61987237e-05,-1.81806325e-03,-4.20774249e-04,-5.20864382e-05,
 -4.23479745e-05,-9.04901207e-04,-1.76883740e-04,-3.82012587e-06,
 -4.09525987e-05,-2.05271768e-05,-1.07256460e-06,-3.05557247e-04,
  1.74806402e-06, 2.42057687e-06,-1.21644104e+00, 1.58740344e-03,
  5.41930329e-04, 3.93359871e-05]


--- Step 1505 ---
qpos:
[-0.01054671, 1.26023366,-0.01812938, 0.94562102, 0.00427136, 1.25653289,
 -0.03000257, 0.94271956, 0.0168512 , 1.3212913 ,-0.02316915, 0.95473625,
  1.31566062,-0.00259835, 1.06943294, 0.06388799,-0.00165437,-0.09778628,
  0.08156735, 0.53150309,-0.01216948,-0.00519738, 0.84695298]

qacc:
[-6.36203081e-02, 9.87237569e+00,-1.27983812e+01,-1.91583159e+00,
  7.77121664e-02,-2.26597731e+01, 5.28456376e+01,-4.84573770e+01,
 -9.58585099e-02,-7.88096839e+00, 1.34840877e+01,-8.34604260e-02,
 -1.08296687e-01,-3.80552134e-02, 6.68996761e+00,-2.37826512e+01,
  1.19427460e+00,-6.96204474e-01,-7.93620963e-02, 4.19065210e+01,
 -5.83173675e+01, 9.68018845e-01]

qfrc_actuator:
[ 2.82473994e-03, 7.68022789e-02, 1.06218219e-02, 2.23043619e-03,
  3.37130123e-05, 8.20294334e-02, 1.05898986e-02, 2.58768446e-03,
 -3.00042912e-03, 5.15900252e-02, 1.05557519e-02, 2.38692738e-03,
  3.67041301e-03,-1.64941433e-03, 0.00000000e+00,-2.34692080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.63932948, -6.5410045 ,  5.63932948, 40.02837246,
       27.0646322 , -6.5410045 , 27.0646322 , 31.97014645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013611087171660624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07837747e-14,  2.03918873e-14,  1.00000000e+00,  8.31658138e-28,
        1.00000000e+00, -2.03918873e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07837747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03286257, -0.08952944,  0.0618792 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73652208e-05, 1.48536273e-03, 4.22495627e-04, 3.19731329e-05,
  2.09596793e-05,-1.80418553e-03,-3.66114783e-04,-1.18666271e-04,
 -2.77156909e-05,-8.56005084e-04,-1.90598829e-04, 9.37385446e-07,
 -3.26585102e-05,-2.27629052e-05,-4.03720601e-05,-1.27113520e-04,
  5.73192966e-06, 9.24862064e-07,-1.21644103e+00, 1.58402146e-03,
  5.41197337e-04, 3.35556036e-05]


--- Step 1506 ---
qpos:
[-0.0105494 , 1.26107963,-0.01813818, 0.94562764, 0.00427175, 1.25749591,
 -0.0299979 , 0.94273373, 0.01685184, 1.3216342 ,-0.0231721 , 0.95474837,
  1.31581065,-0.00259881, 1.06963926, 0.06388617,-0.00164014,-0.09779354,
  0.08158408, 0.53154096,-0.01177726,-0.00513296, 0.84693515]

qacc:
[ 9.29118278e-02, 1.03683609e+01,-1.76729787e+01, 1.02717185e+01,
 -1.86689042e-02,-2.47238669e+01, 5.96233699e+01,-5.82876284e+01,
 -6.23227692e-02,-9.19287459e+00, 2.09898192e+01,-2.58923090e+01,
  8.27062266e-02,-2.70318638e-01,-7.05481354e+00, 2.32579810e+01,
  3.62702128e-01,-1.17586013e+00, 1.01636676e+00,-5.87474245e+00,
 -6.64768248e+01,-1.59674322e+00]

qfrc_actuator:
[ 2.86182147e-03, 7.72254483e-02, 1.06484426e-02, 2.22890392e-03,
  1.56763066e-05, 8.12595031e-02, 1.06303435e-02, 2.51550017e-03,
 -3.00238721e-03, 5.12099384e-02, 1.05074729e-02, 2.32975763e-03,
  3.66251751e-03,-1.65435404e-03, 0.00000000e+00,-2.23162956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001328988125176532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08847431e-14,  2.08847431e-14,  1.00000000e+00,  4.36172496e-28,
        1.00000000e+00, -2.08847431e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08847431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00670648, -0.07668266,  0.06188195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63552437e-05, 1.32041387e-03, 3.64441137e-04, 5.68232318e-05,
 -5.92864170e-06,-1.85262905e-03,-3.59589557e-04,-1.38613159e-04,
 -1.80930522e-05,-8.93180557e-04,-2.37480388e-04,-8.75677777e-05,
 -3.23922986e-05,-1.75754803e-05,-3.54886578e-05, 1.02380955e-04,
  1.13715403e-05,-1.45319290e-06,-1.21644317e+00, 1.58133837e-03,
  5.40947850e-04, 2.11952814e-05]


--- Step 1507 ---
qpos:
[-0.01055163, 1.26193352,-0.01814573, 0.94563582, 0.00427201, 1.25844367,
 -0.02999277, 0.94274977, 0.01685238, 1.32197019,-0.02317594, 0.95475904,
  1.31596024,-0.00259877, 1.0698458 , 0.06388199,-0.00162934,-0.09780606,
  0.08159647, 0.53158175,-0.0113596 ,-0.00523708, 0.84691462]

qacc:
[ 1.98055856e-01, 9.70426140e+00,-2.22960836e+01, 3.25031707e+01,
 -4.95317733e-02,-1.80898571e+01, 3.09898906e+01, 4.29551603e+00,
 -4.04547837e-02,-9.18478567e+00, 2.19552310e+01,-3.15615386e+01,
 -8.59712666e-01, 1.42201939e+00, 7.50876970e+00,-2.56360287e+01,
 -8.57805686e-01,-1.31438585e+00,-1.08747721e+00,-6.45949012e+01,
 -5.55423384e+01,-3.01008719e+00]

qfrc_actuator:
[ 2.90276894e-03, 7.74542999e-02, 1.06494255e-02, 2.29627979e-03,
  4.72904466e-06, 8.04923863e-02, 1.06521682e-02, 2.60937090e-03,
 -3.00372809e-03, 5.08666827e-02, 1.04623349e-02, 2.25572572e-03,
  3.64706430e-03,-1.62156069e-03, 0.00000000e+00,-2.35821278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.06472611,  3.08981709,  8.06472611, 11.74664083,
       -8.11812901,  3.08981709, -8.11812901, 29.8254778 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001304397927717707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51138292e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.51138292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02982029, -0.05895246,  0.06188409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56796692e-05, 1.02419052e-03, 3.00674825e-04, 1.19714464e-04,
 -1.44850063e-05,-1.87576693e-03,-3.87492396e-04, 2.56981548e-05,
 -1.18147253e-05,-8.88635089e-04,-2.49510862e-04,-1.08974055e-04,
 -3.80398714e-05, 2.12078836e-05,-6.82210417e-06,-1.25871398e-04,
  9.39408609e-06,-4.50471362e-06,-1.21644495e+00, 1.57816363e-03,
  5.41614971e-04, 9.37450390e-06]


--- Step 1508 ---
qpos:
[-0.01055368, 1.26279148,-0.01815099, 0.94564436, 0.00427215, 1.25937722,
 -0.02998812, 0.94276678, 0.01685285, 1.32229873,-0.0231802 , 0.95477015,
  1.31610939,-0.00259829, 1.07005199, 0.06387866,-0.00162173,-0.09782366,
  0.08160265, 0.53162551,-0.01091809,-0.00550075, 0.84689129]

qacc:
[ 7.65915582e-02,-2.09630778e-01, 6.40735363e+00,-3.91676891e+00,
 -5.21165546e-02,-1.56932490e+01, 2.66522492e+01,-2.80001913e+00,
 -2.61703134e-02,-7.87479736e+00, 1.29879818e+01,-1.52633904e+00,
 -6.06916545e-01, 1.01102068e+00,-3.04062401e+00, 1.00027965e+01,
 -7.97660464e-01,-1.26951846e+00,-1.55118821e+00,-6.12184014e+01,
 -5.24883079e+01,-2.96942841e+00]

qfrc_actuator:
[ 2.89244585e-03, 7.74050855e-02, 1.06700346e-02, 2.29699849e-03,
 -1.87399712e-06, 7.98396956e-02, 1.06451856e-02, 2.65816616e-03,
 -3.00469102e-03, 5.04772172e-02, 1.04373205e-02, 2.27892308e-03,
  3.62177871e-03,-1.60219935e-03, 0.00000000e+00,-2.30680833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.28976502, -4.63099372, -7.28976502, 14.17601337,
       -8.72010356, -4.63099372, -8.72010356, 22.36290047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012863112277795852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02984814, -0.05892365,  0.06188567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14823619e-05, 5.71662983e-04, 2.56996976e-04, 4.38541442e-05,
 -1.51231750e-05,-1.77445285e-03,-4.19128041e-04,-1.70954143e-05,
 -7.74355268e-06,-9.35262314e-04,-2.30485096e-04,-1.24731732e-05,
 -4.19818383e-05, 1.59132139e-05,-2.20044467e-05, 4.24122597e-05,
 -7.48896776e-07,-2.20243411e-08,-1.21644569e+00, 1.57488248e-03,
  5.43144019e-04, 1.53976130e-05]


--- Step 1509 ---
qpos:
[-0.01055597, 1.2636507 ,-0.01815458, 0.94565212, 0.00427219, 1.26029867,
 -0.02998497, 0.94277998, 0.01685329, 1.32261948,-0.02318435, 0.95478216,
  1.31625818,-0.00259778, 1.07025752, 0.06387995,-0.00161045,-0.09783553,
  0.08161033, 0.53166909,-0.0105067 ,-0.00559177, 0.84686854]

qacc:
[-1.03916446e-01,-4.19534382e+00, 1.72642581e+01,-2.48846147e+01,
 -4.42488553e-02,-1.83328354e+01, 4.84555992e+01,-7.85475787e+01,
 -1.69142436e-02,-9.01687515e+00, 1.52647623e+01, 1.87772699e+00,
  4.00034398e-03,-1.12656720e-01,-1.49035559e+01, 5.07235848e+01,
  9.18925058e-01, 1.43198002e+00, 3.76115794e-01, 6.51054678e+01,
  5.86459326e+01, 1.25317207e+00]

qfrc_actuator:
[ 2.85145988e-03, 7.72429552e-02, 1.06653729e-02, 2.24053628e-03,
 -5.81740983e-06, 7.93494733e-02, 1.06039154e-02, 2.46701979e-03,
 -3.00542210e-03, 5.00810890e-02, 1.04420256e-02, 2.32363365e-03,
  3.59593626e-03,-1.60878920e-03, 0.00000000e+00,-2.06211508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012977856984776742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.55474849e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.55474849e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02734153, -0.1312305 ,  0.06188474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91305114e-05, 1.97648855e-04, 1.36079627e-04,-2.98127707e-05,
 -1.28314846e-05,-1.56325580e-03,-4.38417609e-04,-2.55930217e-04,
 -5.12113730e-06,-9.61069387e-04,-2.04870299e-04, 1.04523866e-05,
 -4.58002194e-05,-1.23524897e-05,-8.61306341e-06, 2.43510628e-04,
 -6.98329996e-06, 1.20357905e-05,-1.21644883e+00, 1.57145552e-03,
  5.44676725e-04, 2.92890885e-05]


--- Step 1510 ---
qpos:
[-0.01055832, 1.26450904,-0.0181573 , 0.94566009, 0.00427214, 1.26120914,
 -0.02998315, 0.94279175, 0.0168537 , 1.32293324,-0.02318808, 0.95479212,
  1.31640713,-0.0025987 , 1.07046305, 0.06388311,-0.00160671,-0.09784339,
  0.08161458, 0.53170297,-0.0103126 ,-0.00570285, 0.84684891]

qacc:
[-2.00144540e-02,-3.17256837e+00, 8.53246757e+00,-4.45528394e+00,
 -3.38124819e-02,-1.33264105e+01, 2.90199299e+01,-3.50012553e+01,
 -1.10283306e-02,-1.38430420e+01, 3.82424020e+01,-5.25471185e+01,
  1.30853749e+00,-2.79949361e+00,-5.78579032e+00, 1.99706508e+01,
 -1.88530771e+00, 1.00219853e+00,-8.58858498e-01,-6.63018678e+01,
  8.66362490e+01, 5.43784780e+00]

qfrc_actuator:
[ 2.86343685e-03, 7.70320229e-02, 1.06452686e-02, 2.23952793e-03,
 -8.13413048e-06, 7.89070501e-02, 1.05787961e-02, 2.40258782e-03,
 -3.00601048e-03, 4.97908049e-02, 1.04819436e-02, 2.22085218e-03,
  3.58574516e-03,-1.70173158e-03, 0.00000000e+00,-1.97184071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013131032709037468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.4549559e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.4549559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338729, -0.10748893,  0.0618835 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.68800236e-06,-8.38394346e-05, 3.16056273e-05, 9.26372477e-06,
 -9.86075314e-06,-1.40947794e-03,-3.90142020e-04,-1.28997206e-04,
 -3.44021373e-06,-8.63751266e-04,-1.71102257e-04,-1.36529921e-04,
 -3.83779517e-05,-1.06766769e-04, 2.03607339e-05, 1.02104851e-04,
 -1.62212255e-07,-6.19161083e-07,-1.21644511e+00, 1.57418723e-03,
  5.43829856e-04, 1.18963822e-05]


--- Step 1511 ---
qpos:
[-0.01056047, 1.2653653 ,-0.01815981, 0.94566851, 0.00427233, 1.26211257,
 -0.02998363, 0.94280271, 0.01685409, 1.32324078,-0.02319167, 0.95480037,
  1.31655595,-0.00260045, 1.07066897, 0.06388467,-0.00161003,-0.09784762,
  0.08161297, 0.53172817,-0.01032108,-0.00583237, 0.8468321 ]

qacc:
[ 7.85038435e-02,-2.52523314e+00, 4.05022805e+00, 2.84324744e+00,
  1.02239480e-01,-4.37769378e+00, 4.78600375e+00,-9.04308699e+00,
 -7.41187031e-03,-1.14846838e+01, 3.10112390e+01,-4.26126565e+01,
  4.18085335e-01,-1.21580386e+00, 5.36792498e+00,-1.80478365e+01,
 -1.76603281e+00, 9.07996874e-01,-1.46479997e+00,-6.16983240e+01,
  8.08319233e+01, 4.91196729e+00]

qfrc_actuator:
[ 2.88934049e-03, 7.68289447e-02, 1.06160103e-02, 2.25335886e-03,
  2.60480174e-05, 7.88343375e-02, 1.05637893e-02, 2.37784112e-03,
 -3.00651042e-03, 4.95308161e-02, 1.05071333e-02, 2.13868255e-03,
  3.57958583e-03,-1.73851933e-03, 0.00000000e+00,-2.06208977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.07463357,  3.06383249, -8.07463357, 10.99004797,
        6.20306057,  3.06383249,  6.20306057, 24.98433347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001325217261711975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05335781, -0.10748747,  0.06188251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18940800e-05,-2.50887261e-04,-4.32955846e-05, 1.35759354e-05,
  2.83735714e-05,-9.41279129e-04,-3.40689843e-04,-8.03523811e-05,
 -2.36192490e-06,-7.77356258e-04,-1.67287576e-04,-1.15482350e-04,
 -5.25139818e-05,-7.17866037e-05, 1.63535200e-05,-8.29861625e-05,
 -1.33876019e-06, 2.15691605e-06,-1.21644102e+00, 1.57970257e-03,
  5.45300059e-04, 2.86008872e-05]


--- Step 1512 ---
qpos:
[-0.01056254, 1.26621888,-0.01816225, 0.94567607, 0.00427298, 1.26301399,
 -0.02998664, 0.94281252, 0.01685432, 1.32354267,-0.02319562, 0.95480963,
  1.31670413,-0.00260161, 1.07087467, 0.06388751,-0.00162001,-0.09784852,
  0.08160345, 0.53174546,-0.01051986,-0.005979  , 0.84681778]

qacc:
[ 3.83397976e-02,-5.17027184e+00, 1.43755888e+01,-2.07420114e+01,
  1.94962786e-01, 2.21007080e+00,-8.02264061e+00,-5.14244360e+00,
 -6.70988242e-02,-4.70630224e+00, 4.37047455e+00, 1.13010121e+01,
 -8.58377326e-01, 1.41164878e+00,-4.11609912e+00, 1.40779195e+01,
 -1.66550012e+00, 8.31623496e-01,-1.97635930e+00,-5.78730123e+01,
  7.59914750e+01, 4.47560388e+00]

qfrc_actuator:
[ 2.88788383e-03, 7.66498858e-02, 1.05993361e-02, 2.20477013e-03,
  6.40906304e-05, 7.91081549e-02, 1.05741163e-02, 2.34133799e-03,
 -3.02470766e-03, 4.92910485e-02, 1.05058474e-02, 2.19361278e-03,
  3.56521388e-03,-1.68837649e-03, 0.00000000e+00,-1.99163409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.09914172,  2.9984463 , -8.09914172, 11.35894586,
        7.35400173,  2.9984463 ,  7.35400173, 28.50035196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013201281034041779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.40996432e-14,  4.20498216e-14,  1.00000000e+00,  3.53637499e-27,
        1.00000000e+00, -4.20498216e-14, -1.00000000e+00,  0.00000000e+00,
       -8.40996432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336893, -0.10749308,  0.06188293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06148829e-05,-3.33723615e-04,-7.17477899e-05,-5.59102000e-05,
  5.45270945e-05,-3.24499279e-04,-2.16687344e-04,-7.54838871e-05,
 -1.94248585e-05,-7.07944133e-04,-1.75836057e-04, 2.47658288e-05,
 -6.07304747e-05, 2.05244084e-05,-7.18980996e-06, 6.66525277e-05,
  1.62548285e-06, 2.51890460e-06,-1.21644069e+00, 1.58355078e-03,
  5.46297129e-04, 3.15308379e-05]


--- Step 1513 ---
qpos:
[-0.01056472, 1.26706842,-0.01816369, 0.94568309, 0.00427378, 1.26391621,
 -0.02999132, 0.94282222, 0.01685437, 1.32383895,-0.02319935, 0.95481911,
  1.31685199,-0.00260278, 1.07108003, 0.06389316,-0.00162663,-0.09784314,
  0.08159749, 0.53176408,-0.01074854,-0.00594495, 0.84680345]

qacc:
[-4.32353906e-02,-8.99106592e+00, 2.40360196e+01,-2.47692395e+01,
  6.58815131e-02, 5.36688942e+00,-1.60405802e+01, 1.21915169e+01,
 -7.66523514e-02,-7.62372326e+00, 1.55665570e+01,-7.59711143e+00,
 -5.51067919e-02,-4.51308589e-02,-8.96941919e+00, 3.06600895e+01,
  8.41166876e-01, 1.57145802e+00, 8.89081017e-01, 6.85578490e+01,
  6.06984409e+01, 4.71328538e-01]

qfrc_actuator:
[ 2.87003186e-03, 7.63801433e-02, 1.06257752e-02, 2.17310286e-03,
  5.08790381e-05, 7.93924000e-02, 1.05830326e-02, 2.35170904e-03,
 -3.03562291e-03, 4.90298288e-02, 1.05246307e-02, 2.20450991e-03,
  3.55129075e-03,-1.69369256e-03, 0.00000000e+00,-1.84474664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013363479762088792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15394435e-14,  8.30788870e-14,  1.00000000e+00,  3.45105073e-27,
        1.00000000e+00, -8.30788870e-14, -1.00000000e+00,  0.00000000e+00,
       -4.15394435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02730645, -0.13116556,  0.06188153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23564454e-05,-4.77813561e-04,-5.00999186e-05,-4.39043278e-05,
  1.85429590e-05, 5.15881796e-05,-8.31768921e-05,-6.34702553e-06,
 -2.21980519e-05,-6.88475426e-04,-1.39066280e-04,-1.42049101e-05,
 -4.29670084e-05,-1.44794844e-05,-2.07377202e-08, 1.48740187e-04,
  7.95943406e-06, 9.14416902e-07,-1.21644348e+00, 1.58612143e-03,
  5.46915475e-04, 2.32654895e-05]


--- Step 1514 ---
qpos:
[-0.01056704, 1.26791213,-0.01816337, 0.94569016, 0.00427446, 1.26482139,
 -0.02999748, 0.94283178, 0.01685455, 1.32412891,-0.02320248, 0.954828  ,
  1.3169996 ,-0.00260402, 1.07128533, 0.0639005 ,-0.00163015,-0.09783187,
  0.08159227, 0.53178403,-0.01100506,-0.00574213, 0.84678903]

qacc:
[-6.18345084e-02,-1.23276916e+01, 3.08869297e+01,-2.27322421e+01,
 -5.53650050e-02, 7.63368012e+00,-1.99075044e+01, 1.37580309e+01,
  5.70552748e-02,-1.09032232e+01, 2.67223435e+01,-2.59615752e+01,
 -3.04078892e-02,-9.60115207e-02,-5.20944701e+00, 1.81085029e+01,
  7.75821692e-01, 1.47286952e+00, 1.85929326e-01, 6.40595772e+01,
  5.66681824e+01, 4.05241378e-01]

qfrc_actuator:
[ 2.86025103e-03, 7.59874274e-02, 1.06771159e-02, 2.16937403e-03,
  2.47860559e-05, 7.97164128e-02, 1.05735063e-02, 2.35411420e-03,
 -3.00657729e-03, 4.86691839e-02, 1.05372509e-02, 2.17162644e-03,
  3.54295702e-03,-1.69640698e-03, 0.00000000e+00,-1.76055679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.23325807,   6.8702101 ,   5.23325807,
        61.4538695 , -40.23277811,   6.8702101 , -40.23277811,
        39.2829534 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013412631909576617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13872174e-14,  4.13872174e-14,  1.00000000e+00,  1.71290176e-27,
        1.00000000e+00, -4.13872174e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13872174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02730157, -0.13115678,  0.06188109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76872199e-05,-6.75826183e-04,-5.05234347e-05,-1.93359776e-05,
 -1.52845223e-05, 3.27641557e-04,-1.08133785e-05, 2.49706668e-06,
  1.61252637e-05,-7.71066084e-04,-1.38382079e-04,-5.72474981e-05,
 -3.55431739e-05,-1.63084354e-05, 1.28582629e-05, 9.16143950e-05,
  8.26066888e-07,-2.05147825e-07,-1.21644350e+00, 1.58821222e-03,
  5.45917517e-04, 2.43245424e-05]


--- Step 1515 ---
qpos:
[-0.01056919, 1.26874868,-0.018162  , 0.94569835, 0.00427492, 1.26572971,
 -0.03000442, 0.94284265, 0.01685496, 1.32441268,-0.02320632, 0.95483753,
  1.31714685,-0.0026048 , 1.07149062, 0.06390914,-0.00163077,-0.09781503,
  0.08158544, 0.53180521,-0.01128774,-0.00538042, 0.84677438]

qacc:
[  0.07121483,-10.32704384, 20.09766031, -0.20475134, -0.08907212,
   8.45283306,-25.29164874, 35.08921685,  0.0944475 , -5.11654891,
   5.59666609,  6.34264735, -0.55950485,  0.99410364, -3.88665258,
  13.6695124 ,  0.7218632 ,  1.39083342, -0.40523371, 60.32683509,
  53.33080223,  0.36731221]

qfrc_actuator:
[ 2.89090331e-03, 7.55243300e-02, 1.06889854e-02, 2.21753290e-03,
  8.93737307e-06, 7.99197707e-02, 1.05533861e-02, 2.42282860e-03,
 -2.98930252e-03, 4.83406040e-02, 1.04924627e-02, 2.20194535e-03,
  3.53798178e-03,-1.66198765e-03, 0.00000000e+00,-1.69624784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013306171299109007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65035563e-14,  4.17183501e-14,  1.00000000e+00,  1.52286814e-27,
        1.00000000e+00, -4.17183501e-14, -1.00000000e+00,  0.00000000e+00,
       -3.65035563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02731483, -0.13117184,  0.06188195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96312641e-05,-8.54992384e-04,-1.27998508e-04, 2.72215291e-05,
 -2.47417325e-05, 3.74125193e-04, 4.10935728e-05, 7.94250749e-05,
  2.69285652e-05,-7.85766864e-04,-2.13094631e-04, 2.51923462e-06,
 -2.84681089e-05, 2.21232167e-05, 1.15429476e-05, 6.99898819e-05,
 -2.08881694e-06, 7.54755404e-06,-1.21644646e+00, 1.59037319e-03,
  5.44433651e-04, 3.51628972e-05]


--- Step 1516 ---
qpos:
[-0.0105708 , 1.26957731,-0.01816026, 0.94570718, 0.00427519, 1.26664054,
 -0.03001147, 0.94285602, 0.01685543, 1.32469068,-0.0232113 , 0.95485045,
  1.31729389,-0.00260521, 1.07169612, 0.06391682,-0.00162869,-0.0977929 ,
  0.08157499, 0.53182748,-0.0115952 ,-0.00486798, 0.84675934]

qacc:
[ 2.34296830e-01,-1.02500952e+01, 1.96041832e+01,-4.76908315e+00,
 -8.61211260e-02, 7.86049620e+00,-2.68296127e+01, 5.07929988e+01,
  2.94662231e-02, 1.34357161e+00,-2.03267350e+01, 6.02613198e+01,
 -5.01192046e-01, 8.87487735e-01, 3.27746809e+00,-1.08981817e+01,
  6.77195360e-01, 1.32244376e+00,-9.01798415e-01, 5.72329326e+01,
  5.05713780e+01, 3.52576567e-01]

qfrc_actuator:
[ 2.94556329e-03, 7.50581682e-02, 1.06771691e-02, 2.24248296e-03,
 -6.34801871e-07, 8.00316296e-02, 1.05445593e-02, 2.54769351e-03,
 -2.99698485e-03, 4.80869238e-02, 1.04497998e-02, 2.37571371e-03,
  3.53504109e-03,-1.64131082e-03, 0.00000000e+00,-1.75065863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013076311264371698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.245169e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.245169e-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([-0.02734235, -0.13120569,  0.06188383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54155708e-05,-9.70809575e-04,-1.94128739e-04,-2.51278523e-06,
 -2.39784031e-05, 3.20825239e-04, 6.96557440e-05, 1.40282423e-04,
  8.33317459e-06,-7.31765470e-04,-2.20571286e-04, 1.44729959e-04,
 -1.34784650e-05, 1.94246240e-05, 8.33116352e-06,-5.01476457e-05,
 -1.51673432e-06, 2.26037867e-05,-1.21645186e+00, 1.59258009e-03,
  5.42531388e-04, 5.40842907e-05]


--- Step 1517 ---
qpos:
[-0.01057212, 1.27039784,-0.01815842, 0.94571422, 0.00427529, 1.26755301,
 -0.03001785, 0.94287015, 0.0168559 , 1.32496272,-0.02321583, 0.95486426,
  1.31744072,-0.00260534, 1.0719016 , 0.06392413,-0.00163107,-0.09777764,
  0.08156952, 0.53185343,-0.01187069,-0.00456814, 0.8467409 ]

qacc:
[ 1.26295990e-01,-1.40478049e+01, 3.66528342e+01,-4.76576881e+01,
 -7.04662172e-02, 1.68574416e+00,-4.46945572e+00, 1.16940089e+01,
  1.50791813e-03,-7.48950921e+00, 1.32159276e+01, 2.43569918e+00,
 -3.92563802e-01, 6.85679595e-01, 1.09610097e+00,-3.82097886e+00,
 -1.11448773e+00,-1.71561235e+00, 1.24436853e+00,-8.14975178e+01,
 -7.00371929e+01,-3.77201946e+00]

qfrc_actuator:
[ 2.94317065e-03, 7.46292953e-02, 1.06691726e-02, 2.14701848e-03,
 -6.36491458e-06, 8.00702074e-02, 1.05598950e-02, 2.58025507e-03,
 -3.00182473e-03, 4.78092228e-02, 1.04801334e-02, 2.41951400e-03,
  3.52266898e-03,-1.62895365e-03, 0.00000000e+00,-1.76804426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013432819971945231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13250169e-14,  4.13250169e-14,  1.00000000e+00,  1.70775702e-27,
        1.00000000e+00, -4.13250169e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13250169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02979295, -0.0590443 ,  0.06188079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50926206e-05,-1.01129463e-03,-2.21329050e-04,-1.29011881e-04,
 -1.96968787e-05, 2.25496860e-04, 8.84403029e-05, 4.86343248e-05,
  2.15330524e-07,-7.23116121e-04,-1.33700666e-04, 1.94471332e-05,
 -1.55195782e-05, 1.41399709e-05,-6.76970509e-06,-2.02987465e-05,
  2.00113707e-06, 4.38244438e-05,-1.21645935e+00, 1.59480887e-03,
  5.40263448e-04, 7.98630199e-05]


--- Step 1518 ---
qpos:
[-0.01057342, 1.27121152,-0.0181578 , 0.94571971, 0.00427542, 1.26846533,
 -0.03002304, 0.9428823 , 0.01685636, 1.3252292 ,-0.02321937, 0.95487429,
  1.31758739,-0.00260551, 1.07210672, 0.0639335 ,-0.00163748,-0.09776877,
  0.08156567, 0.53188321,-0.01211709,-0.00446425, 0.84671925]

qacc:
[ 4.28419105e-03,-8.45610576e+00, 1.99051279e+01,-3.11833156e+01,
  1.06391950e-02,-6.80145873e+00, 2.60352055e+01,-4.54751150e+01,
 -8.93084014e-03,-1.65451445e+01, 5.27477090e+01,-8.58918190e+01,
  4.64408576e-02,-1.56081546e-01,-6.76168238e+00, 2.28742472e+01,
 -1.00766380e+00,-1.59869271e+00, 4.02425182e-01,-7.52051077e+01,
 -6.43969270e+01,-3.70555909e+00]

qfrc_actuator:
[ 2.92433336e-03, 7.43504115e-02, 1.06280697e-02, 2.07024228e-03,
  8.00707838e-06, 7.99404142e-02, 1.05712571e-02, 2.46941290e-03,
 -3.00492005e-03, 4.75551088e-02, 1.05353873e-02, 2.22670712e-03,
  3.50464483e-03,-1.63941247e-03, 0.00000000e+00,-1.65691141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.93646701,  -6.27257015,  -5.93646701,
        20.32740064, -11.06459614,  -6.27257015, -11.06459614,
        19.10808549,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013767276479862908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03210841e-14, -8.06421681e-14,  1.00000000e+00,  3.25157964e-27,
        1.00000000e+00,  8.06421681e-14, -1.00000000e+00,  0.00000000e+00,
        4.03210841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02975067, -0.05910373,  0.06187797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.59289103e-07,-8.92704299e-04,-2.69154884e-04,-1.15276796e-04,
  2.89533260e-06, 5.31061539e-06, 6.52689670e-05,-9.92008690e-05,
 -2.82733235e-06,-6.81450508e-04,-1.00878297e-04,-2.17284710e-04,
 -2.36639292e-05,-1.03916505e-05,-9.43318105e-06, 1.08165382e-04,
 -2.02811447e-06, 1.59118596e-05,-1.21644996e+00, 1.59282328e-03,
  5.42057334e-04, 4.85944203e-05]


--- Step 1519 ---
qpos:
[-0.01057467, 1.27202082,-0.01815871, 0.94572542, 0.00427578, 1.26937651,
 -0.03002721, 0.94289351, 0.01685678, 1.32549045,-0.02322241, 0.95488262,
  1.31773393,-0.00260601, 1.072312  , 0.0639421 ,-0.00164757,-0.0977659 ,
  0.08156058, 0.53191688,-0.01233675,-0.00454248, 0.84669452]

qacc:
[ 2.47320913e-02,-1.16159832e+00,-3.60592486e+00, 8.56487471e+00,
  1.00258836e-01,-5.89504195e+00, 1.93762443e+01,-2.71425191e+01,
 -1.16207253e-02,-1.11285858e+01, 3.14305127e+01,-4.35546178e+01,
  9.41712304e-02,-4.07408371e-01, 2.56157890e+00,-8.66791906e+00,
 -9.19939967e-01,-1.50061805e+00,-3.07190481e-01,-6.99769716e+01,
 -5.97235824e+01,-3.62765818e+00]

qfrc_actuator:
[ 2.93130148e-03, 7.43232949e-02, 1.06216375e-02, 2.09393154e-03,
  3.43176507e-05, 7.98172463e-02, 1.05971873e-02, 2.41698663e-03,
 -3.00694452e-03, 4.73171442e-02, 1.05693534e-02, 2.14478652e-03,
  3.48855905e-03,-1.66334524e-03, 0.00000000e+00,-1.70173424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.95882752,  -6.25133197,  -5.95882752,
        22.17568798, -12.90580933,  -6.25133197, -12.90580933,
        20.9383006 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013883171206581363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99844894e-14,  3.99844894e-14,  1.00000000e+00, -1.59875939e-27,
        1.00000000e+00, -3.99844894e-14, -1.00000000e+00,  0.00000000e+00,
        3.99844894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02973737, -0.05912571,  0.06187698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85102207e-06,-5.84206360e-04,-2.16332792e-04,-1.23846865e-05,
  2.79999152e-05,-1.18845017e-04, 2.97877591e-05,-5.15029608e-05,
 -3.55047368e-06,-6.42836950e-04,-1.17231192e-04,-1.09726392e-04,
 -3.18061945e-05,-3.18846447e-05, 4.48591640e-06,-4.07836185e-05,
 -5.73686137e-07, 2.12777441e-06,-1.21644515e+00, 1.59066349e-03,
  5.43750556e-04, 3.25072789e-05]


--- Step 1520 ---
qpos:
[-0.01057601, 1.2728302 ,-0.01816143, 0.94573239, 0.00427626, 1.27028766,
 -0.03003179, 0.94290537, 0.01685718, 1.32574655,-0.0232257 , 0.95489133,
  1.31788012,-0.00260647, 1.07251735, 0.06394942,-0.00166105,-0.09776871,
  0.08155187, 0.53195437,-0.01253163,-0.00479135, 0.84666673]

qacc:
[-3.51334711e-02, 7.14681927e+00,-2.57707837e+01, 3.69673920e+01,
  5.01008254e-02, 2.20921362e+00,-8.60404744e+00, 1.51772493e+01,
 -1.09956560e-02,-5.44711432e+00, 8.85170960e+00,-1.78376136e-01,
 -3.83037991e-01, 4.55135615e-01, 3.97495127e+00,-1.36688252e+01,
 -8.47680171e-01,-1.41821251e+00,-9.04877406e-01,-6.56330758e+01,
 -5.58498356e+01,-3.54385888e+00]

qfrc_actuator:
[ 2.91819537e-03, 7.46605240e-02, 1.06545757e-02, 2.17672965e-03,
  3.20673129e-05, 7.98766385e-02, 1.05960466e-02, 2.45263223e-03,
 -3.00831144e-03, 4.70552464e-02, 1.05551450e-02, 2.16432788e-03,
  3.46831352e-03,-1.65955139e-03, 0.00000000e+00,-1.76710316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.93714543,  -6.27192802,  -5.93714543,
        24.65952077, -15.16787402,  -6.27192802, -15.16787402,
        22.9946078 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013823193257843092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.01579796e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.01579796e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02974713, -0.05911793,  0.06187745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.76302033e-06,-3.57761747e-05,-1.07609792e-04, 5.98298453e-05,
  1.40793912e-05,-1.04304663e-05,-2.41971921e-05, 3.29070104e-05,
 -3.32127632e-06,-6.45383428e-04,-1.56569864e-04,-5.10499062e-06,
 -4.57143738e-05,-1.12391449e-05,-7.13947704e-06,-6.81799742e-05,
  5.24359044e-06,-4.25329116e-07,-1.21644398e+00, 1.58829967e-03,
  5.45424137e-04, 2.84608396e-05]


--- Step 1521 ---
qpos:
[-0.01057716, 1.27364329,-0.01816574, 0.94573928, 0.00427679, 1.27119962,
 -0.03003705, 0.94291684, 0.0168574 , 1.32599731,-0.02322961, 0.95489956,
  1.31802601,-0.00260691, 1.07272285, 0.06395422,-0.00167255,-0.09777729,
  0.08155218, 0.53199411,-0.01261025,-0.00512888, 0.84663862]

qacc:
[ 7.69796524e-02, 9.04326331e+00,-2.34644365e+01, 1.72861856e+01,
  2.32971594e-02, 2.23946612e+00,-5.21765294e+00,-5.50065362e-01,
 -7.09584741e-02,-6.16048188e+00, 1.26213222e+01,-1.32066173e+01,
 -4.08334611e-01, 4.95698650e-01, 7.86358607e+00,-2.71431990e+01,
  4.94572506e-01,-1.44481544e+00, 2.25179876e+00,-6.59347074e+00,
 -7.27906549e+01,-1.86709576e+00]

qfrc_actuator:
[ 2.94641823e-03, 7.51249107e-02, 1.06765075e-02, 2.18736375e-03,
  3.04557974e-05, 7.99738862e-02, 1.05796846e-02, 2.43337052e-03,
 -3.02702686e-03, 4.67632569e-02, 1.05125818e-02, 2.13683997e-03,
  3.45624808e-03,-1.65711758e-03, 0.00000000e+00,-1.89725737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013691352200988632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.10893627e-14,  4.05446814e-14,  1.00000000e+00, -3.28774237e-27,
        1.00000000e+00, -4.05446814e-14, -1.00000000e+00,  0.00000000e+00,
        8.10893627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00667573, -0.07671724,  0.06187851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18895345e-05, 4.18133314e-04, 3.08014872e-06, 8.83968459e-06,
  6.60339159e-06, 7.94144760e-05,-2.18648573e-05,-1.83682824e-05,
 -2.05386137e-05,-6.81422811e-04,-1.86821521e-04,-5.09323253e-05,
 -4.05517513e-05,-1.07714438e-05,-1.53400245e-05,-1.35923799e-04,
  1.46181489e-05, 6.14500453e-06,-1.21644575e+00, 1.58572096e-03,
  5.47129265e-04, 3.41654493e-05]


--- Step 1522 ---
qpos:
[-0.01057777, 1.27446163,-0.01817104, 0.94574506, 0.00427735, 1.2721115 ,
 -0.03004166, 0.94292837, 0.01685744, 1.32624279,-0.02323408, 0.95490808,
  1.31817167,-0.00260735, 1.07292849, 0.06395539,-0.00167806,-0.09778948,
  0.0815583 , 0.53203186,-0.01252474,-0.00545547, 0.84661412]

qacc:
[ 2.29989382e-01, 7.67137915e+00,-1.44505093e+01,-3.53387656e+00,
  9.55216440e-03,-1.79044983e+00, 5.59163072e+00,-4.14239838e+00,
 -8.02210001e-02,-4.93157835e+00, 7.10707215e+00, 5.44616871e-01,
 -3.97630521e-01, 4.85947677e-01, 1.11878813e+01,-3.87660694e+01,
  1.49664466e+00,-9.00632848e-01, 1.45594366e+00, 4.82809196e+01,
 -6.65992485e+01, 1.45041985e+00]

qfrc_actuator:
[ 2.99920823e-03, 7.55198899e-02, 1.06745865e-02, 2.13777695e-03,
  2.92430240e-05, 7.99510087e-02, 1.06078907e-02, 2.43521412e-03,
 -3.03824669e-03, 4.65087093e-02, 1.04889804e-02, 2.15285149e-03,
  3.44909894e-03,-1.65549760e-03, 0.00000000e+00,-2.08226942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.41520912,  -4.42735255,  -7.41520912,
        18.77734005, -16.9847465 ,  -4.42735255, -16.9847465 ,
        37.08348764,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001369336885723542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05387102e-14,  8.10774205e-14,  1.00000000e+00,  3.28677406e-27,
        1.00000000e+00, -8.10774205e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05387102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03284485, -0.08949671,  0.0618785 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49665602e-05, 6.19870596e-04, 7.90365256e-05,-3.58183714e-05,
  2.64492422e-06, 7.91817116e-06, 3.90435608e-05, 4.31549346e-06,
 -2.31959776e-05,-6.71137888e-04,-1.79670679e-04,-1.04604585e-05,
 -3.28956318e-05,-1.01294181e-05,-2.64976769e-05,-1.95572101e-04,
  1.43297965e-05, 1.52645691e-05,-1.21644569e+00, 1.58183083e-03,
  5.47094894e-04, 4.91986185e-05]


--- Step 1523 ---
qpos:
[-0.0105781 , 1.27528605,-0.01817693, 0.94575011, 0.0042779 , 1.27302237,
 -0.03004577, 0.94294063, 0.01685746, 1.32648281,-0.02323797, 0.95491773,
  1.31831693,-0.00260724, 1.07313382, 0.06395565,-0.00167799,-0.09780495,
  0.08156745, 0.53206788,-0.01228496,-0.00577208, 0.8465929 ]

qacc:
[ 1.17843244e-01, 8.30440032e+00,-1.60172269e+01, 1.91604297e+00,
  2.28698702e-03,-1.39169023e+00, 1.42183384e+00, 7.96856844e+00,
 -7.74360159e-03,-6.78636879e+00, 1.12421649e+01, 6.55828293e+00,
 -7.57620195e-01, 1.31908351e+00, 2.37221309e+00,-8.83299014e+00,
  1.39691579e+00,-8.21379259e-01, 7.57100935e-01, 4.52649676e+01,
 -6.26718750e+01, 1.24333465e+00]

qfrc_actuator:
[ 2.99529761e-03, 7.59057088e-02, 1.06761567e-02, 2.10638395e-03,
  2.82804231e-05, 7.98388719e-02, 1.06085088e-02, 2.46718063e-03,
 -3.02712747e-03, 4.62609670e-02, 1.05301993e-02, 2.21212775e-03,
  3.43957832e-03,-1.61884120e-03, 0.00000000e+00,-2.12055985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.48917685,  1.58765653,  8.48917685,  9.81911009,
       -6.32412846,  1.58765653, -6.32412846, 42.45138854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013643060522894393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03440977e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03440977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285352, -0.0894919 ,  0.06187896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34437122e-05, 7.35773951e-04, 1.29283633e-04,-1.04289961e-05,
  5.81612736e-07,-1.08258466e-04, 5.07866946e-06, 3.46051381e-05,
 -2.42710388e-06,-6.56007216e-04,-1.10836130e-04, 3.42523670e-05,
 -3.11212037e-05, 2.70056465e-05,-3.78855401e-05,-5.35144924e-05,
  4.76528821e-06, 1.68643997e-05,-1.21644430e+00, 1.57902815e-03,
  5.45623132e-04, 5.48480123e-05]


--- Step 1524 ---
qpos:
[-0.01057844, 1.27611566,-0.01818278, 0.94575448, 0.00427846, 1.27393035,
 -0.03004885, 0.94295128, 0.01685753, 1.32671718,-0.02324031, 0.9549266 ,
  1.31846193,-0.00260695, 1.07333913, 0.06395371,-0.0016743 ,-0.09781445,
  0.08157921, 0.53210416,-0.01207567,-0.00591205, 0.84657214]

qacc:
[-4.96278303e-03, 5.54148319e+00,-8.45241158e+00,-3.87585630e+00,
 -1.00883544e-03,-9.32739251e+00, 2.91973088e+01,-4.23052073e+01,
  1.96065730e-02,-1.29230800e+01, 3.47638206e+01,-3.55764229e+01,
 -4.62271534e-01, 6.95207329e-01, 6.62889762e+00,-2.31668487e+01,
  9.04083661e-01, 1.49513686e+00, 6.49846480e-01, 6.66614706e+01,
  5.99017153e+01, 1.18660009e+00]

qfrc_actuator:
[ 2.97516562e-03, 7.61233322e-02, 1.06620470e-02, 2.06820329e-03,
  2.74761876e-05, 7.95676210e-02, 1.06102286e-02, 2.37449559e-03,
 -3.02045198e-03, 4.59840796e-02, 1.06093985e-02, 2.17215088e-03,
  3.42333205e-03,-1.61497381e-03, 0.00000000e+00,-2.23184724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013693960622652018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01342396e-14,  4.05369584e-14,  1.00000000e+00, -4.10811249e-28,
        1.00000000e+00, -4.05369584e-14, -1.00000000e+00,  0.00000000e+00,
        1.01342396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02729515, -0.13109127,  0.06187858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19029131e-06, 6.42229250e-04, 1.42721447e-04,-1.16979359e-05,
 -4.69718737e-07,-3.37333244e-04,-1.95091264e-05,-9.38260129e-05,
  5.36785461e-06,-6.61972831e-04,-6.07605627e-05,-6.15033181e-05,
 -2.79109768e-05, 3.59202318e-06,-2.61890120e-05,-1.19781328e-04,
 -2.01499973e-06, 1.72881320e-05,-1.21644553e+00, 1.57707122e-03,
  5.44806709e-04, 5.22010960e-05]


--- Step 1525 ---
qpos:
[-0.0105789 , 1.27694864,-0.01818854, 0.94575853, 0.00427886, 1.27483333,
 -0.03005076, 0.94295956, 0.0168575 , 1.32694614,-0.02324254, 0.95493464,
  1.31860681,-0.00260708, 1.07354415, 0.06395141,-0.0016673 ,-0.0978183 ,
  0.0815909 , 0.532141  ,-0.01189464,-0.00588665, 0.84655173]

qacc:
[-4.74672533e-02, 3.60217724e+00,-5.79229906e+00,-6.26589041e-01,
 -6.56547214e-02,-1.38001636e+01, 4.19473573e+01,-6.06705798e+01,
 -3.59192174e-02,-8.87058037e+00, 2.20248221e+01,-2.53355784e+01,
  2.09367475e-01,-6.29998681e-01, 6.14851472e-01,-2.82331098e+00,
  8.25599056e-01, 1.41082959e+00,-1.42493662e-02, 6.24847393e+01,
  5.59501558e+01, 9.40700570e-01]

qfrc_actuator:
[ 2.96323023e-03, 7.61674845e-02, 1.06204036e-02, 2.04396681e-03,
  9.02091402e-06, 7.91676732e-02, 1.06118762e-02, 2.24458646e-03,
 -3.03425157e-03, 4.56920783e-02, 1.06036720e-02, 2.12732731e-03,
  3.40305204e-03,-1.64838315e-03, 0.00000000e+00,-2.24326628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.85446097,   7.14289756,   4.85446097,
        27.33905353, -12.71073502,   7.14289756, -12.71073502,
        17.27484215,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013683862720601375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01417181e-14,  4.05668724e-14,  1.00000000e+00,  4.11417783e-28,
        1.00000000e+00, -4.05668724e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01417181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0273002 , -0.1310924 ,  0.06187873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32391249e-05, 4.19587357e-04, 9.83984296e-05,-1.61392115e-07,
 -1.87444305e-05,-6.01393974e-04,-7.09536501e-05,-1.41629368e-04,
 -1.05156062e-05,-6.73406046e-04,-1.43959482e-04,-6.72971229e-05,
 -3.57053866e-05,-3.86331193e-05,-2.89481357e-05,-2.22823565e-05,
 -1.79680742e-06, 3.49320404e-06,-1.21644143e+00, 1.57966632e-03,
  5.44047233e-04, 3.53740463e-05]


--- Step 1526 ---
qpos:
[-0.01057948, 1.27778261,-0.01819333, 0.94576245, 0.00427893, 1.27572982,
 -0.03005195, 0.94296917, 0.01685737, 1.3271693 ,-0.02324554, 0.95494321,
  1.31875142,-0.00260731, 1.07374906, 0.06394828,-0.00165727,-0.09781678,
  0.08160031, 0.53217855,-0.01173999,-0.00570523, 0.84653152]

qacc:
[-5.41560476e-02,-1.52642638e+00, 6.80990977e+00,-8.07266317e+00,
 -1.40716203e-01,-8.16893084e+00, 1.36466259e+01, 7.62312865e+00,
 -4.92167383e-02,-4.64682808e+00, 4.92387224e+00, 5.35108204e+00,
 -1.80621065e-01, 9.38640694e-02, 2.38773507e+00,-8.55526599e+00,
  7.61664485e-01, 1.34068211e+00,-5.71619265e-01, 5.90217112e+01,
  5.26827080e+01, 7.52796829e-01]

qfrc_actuator:
[ 2.95631683e-03, 7.60717968e-02, 1.06154097e-02, 2.02799079e-03,
 -1.98718329e-05, 7.87470474e-02, 1.06129193e-02, 2.30676678e-03,
 -3.04247101e-03, 4.53575350e-02, 1.05477993e-02, 2.15097346e-03,
  3.39100111e-03,-1.65037314e-03, 0.00000000e+00,-2.28449343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.96523807,   7.06634189,   4.96523807,
        30.31557539, -15.23312191,   7.06634189, -15.23312191,
        19.34007399,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013529208877993276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61594212e-14,  4.10305966e-14,  1.00000000e+00,  1.89394859e-27,
        1.00000000e+00, -4.10305966e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61594212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02732164, -0.13111576,  0.06188008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52710104e-05, 1.48287225e-04, 8.68329854e-05, 4.52854125e-07,
 -3.98668884e-05,-7.79590926e-04,-1.30457604e-04, 3.99092247e-05,
 -1.43024294e-05,-7.38652669e-04,-2.05958446e-04,-1.74345815e-06,
 -4.16105912e-05,-1.94348539e-05,-1.85501202e-05,-4.68273114e-05,
  1.93160804e-06,-9.65236461e-07,-1.21644037e+00, 1.58206154e-03,
  5.42918197e-04, 2.89939677e-05]


--- Step 1527 ---
qpos:
[-0.01058017, 1.27861535,-0.01819646, 0.94576668, 0.00427852, 1.27661866,
 -0.03005194, 0.94298059, 0.01685727, 1.32738679,-0.02324836, 0.95495124,
  1.31889566,-0.00260731, 1.07395401, 0.0639433 ,-0.00164439,-0.09781014,
  0.08160557, 0.53221692,-0.01161021,-0.00537553, 0.84651135]

qacc:
[-4.70509092e-02,-5.57637499e+00, 1.56390562e+01,-9.34538277e+00,
 -2.05721406e-01,-1.01860458e+01, 1.73508881e+01, 1.08068739e+01,
  1.68075531e-02,-8.81968656e+00, 2.08551744e+01,-2.06677976e+01,
 -5.64474238e-01, 8.32132921e-01, 5.65012086e+00,-1.95936725e+01,
  7.09447436e-01, 1.28229307e+00,-1.03894363e+00, 5.61549601e+01,
  4.99839492e+01, 6.11078800e-01]

qfrc_actuator:
[ 2.95247736e-03, 7.58754862e-02, 1.06492613e-02, 2.03466768e-03,
 -5.47895795e-05, 7.82997353e-02, 1.06490975e-02, 2.39269427e-03,
 -3.02952436e-03, 4.51065295e-02, 1.05691901e-02, 2.12591535e-03,
  3.37857950e-03,-1.63366291e-03, 0.00000000e+00,-2.37848331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.02855338,   7.02142633,   5.02855338,
        34.08020394, -18.22218208,   7.02142633, -18.22218208,
        21.68659174,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013260478765317468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23276273e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.23276273e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0273559 , -0.13115648,  0.06188237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33973290e-05,-1.04607991e-04, 7.13671818e-05, 1.47209827e-05,
 -5.82413691e-05,-9.10924717e-04,-1.31593615e-04, 6.07669770e-05,
  4.62460978e-06,-7.01314874e-04,-1.46554119e-04,-5.26758435e-05,
 -4.06414087e-05, 2.51109423e-06,-1.73518736e-05,-9.98068788e-05,
  8.59934973e-06, 2.31673538e-06,-1.21644185e+00, 1.58433770e-03,
  5.41441407e-04, 3.12960169e-05]


--- Step 1528 ---
qpos:
[-0.01058095, 1.27944581,-0.01819847, 0.94577076, 0.0042778 , 1.27749937,
 -0.03005191, 0.94299101, 0.0168574 , 1.32759961,-0.02325159, 0.95495748,
  1.31903962,-0.00260715, 1.07415846, 0.06394023,-0.00162885,-0.09779856,
  0.0816051 , 0.53225609,-0.01150403,-0.00490391, 0.84649103]

qacc:
[-3.64477475e-02,-6.29881426e+00, 1.72620312e+01,-1.54166252e+01,
 -1.29564603e-01,-1.24375828e+01, 2.97698183e+01,-3.23477246e+01,
  9.92769809e-02,-8.13388860e+00, 2.27346297e+01,-3.75235297e+01,
 -1.93446014e-01, 2.88330750e-01,-6.44744209e+00, 2.15301214e+01,
  6.66632903e-01, 1.23362557e+00,-1.43032875e+00, 5.37877791e+01,
  4.77594855e+01, 5.06496944e-01]

qfrc_actuator:
[ 2.95051721e-03, 7.56738741e-02, 1.06698253e-02, 2.01904487e-03,
 -5.75323034e-05, 7.78224325e-02, 1.06168261e-02, 2.33207915e-03,
 -3.00398665e-03, 4.49255868e-02, 1.05652974e-02, 2.03697164e-03,
  3.37127951e-03,-1.62377137e-03, 0.00000000e+00,-2.27200949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.99657453,   7.04421889,   4.99657453,
        39.34919015, -21.78508776,   7.04421889, -21.78508776,
        24.08886679,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012903075352570584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61331164e-14,  8.60432877e-14,  1.00000000e+00, -1.38814638e-27,
        1.00000000e+00, -8.60432877e-14, -1.00000000e+00,  0.00000000e+00,
        1.61331164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02740005, -0.13121059,  0.06188538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04324340e-05,-2.52338342e-04, 7.32616527e-06,-1.52152514e-05,
 -3.68121552e-05,-1.01306370e-03,-2.25226038e-04,-8.92731825e-05,
  2.83717791e-05,-6.00471791e-04,-1.59279944e-04,-1.14911964e-04,
 -2.98854721e-05, 1.31823372e-06,-2.31446301e-05, 9.77656185e-05,
  1.77896269e-05, 1.21655435e-05,-1.21644551e+00, 1.58654777e-03,
  5.39636806e-04, 4.09848228e-05]


--- Step 1529 ---
qpos:
[-0.01058194, 1.28027389,-0.01819972, 0.94577432, 0.00427704, 1.27837208,
 -0.03005255, 0.94300068, 0.01685794, 1.32780835,-0.02325612, 0.95496365,
  1.31918349,-0.0026074 , 1.07436303, 0.06393605,-0.00161789,-0.09779339,
  0.08160804, 0.53229797,-0.01136606,-0.00463803, 0.84646806]

qacc:
[-8.92037250e-02,-6.06146073e+00, 1.70418843e+01,-1.93114145e+01,
 -1.66158738e-02,-1.00016991e+01, 2.14753663e+01,-2.23290169e+01,
  1.73303924e-01,-1.99397435e+00, 2.27762024e-01, 1.38106038e+00,
  1.47995734e-01,-5.20655205e-01, 3.45156111e+00,-1.18813463e+01,
 -1.14598466e+00,-1.60080158e+00, 8.51221655e-01,-7.86033829e+01,
 -6.81861659e+01,-3.11419030e+00]

qfrc_actuator:
[ 2.93195170e-03, 7.55416330e-02, 1.07000433e-02, 1.99037826e-03,
 -4.09549680e-05, 7.74194192e-02, 1.05796837e-02, 2.29214416e-03,
 -2.97110450e-03, 4.47524550e-02, 1.05112437e-02, 2.03544413e-03,
  3.35640558e-03,-1.65350140e-03, 0.00000000e+00,-2.33230291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013099763961642308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23756881e-14,  4.23756881e-14,  1.00000000e+00,  1.79569895e-27,
        1.00000000e+00, -4.23756881e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23756881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0298773 , -0.05901934,  0.06188373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53077488e-05,-2.78043859e-04,-2.00561417e-05,-3.52277476e-05,
 -4.97946906e-06,-1.01803480e-03,-2.65123111e-04,-7.78932040e-05,
  4.97181573e-05,-5.41193563e-04,-1.93013373e-04,-2.63409401e-05,
 -3.14342621e-05,-3.62244686e-05,-2.38351187e-06,-5.84106143e-05,
  2.91999967e-05, 2.77205344e-05,-1.21645109e+00, 1.58872579e-03,
  5.37521934e-04, 5.71128717e-05]


--- Step 1530 ---
qpos:
[-0.01058329, 1.28109893,-0.01820009, 0.94578001, 0.00427649, 1.27923707,
 -0.03005273, 0.94301041, 0.01685873, 1.32801289,-0.02326078, 0.95497039,
  1.31932715,-0.00260795, 1.0745675 , 0.06393152,-0.00161106,-0.09779424,
  0.08161128, 0.53234286,-0.01119908,-0.00456249, 0.84644246]

qacc:
[-1.54727581e-01,-2.68961891e+00,-3.53040986e-01, 2.67136123e+01,
  9.01921137e-02,-1.12299599e+01, 2.42681228e+01,-1.53554908e+01,
  1.08108012e-01,-4.15645552e+00, 5.71922149e+00, 4.34245843e+00,
  6.61938240e-02,-3.79987628e-01, 9.47970240e-01,-3.53176211e+00,
 -1.03258662e+00,-1.50699977e+00, 7.57361623e-02,-7.28314254e+01,
 -6.29170782e+01,-3.12299850e+00]

qfrc_actuator:
[ 2.90358091e-03, 7.53632722e-02, 1.07359766e-02, 2.09632650e-03,
 -1.29280892e-05, 7.70996271e-02, 1.06290663e-02, 2.30027480e-03,
 -2.96958942e-03, 4.45675190e-02, 1.05169023e-02, 2.06761723e-03,
  3.34230794e-03,-1.67100238e-03, 0.00000000e+00,-2.34840050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.9645174 , -6.24590338, -5.9645174 , 16.08302189,
       -7.11117672, -6.24590338, -7.11117672, 15.42717271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013367018416025542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22926701e-14,  2.07642234e-14,  1.00000000e+00, -1.29345892e-27,
        1.00000000e+00, -2.07642234e-14, -1.00000000e+00,  0.00000000e+00,
        6.22926701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02984597, -0.05906784,  0.06188151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38122699e-05,-3.44289976e-04,-2.30632843e-05, 9.73518286e-05,
  2.50714154e-05,-9.44927422e-04,-1.83754298e-04,-3.08932396e-05,
  3.09365512e-05,-5.24146644e-04,-1.22959326e-04, 1.01815683e-05,
 -4.04836186e-05,-3.34751983e-05,-1.18892260e-05,-2.06475111e-05,
  1.34491223e-05, 7.16384039e-06,-1.21644362e+00, 1.58486039e-03,
  5.39880386e-04, 3.57922519e-05]


--- Step 1531 ---
qpos:
[-0.0105847 , 1.28192018,-0.01819963, 0.94578736, 0.0042762 , 1.28009593,
 -0.03005365, 0.94302081, 0.01685954, 1.32821321,-0.02326426, 0.95497774,
  1.31947047,-0.00260823, 1.07477196, 0.06392614,-0.00160799,-0.09780081,
  0.08161221, 0.53239092,-0.01100537,-0.00466454, 0.84641422]

qacc:
[-2.42560400e-02,-4.34811900e+00, 4.82670578e+00, 1.73315532e+01,
  1.12595028e-01,-4.93712984e+00, 5.01517013e+00, 7.13199707e+00,
  4.24576643e-03,-7.68387306e+00, 1.71562243e+01,-5.20558832e+00,
 -5.17364403e-01, 8.10208638e-01, 2.58303607e+00,-8.98571958e+00,
 -9.40005916e-01,-1.42774676e+00,-5.77588003e-01,-6.80341117e+01,
 -5.85579958e+01,-3.10115076e+00]

qfrc_actuator:
[ 2.92282212e-03, 7.51233480e-02, 1.07571580e-02, 2.17410099e-03,
  3.98258734e-06, 7.68859242e-02, 1.06229877e-02, 2.33671983e-03,
 -2.98690380e-03, 4.43950236e-02, 1.05932566e-02, 2.10162811e-03,
  3.33933987e-03,-1.64558468e-03, 0.00000000e+00,-2.39153504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.00723237, -6.20483167, -6.00723237, 17.57528892,
       -8.65425594, -6.20483167, -8.65425594, 17.01501581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013434750426042155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13190789e-14,  4.13190789e-14,  1.00000000e+00,  1.70726628e-27,
        1.00000000e+00, -4.13190789e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13190789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02984074, -0.05908196,  0.06188096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.02725234e-06,-4.39063650e-04,-4.71815695e-05, 7.02026661e-05,
  3.15247056e-05,-7.80957527e-04,-2.14250737e-04, 3.08278548e-06,
  1.03176900e-06,-4.87483012e-04,-3.98971121e-05, 1.54186561e-05,
 -3.37449920e-05, 7.99029759e-06,-1.14819519e-05,-4.66603957e-05,
  3.70726762e-06,-6.10996194e-07,-1.21644031e+00, 1.58102505e-03,
  5.42020677e-04, 2.80153402e-05]


--- Step 1532 ---
qpos:
[-0.01058575, 1.28273788,-0.0181991 , 0.9457939 , 0.004276  , 1.28095025,
 -0.03005633, 0.94303114, 0.01686026, 1.32840953,-0.02326567, 0.9549847 ,
  1.31961338,-0.00260772, 1.0749762 , 0.06392126,-0.00160838,-0.09781281,
  0.08160862, 0.53244219,-0.01078681,-0.00493359, 0.84638326]

qacc:
[ 1.52457644e-01,-6.24417038e+00, 1.63950888e+01,-2.14559556e+01,
  3.84702429e-02,-1.34636523e+00,-2.67750941e+00, 4.48423888e+00,
 -3.40174177e-02,-1.15208072e+01, 3.20434747e+01,-2.99327832e+01,
 -8.84989459e-01, 1.65195525e+00,-1.78306668e+00, 5.94030391e+00,
 -8.64263192e-01,-1.36064365e+00,-1.12767346e+00,-6.40473479e+01,
 -5.49518891e+01,-3.05730252e+00]

qfrc_actuator:
[ 2.97047054e-03, 7.49372038e-02, 1.07514246e-02, 2.12806704e-03,
 -3.66607264e-06, 7.67551458e-02, 1.05668983e-02, 2.33628350e-03,
 -2.99761947e-03, 4.42316770e-02, 1.07107575e-02, 2.08321926e-03,
  3.33241730e-03,-1.59488365e-03, 0.00000000e+00,-2.36149330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.02010885,  -6.19233932,  -6.02010885,
        19.5804918 , -10.63973395,  -6.19233932, -10.63973395,
        18.98016963,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013342250258880084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08027695e-14,  2.08027695e-14,  1.00000000e+00,  4.32755217e-28,
        1.00000000e+00, -2.08027695e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08027695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02985623, -0.05906881,  0.06188173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29002930e-05,-4.43167240e-04,-9.61497106e-05,-5.77626271e-05,
  1.07484865e-05,-6.12186310e-04,-2.34639858e-04,-2.89879359e-05,
 -1.00032460e-05,-4.41652904e-04, 1.80076020e-05,-3.33666362e-05,
 -2.42046101e-05, 4.50119214e-05,-1.45163949e-05, 2.50539226e-05,
 -1.17593337e-06, 1.87332786e-06,-1.21644034e+00, 1.57715136e-03,
  5.44049494e-04, 3.10672379e-05]


--- Step 1533 ---
qpos:
[-0.01058636, 1.28355189,-0.01819914, 0.94579956, 0.00427597, 1.28179984,
 -0.03005919, 0.94304065, 0.01686088, 1.32860233,-0.02326596, 0.95498932,
  1.31975608,-0.00260688, 1.07518015, 0.06391809,-0.00161552,-0.0978211 ,
  0.08159951, 0.53248428,-0.01077377,-0.00522127, 0.84635522]

qacc:
[ 1.89015050e-01,-4.84604801e+00, 1.17503584e+01,-1.81267107e+01,
  6.96193965e-02,-7.09883494e+00, 1.73428065e+01,-2.15756264e+01,
 -4.27217266e-02,-1.16703161e+01, 3.71792070e+01,-5.69684763e+01,
 -2.79060611e-01, 5.48753158e-01,-5.55163678e+00, 1.88531444e+01,
 -1.68858351e+00, 9.29388211e-01,-1.38281373e+00,-6.26410461e+01,
  8.19795282e+01, 5.06634712e+00]

qfrc_actuator:
[ 2.99926722e-03, 7.47313516e-02, 1.07122307e-02, 2.08056292e-03,
  9.52262796e-06, 7.65507035e-02, 1.05708658e-02, 2.29641954e-03,
 -3.00428886e-03, 4.40575393e-02, 1.07628321e-02, 1.96311675e-03,
  3.32314241e-03,-1.58289729e-03, 0.00000000e+00,-2.27081255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013134308581887189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11321178e-14,  4.22642356e-14,  1.00000000e+00,  8.93132805e-28,
        1.00000000e+00, -4.22642356e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11321178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336577, -0.10759471,  0.06188345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32710644e-05,-4.78490454e-04,-1.39749743e-04,-6.37718817e-05,
  1.94474825e-05,-5.97380524e-04,-1.44815106e-04,-6.46958185e-05,
 -1.24643328e-05,-4.17212397e-04,-3.33142987e-05,-1.33147941e-04,
 -1.23974149e-05, 1.75261745e-05,-7.52315673e-06, 8.93998726e-05,
 -2.04747526e-06, 1.27840625e-05,-1.21644310e+00, 1.57320318e-03,
  5.46035678e-04, 4.29749985e-05]


--- Step 1534 ---
qpos:
[-0.01058658, 1.28436114,-0.01819894, 0.94580433, 0.00427594, 1.28264443,
 -0.03006164, 0.94304894, 0.01686141, 1.32879153,-0.02326733, 0.95499432,
  1.31989874,-0.00260637, 1.07538404, 0.06391567,-0.00162908,-0.097826  ,
  0.08158277, 0.53251807,-0.01095349,-0.00552619, 0.84632972]

qacc:
[ 1.69919130e-01,-8.45698242e+00, 2.18657125e+01,-2.63686574e+01,
  5.87503137e-03,-9.76698774e+00, 2.64824420e+01,-3.41001223e+01,
 -3.95188076e-02,-1.18215519e+00,-2.61163429e+00, 8.87159139e+00,
  2.57089623e-01,-6.01249159e-01,-2.37042955e+00, 8.11827241e+00,
 -1.60429516e+00, 8.49552410e-01,-1.90711633e+00,-5.86522525e+01,
  7.69445367e+01, 4.60341663e+00]

qfrc_actuator:
[ 3.01652450e-03, 7.44442263e-02, 1.07068245e-02, 2.03257060e-03,
 -3.99562556e-07, 7.63040744e-02, 1.05922584e-02, 2.23368238e-03,
 -3.00847755e-03, 4.38247904e-02, 1.06870091e-02, 1.97937090e-03,
  3.30712488e-03,-1.61174075e-03, 0.00000000e+00,-2.23391118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.6962204 ,  5.45411855, -6.6962204 , 15.08193297,
        7.91346071,  5.45411855,  7.91346071, 18.35200817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013111971299170078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336743, -0.10759913,  0.0618836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.78090532e-05,-5.87948386e-04,-1.17994917e-04,-6.67364648e-05,
  1.42616064e-06,-6.14811548e-04,-1.15303723e-04,-8.53257301e-05,
 -1.14355723e-05,-4.75268449e-04,-1.65193637e-04, 1.01587930e-07,
 -1.88887606e-05,-2.73336055e-05, 3.11170604e-06, 4.01460398e-05,
  6.45326119e-06, 1.24905649e-05,-1.21644331e+00, 1.57956200e-03,
  5.47590018e-04, 4.36334000e-05]


--- Step 1535 ---
qpos:
[-0.01058692, 1.28516503,-0.01819822, 0.94580856, 0.00427558, 1.28348477,
 -0.0300636 , 0.9430567 , 0.01686186, 1.3289764 ,-0.0232694 , 0.95500194,
  1.32004122,-0.00260611, 1.07558836, 0.06391002,-0.00163873,-0.09782458,
  0.08157256, 0.53255201,-0.01116657,-0.0056369 , 0.84630485]

qacc:
[-5.46335216e-02,-9.39460453e+00, 2.32778509e+01,-2.33497326e+01,
 -1.43301146e-01,-7.79791036e+00, 1.97602243e+01,-2.04912308e+01,
 -3.20524384e-02, 7.41570903e-01,-1.45509282e+01, 4.55431853e+01,
 -1.69334495e-01, 2.55793160e-03, 1.03744497e+01,-3.53694546e+01,
  9.75561624e-01, 1.57651733e+00, 1.63210832e+00, 7.33015586e+01,
  6.58241778e+01, 1.25543521e+00]

qfrc_actuator:
[ 2.97346871e-03, 7.41463812e-02, 1.07211034e-02, 2.00239502e-03,
 -4.18561449e-05, 7.61585536e-02, 1.06413319e-02, 2.21121690e-03,
 -3.01114552e-03, 4.35761189e-02, 1.06427057e-02, 2.11116351e-03,
  3.28705495e-03,-1.62905978e-03, 0.00000000e+00,-2.40653114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013212148811995172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20152331e-14,  8.40304662e-14,  1.00000000e+00,  3.53055963e-27,
        1.00000000e+00, -8.40304662e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20152331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02738821, -0.13114038,  0.06188268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56959184e-05,-6.54978121e-04,-1.17296081e-04,-5.16079230e-05,
 -4.06489368e-05,-5.18128590e-04,-8.82654243e-05,-4.51968732e-05,
 -9.31317955e-06,-5.45071675e-04,-1.56091993e-04, 1.13158282e-04,
 -3.71293523e-05,-2.83121969e-05, 1.90863781e-06,-1.70908482e-04,
  1.80675461e-05, 1.01957619e-05,-1.21644664e+00, 1.58441292e-03,
  5.48728488e-04, 3.29024604e-05]


--- Step 1536 ---
qpos:
[-0.01058741, 1.28596392,-0.01819743, 0.94581172, 0.00427512, 1.28432276,
 -0.03006616, 0.94306473, 0.0168624 , 1.32915738,-0.02327067, 0.95500925,
  1.32018334,-0.00260554, 1.0757927 , 0.06390203,-0.00164485,-0.09781724,
  0.08156559, 0.53258639,-0.0114103 ,-0.00556764, 0.84628042]

qacc:
[-6.17396956e-02,-8.64127804e+00, 2.24579965e+01,-2.89090427e+01,
 -4.52059081e-02,-9.94538171e-01,-1.02982183e+00, 5.46976982e+00,
  3.75088532e-02,-7.81548617e+00, 1.99842324e+01,-1.86209290e+01,
 -6.36094875e-01, 9.95485806e-01, 7.18711606e+00,-2.49704615e+01,
  8.84690718e-01, 1.48065908e+00, 8.10553044e-01, 6.79983466e+01,
  6.08942446e+01, 1.02537118e+00]

qfrc_actuator:
[ 2.96560315e-03, 7.39156273e-02, 1.07290765e-02, 1.94742289e-03,
 -3.08787182e-05, 7.61637234e-02, 1.06535138e-02, 2.23044889e-03,
 -2.99512851e-03, 4.34443303e-02, 1.07061383e-02, 2.09685101e-03,
  3.28054588e-03,-1.60389687e-03, 0.00000000e+00,-2.52366038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.28308531,   5.92533677,   6.28308531,
        21.47702108, -13.61592587,   5.92533677, -13.61592587,
        23.07436559,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001343189702204567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61618744e-14,  4.13278565e-14,  1.00000000e+00, -1.49449276e-27,
        1.00000000e+00, -4.13278565e-14, -1.00000000e+00,  0.00000000e+00,
        3.61618744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02736444, -0.1311032 ,  0.06188079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76793837e-05,-6.24304714e-04,-1.36160695e-04,-7.80301775e-05,
 -1.28274777e-05,-3.07392588e-04,-1.01974550e-04, 1.12253692e-06,
  1.06171036e-05,-4.61622890e-04,-5.76328128e-05,-3.21188993e-05,
 -3.43527956e-05, 9.84235022e-06,-2.33347494e-05,-1.27597251e-04,
  6.66850043e-06, 1.68567027e-07,-1.21644403e+00, 1.58803201e-03,
  5.47249929e-04, 2.42447657e-05]


--- Step 1537 ---
qpos:
[-0.01058788, 1.2867583 ,-0.01819678, 0.94581349, 0.00427509, 1.28515942,
 -0.03006977, 0.94307357, 0.01686307, 1.3293356 ,-0.02327248, 0.95501526,
  1.32032533,-0.00260478, 1.07599614, 0.06389868,-0.00164773,-0.09780431,
  0.0815591 , 0.53262135,-0.01168247,-0.0053302 , 0.84625623]

qacc:
[ 8.96439882e-03,-7.95546351e+00, 2.16457602e+01,-3.21332404e+01,
  1.86099095e-01, 2.45266123e+00,-1.17827959e+01, 2.04579758e+01,
  5.48719708e-02,-4.42630548e+00, 1.26426668e+01,-2.41057664e+01,
  6.62097289e-02,-1.56905074e-02,-1.53673144e+01, 5.18231408e+01,
  8.10213150e-01, 1.40008321e+00, 1.19173144e-01, 6.35946300e+01,
  5.68154542e+01, 8.58157016e-01]

qfrc_actuator:
[ 2.97891996e-03, 7.37269107e-02, 1.07335002e-02, 1.87831586e-03,
  2.92158301e-05, 7.61703385e-02, 1.06267070e-02, 2.27412099e-03,
 -2.98578619e-03, 4.33484508e-02, 1.06909686e-02, 2.03227579e-03,
  3.28751967e-03,-1.58920911e-03, 0.00000000e+00,-2.26978073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.32226167,   5.88351802,   6.32226167,
        23.62933953, -16.11102685,   5.88351802, -16.11102685,
        25.94881634,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013461290959948663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54641050e-14,  4.12376134e-14,  1.00000000e+00,  6.37702784e-28,
        1.00000000e+00, -4.12376134e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54641050e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02736282, -0.13109585,  0.06188051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34719482e-06,-5.69718385e-04,-1.36630201e-04,-9.24287023e-05,
  5.25750153e-05,-1.90607589e-04,-9.99283601e-05, 3.25602675e-05,
  1.56965114e-05,-3.64618463e-04,-1.12999175e-04,-8.04165671e-05,
 -1.05031396e-05, 9.44855215e-06,-2.87649392e-05, 2.42913576e-04,
  3.04590697e-07, 9.50531157e-07,-1.21644493e+00, 1.59145680e-03,
  5.45375677e-04, 2.74966788e-05]


--- Step 1538 ---
qpos:
[-0.01058857, 1.28755041,-0.01819748, 0.94581568, 0.00427531, 1.28599778,
 -0.03007457, 0.94308228, 0.01686371, 1.32951134,-0.02327617, 0.95502224,
  1.32046741,-0.00260441, 1.07619985, 0.06389431,-0.00164761,-0.09778604,
  0.08155075, 0.53265692,-0.01198125,-0.00493436, 0.84623207]

qacc:
[-9.38249295e-02, 1.40360416e+00,-9.04918766e+00, 1.42245102e+01,
  1.09482934e-01, 5.19133871e+00,-1.39598574e+01, 9.44672441e+00,
 -1.09251035e-02, 3.49590606e+00,-1.72314412e+01, 2.74784105e+01,
  2.84400419e-01,-6.37895049e-01, 3.45205225e+00,-1.15655622e+01,
  7.49077827e-01, 1.33228781e+00,-4.62175925e-01, 5.99395652e+01,
  5.34427645e+01, 7.41129938e-01]

qfrc_actuator:
[ 2.95158083e-03, 7.37601978e-02, 1.07182255e-02, 1.90798620e-03,
  2.95177992e-05, 7.64795383e-02, 1.06481989e-02, 2.27854987e-03,
 -2.99827789e-03, 4.32213000e-02, 1.05941444e-02, 2.08066062e-03,
  3.28660008e-03,-1.61632251e-03, 0.00000000e+00,-2.33193440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.33427098,   5.87058669,   6.33427098,
        26.58489668, -19.36618569,   5.87058669, -19.36618569,
        29.5321743 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013338284137968254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56067163e-14,  4.16179103e-14,  1.00000000e+00,  6.49518920e-28,
        1.00000000e+00, -4.16179103e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56067163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02737878, -0.13111215,  0.0618815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65739787e-05,-3.17988547e-04,-1.46127146e-04, 7.61566580e-06,
  3.10636060e-05, 1.77972235e-04,-2.76166678e-05,-2.38836026e-06,
 -3.13969245e-06,-3.54473190e-04,-1.83415095e-04, 3.26648872e-05,
 -4.57417962e-06,-2.71618340e-05, 1.24063772e-05,-5.26254465e-05,
 -1.96314443e-06, 1.04260678e-05,-1.21644869e+00, 1.59474483e-03,
  5.43144455e-04, 4.03572540e-05]


--- Step 1539 ---
qpos:
[-0.01058938, 1.28834275,-0.01819972, 0.9458187 , 0.00427554, 1.28684106,
 -0.03008043, 0.94308896, 0.01686413, 1.32968386,-0.02328053, 0.95503043,
  1.32060933,-0.00260403, 1.07640343, 0.06389058,-0.00165201,-0.09777422,
  0.08154554, 0.53269543,-0.01224899,-0.00474229, 0.84620509]

qacc:
[-5.12132498e-02, 5.93760908e+00,-2.06952733e+01, 2.75493787e+01,
  5.04816303e-04, 5.90698335e+00,-7.28710253e+00,-2.02557423e+01,
 -9.44985415e-02,-3.18444029e-01,-6.51958790e+00, 2.17454797e+01,
 -7.71265172e-02, 5.96274257e-02,-2.14250903e+00, 7.22193926e+00,
 -1.12834737e+00,-1.61150539e+00, 7.82769560e-01,-7.79408922e+01,
 -6.73782091e+01,-3.28763138e+00]

qfrc_actuator:
[ 2.95333776e-03, 7.39617660e-02, 1.07101515e-02, 1.96016201e-03,
  1.17011544e-05, 7.69677900e-02, 1.06814750e-02, 2.18904542e-03,
 -3.02376707e-03, 4.30406907e-02, 1.05564101e-02, 2.14183491e-03,
  3.27560315e-03,-1.61475387e-03, 0.00000000e+00,-2.29585453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013544434451066567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09844733e-14,  4.09844733e-14,  1.00000000e+00, -1.67972705e-27,
        1.00000000e+00, -4.09844733e-14, -1.00000000e+00,  0.00000000e+00,
        4.09844733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02984739, -0.05912596,  0.06187973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44037622e-05,-9.31106558e-06,-8.78543157e-05, 3.96447741e-05,
  3.74363068e-07, 5.74021426e-04, 6.34733319e-05,-8.39434639e-05,
 -2.72473724e-05,-4.12699773e-04,-1.27029557e-04, 4.63219649e-05,
 -2.01767808e-05,-5.95210679e-06,-4.92991943e-06, 3.36296086e-05,
 -8.30468173e-07, 2.70596797e-05,-1.21645483e+00, 1.59792797e-03,
  5.40589772e-04, 6.11629808e-05]


--- Step 1540 ---
qpos:
[-0.0105901 , 1.28913679,-0.01820351, 0.94582153, 0.00427583, 1.28768872,
 -0.03008624, 0.94309452, 0.01686414, 1.32985239,-0.02328385, 0.95503928,
  1.32075101,-0.00260359, 1.07660689, 0.06388763,-0.00166047,-0.09776845,
  0.08154039, 0.53273714,-0.01248845,-0.00473885, 0.84617535]

qacc:
[ 3.54509488e-02, 6.03746427e+00,-1.66167720e+01, 1.11257419e+01,
  2.49361621e-02, 3.67929730e+00,-2.77801825e+00,-1.33013980e+01,
 -1.69990507e-01,-6.90203790e+00, 1.48805761e+01,-2.90987622e+00,
 -1.83163216e-01, 2.17439081e-01,-2.50485113e+00, 8.54510868e+00,
 -1.01712726e+00,-1.51303304e+00, 1.38464067e-02,-7.22667714e+01,
 -6.21797167e+01,-3.31517588e+00]

qfrc_actuator:
[ 2.97253970e-03, 7.41561850e-02, 1.06716260e-02, 1.95425329e-03,
  1.86703906e-05, 7.71867559e-02, 1.06866775e-02, 2.13388414e-03,
 -3.05684681e-03, 4.28297440e-02, 1.06069232e-02, 2.17452718e-03,
  3.25857824e-03,-1.61396740e-03, 0.00000000e+00,-2.25535202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.56190164, -6.60696807, -5.56190164, 17.24966044,
       -7.25087652, -6.60696807, -7.25087652, 14.7403226 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001376344039576212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02982166, -0.05916652,  0.06187787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01837867e-05, 1.66628137e-04,-5.03945214e-05,-6.80850664e-06,
  7.21366712e-06, 5.39164366e-04, 1.20837823e-04,-3.69258494e-05,
 -4.90604495e-05,-4.63793447e-04,-4.33379764e-05, 1.80801702e-05,
 -2.98394410e-05,-5.23374134e-06,-2.25941956e-06, 4.08876543e-05,
 -1.61423849e-06, 7.10737071e-06,-1.21644776e+00, 1.59459443e-03,
  5.42900835e-04, 3.83898877e-05]


--- Step 1541 ---
qpos:
[-0.01059069, 1.28993258,-0.0182083 , 0.94582493, 0.00427604, 1.28853895,
 -0.03009152, 0.94309988, 0.01686391, 1.33001628,-0.02328565, 0.95504952,
  1.32089256,-0.0026034 , 1.07681058, 0.06388284,-0.00166721,-0.09776846,
  0.08154533, 0.53278093,-0.01260829,-0.00482626, 0.84614551]

qacc:
[ 6.01038031e-02, 6.04384514e+00,-1.81290946e+01, 2.14806760e+01,
 -3.37515275e-02, 1.57381039e+00,-6.34270445e-01,-3.42101397e+00,
 -1.06052054e-01,-7.80698043e+00, 1.53000306e+01, 5.69481790e+00,
 -2.45076627e-02,-1.82482820e-01, 5.91438660e+00,-2.02149483e+01,
  4.31219265e-01,-1.44325526e+00, 2.52379585e+00,-6.55853124e+00,
 -7.48025269e+01,-1.75823328e+00]

qfrc_actuator:
[ 2.98430033e-03, 7.42737556e-02, 1.06331962e-02, 1.98520598e-03,
  4.94815048e-06, 7.72072365e-02, 1.06743390e-02, 2.11698450e-03,
 -3.05870742e-03, 4.25671449e-02, 1.06734465e-02, 2.24346906e-03,
  3.24860177e-03,-1.63146231e-03, 0.00000000e+00,-2.35460669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.43534425,  -4.39345339,  -7.43534425,
        27.32891255, -31.63469002,  -4.39345339, -31.63469002,
        62.17393184,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001380369313678062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.02147097e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.02147097e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00663549, -0.0767188 ,  0.06187751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71560515e-05, 1.93028331e-04,-1.30138496e-05, 3.53044201e-05,
 -9.47504069e-06, 3.34028716e-04, 1.04388788e-04, 3.06594729e-06,
 -3.07111735e-05,-5.28164541e-04,-2.86157092e-05, 5.46053854e-05,
 -2.79206328e-05,-2.56548810e-05,-4.43193189e-07,-9.81691090e-05,
  2.44719140e-06,-3.31295968e-07,-1.21644480e+00, 1.59131321e-03,
  5.45049872e-04, 2.90688877e-05]


--- Step 1542 ---
qpos:
[-0.01059143, 1.29072896,-0.01821228, 0.94582905, 0.00427629, 1.28938932,
 -0.03009518, 0.94310588, 0.01686381, 1.33017566,-0.02328759, 0.95505853,
  1.32103402,-0.00260368, 1.07701398, 0.0638789 ,-0.00167228,-0.09777384,
  0.08155728, 0.53282673,-0.01261604,-0.00499896, 0.84611555]

qacc:
[-6.63556860e-02,-1.72112015e-01, 3.09147474e-02, 7.90989951e+00,
  1.41842188e-02,-3.06125247e+00, 8.89858393e+00,-4.51035977e-01,
  5.82544121e-02,-7.71547025e+00, 2.05083583e+01,-2.93239752e+01,
  3.31542809e-01,-8.20569014e-01,-3.03619530e+00, 9.93598172e+00,
  4.15635498e-01,-1.34548967e+00, 1.75301539e+00,-6.21329733e+00,
 -7.01429808e+01,-1.68852973e+00]

qfrc_actuator:
[ 2.95599956e-03, 7.42734656e-02, 1.06659161e-02, 2.01981891e-03,
  1.44306324e-05, 7.70731666e-02, 1.07042246e-02, 2.14032679e-03,
 -3.02407366e-03, 4.22935568e-02, 1.06421561e-02, 2.17338270e-03,
  3.23752659e-03,-1.65963091e-03, 0.00000000e+00,-2.30461491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.87123087, -7.72012619,  3.87123087, 77.23846696,
       34.40029006, -7.72012619, 34.40029006, 25.88627142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013765343199954663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03267470e-14,  4.03267470e-14,  1.00000000e+00,  1.62624652e-27,
        1.00000000e+00, -4.03267470e-14, -1.00000000e+00,  0.00000000e+00,
       -4.03267470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0066353 , -0.07671413,  0.06187786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88170504e-05, 9.83449397e-05, 6.87999233e-05, 4.18293830e-05,
  3.94787628e-06, 6.39908497e-05, 1.05793242e-04, 3.75986656e-05,
  1.65993867e-05,-5.70757380e-04,-1.36251428e-04,-8.50501164e-05,
 -3.30592419e-05,-4.07302659e-05,-1.57339881e-05, 4.34058203e-05,
  3.17209023e-06, 9.06034043e-07,-1.21644191e+00, 1.58662410e-03,
  5.45061522e-04, 3.51010722e-05]


--- Step 1543 ---
qpos:
[-0.01059254, 1.2915252 ,-0.01821547, 0.94583399, 0.00427674, 1.29023741,
 -0.03009689, 0.94311198, 0.01686396, 1.33033144,-0.02329142, 0.95506698,
  1.32117526,-0.0026045 , 1.07721717, 0.06387622,-0.00167195,-0.09778257,
  0.08157172, 0.53287071,-0.01247147,-0.00516161, 0.84608902]

qacc:
[ -0.16192141, -0.86992668,  0.9866057 ,  8.62557369,  0.0912027 ,
  -8.10557602, 22.60298009,-16.8860108 ,  0.10655768, -0.54855862,
  -2.78219998, -1.69512845,  0.32975429, -0.91187966, -4.16298766,
  14.02748872,  1.35248364, -0.83549223,  0.62244269, 44.82695475,
 -61.78360966,  1.36999137]

qfrc_actuator:
[ 2.92165546e-03, 7.42206797e-02, 1.06866541e-02, 2.05625932e-03,
  3.77560442e-05, 7.67945179e-02, 1.07404144e-02, 2.13380099e-03,
 -3.00333604e-03, 4.21393784e-02, 1.05532280e-02, 2.14622918e-03,
  3.21514300e-03,-1.69389874e-03, 0.00000000e+00,-2.23805157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.33084601, -4.56568436, -7.33084601,  9.82193766,
       -1.90360522, -4.56568436, -1.90360522, 11.69286856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013618726237853637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.07608981e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.07608981e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03284174, -0.08943326,  0.06187915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59452408e-05, 9.68952753e-06, 4.78317730e-05, 4.34033500e-05,
  2.56401570e-05,-2.28627512e-04, 6.04577612e-05, 4.68639168e-07,
  3.06036958e-05,-5.00028757e-04,-2.18524321e-04,-4.97867318e-05,
 -5.06566108e-05,-5.17901231e-05,-5.45088660e-06, 6.62616166e-05,
  2.85674198e-06, 4.73314334e-06,-1.21644113e+00, 1.58223941e-03,
  5.45188301e-04, 4.14632522e-05]


--- Step 1544 ---
qpos:
[-0.01059406, 1.29231972,-0.01821817, 0.94583951, 0.00427729, 1.29108035,
 -0.03009745, 0.94311795, 0.01686437, 1.33048379,-0.02329621, 0.95507464,
  1.32131603,-0.00260517, 1.07742062, 0.06387166,-0.0016665 ,-0.09779438,
  0.08158641, 0.53291308,-0.01218243,-0.00531498, 0.84606559]

qacc:
[-1.66943808e-01,-2.62062302e+00, 4.63355921e+00, 3.72490378e+00,
  3.95420987e-02,-1.00667835e+01, 2.49743600e+01,-2.00719411e+01,
  1.05816552e-01,-3.27393242e+00, 6.84146831e+00,-1.29706856e+01,
 -6.04788681e-01, 7.89765103e-01, 6.09802670e+00,-2.06794492e+01,
  1.27943672e+00,-7.69034849e-01, 6.14088522e-02, 4.24201800e+01,
 -5.86719215e+01, 1.18827298e+00]

qfrc_actuator:
[ 2.90172460e-03, 7.40126052e-02, 1.06643995e-02, 2.07566048e-03,
  3.36890595e-05, 7.63072146e-02, 1.07083719e-02, 2.10962351e-03,
 -2.99110554e-03, 4.20044632e-02, 1.05202904e-02, 2.10913243e-03,
  3.19663930e-03,-1.67830258e-03, 0.00000000e+00,-2.33982158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63583283, -0.09575068,  8.63583283,  8.64079553,
        0.39971635, -0.09575068,  0.39971635, 44.68711254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013412697247066896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287275, -0.08942342,  0.06188094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.74371910e-05,-1.98660545e-04,-1.48201993e-05, 2.31526935e-05,
  1.09434637e-05,-6.09105040e-04,-7.12546965e-05,-2.81577070e-05,
  3.03572140e-05,-4.56647866e-04,-1.57034447e-04,-5.92307748e-05,
 -5.89600388e-05,-8.88335241e-06, 1.26067936e-06,-9.96026142e-05,
 -9.69814792e-07, 4.82378762e-06,-1.21644077e+00, 1.57896749e-03,
  5.43997041e-04, 4.06960193e-05]


--- Step 1545 ---
qpos:
[-0.01059589, 1.29311057,-0.01822009, 0.9458447 , 0.00427772, 1.29191491,
 -0.03009674, 0.94312458, 0.01686527, 1.33063238,-0.02330042, 0.95508001,
  1.32145627,-0.00260565, 1.07762384, 0.0638676 ,-0.00165652,-0.09780518,
  0.08160374, 0.53295455,-0.01182249,-0.00538305, 0.84604415]

qacc:
[-1.38595410e-01,-7.46823238e+00, 1.92082975e+01,-1.81744602e+01,
 -4.83412752e-02,-1.33191226e+01, 2.87946525e+01,-1.19648960e+01,
  2.10941087e-01,-1.04596720e+01, 3.27421796e+01,-5.23434969e+01,
 -5.10981065e-01, 6.77063843e-01,-1.78916673e+00, 5.85526299e+00,
  1.13108259e+00, 2.50593172e-01, 6.60282722e-01, 5.49746459e+01,
 -7.27578980e+00, 1.24163048e+00]

qfrc_actuator:
[ 2.89060582e-03, 7.36952608e-02, 1.06518250e-02, 2.04924192e-03,
  1.32230295e-05, 7.56629926e-02, 1.06886905e-02, 2.12832154e-03,
 -2.94857255e-03, 4.18291299e-02, 1.05562828e-02, 1.99552477e-03,
  3.16984400e-03,-1.66876125e-03, 0.00000000e+00,-2.30916999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013103241704762211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0816312e-06,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0816312e-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([-0.03045428, -0.10815896,  0.06188361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95092330e-05,-4.35976650e-04,-5.35782009e-05,-3.11708525e-05,
 -1.40799441e-05,-1.00307145e-03,-1.49135150e-04,-1.23424190e-06,
  6.05140984e-05,-4.61323346e-04,-7.29169201e-05,-1.32885263e-04,
 -6.19576997e-05,-6.26814218e-06,-1.56609034e-05, 2.40996312e-05,
 -2.67761679e-06, 3.95082839e-06,-1.21644264e+00, 1.57645072e-03,
  5.43361626e-04, 3.29766519e-05]


--- Step 1546 ---
qpos:
[-0.01059768, 1.29389583,-0.01822057, 0.94584936, 0.00427798, 1.2927389 ,
 -0.03009479, 0.94313299, 0.01686652, 1.3307772 ,-0.02330427, 0.95508608,
  1.32159616,-0.00260651, 1.07782635, 0.06386859,-0.0016433 ,-0.09781065,
  0.0816184 , 0.53299629,-0.01148898,-0.00529636, 0.84602299]

qacc:
[ 2.22305459e-02,-1.21962552e+01, 3.20523201e+01,-3.07866506e+01,
 -7.13363390e-02,-1.41402758e+01, 2.57130448e+01, 5.02048956e+00,
  1.49515604e-01,-4.72166795e+00, 8.06316006e+00, 3.22495841e+00,
  3.54217082e-01,-8.94869507e-01,-1.63302747e+01, 5.55339959e+01,
  8.11066682e-01, 1.33241152e+00,-6.65262797e-01, 5.84226343e+01,
  5.24197912e+01, 9.50475461e-01]

qfrc_actuator:
[ 2.92037060e-03, 7.32972319e-02, 1.06800909e-02, 2.01374959e-03,
  8.40539445e-07, 7.49831681e-02, 1.06935783e-02, 2.20749825e-03,
 -2.94146303e-03, 4.16489986e-02, 1.05792091e-02, 2.03309264e-03,
  3.14342049e-03,-1.69846970e-03, 0.00000000e+00,-2.04091278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.72542614, -7.79153238,  3.72542614, 13.13418049,
        2.15057625, -7.79153238,  2.15057625,  9.66463543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012955093947108476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35611238e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.35611238e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02745693, -0.13115625,  0.06188494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01333931e-06,-6.57059741e-04,-6.51177587e-05,-4.97021087e-05,
 -2.06758563e-05,-1.27094367e-03,-2.09679901e-04, 4.57499142e-05,
  4.28771711e-05,-4.54437374e-04,-7.94915562e-05, 1.88908209e-05,
 -6.25578179e-05,-4.56231273e-05,-8.20398200e-06, 2.66768543e-04,
  4.42504576e-07,-1.00177846e-06,-1.21644361e+00, 1.57644226e-03,
  5.42694209e-04, 1.96616273e-05]


--- Step 1547 ---
qpos:
[-0.01059929, 1.29467376,-0.01821918, 0.94585337, 0.00427808, 1.29355052,
 -0.03009145, 0.94314178, 0.01686771, 1.33091853,-0.02330732, 0.95509181,
  1.32173566,-0.00260771, 1.07802925, 0.06386872,-0.00162708,-0.09781102,
  0.08162863, 0.53303851,-0.01118033,-0.00506232, 0.84600196]

qacc:
[ 7.70171556e-02,-1.58406047e+01, 4.14005964e+01,-3.91163421e+01,
 -6.72209242e-02,-1.93735659e+01, 4.28072967e+01,-2.49977097e+01,
 -2.23694501e-02,-7.33176806e+00, 1.90468295e+01,-1.81850884e+01,
 -1.18485762e-01,-1.97517568e-01, 3.13353153e+00,-1.01367410e+01,
  7.49785426e-01, 1.27623648e+00,-1.11117838e+00, 5.57141743e+01,
  4.97852726e+01, 7.41206725e-01]

qfrc_actuator:
[ 2.93891417e-03, 7.28186747e-02, 1.07318813e-02, 1.97316375e-03,
 -6.59123143e-06, 7.42342609e-02, 1.07127474e-02, 2.21506512e-03,
 -2.97341424e-03, 4.15030009e-02, 1.06297985e-02, 2.01729210e-03,
  3.12254940e-03,-1.71571669e-03, 0.00000000e+00,-2.09641689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.8999493 ,  7.70565846,  3.8999493 , 27.80551877,
       -9.70179686,  7.70565846, -9.70179686, 13.54658851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001270264305508348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37004732e-14,  4.37004732e-14,  1.00000000e+00,  1.90973136e-27,
        1.00000000e+00, -4.37004732e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37004732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0274908 , -0.13119502,  0.06188712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14807973e-05,-8.62602045e-04,-8.66448345e-05,-6.21411525e-05,
 -1.96036735e-05,-1.49852463e-03,-2.53280839e-04,-3.45970551e-05,
 -6.58882968e-06,-4.13254068e-04,-4.67828407e-05,-3.09369862e-05,
 -6.60535065e-05,-4.32430497e-05, 2.32943637e-05,-4.22864638e-05,
  9.02402555e-06,-3.33694517e-06,-1.21644323e+00, 1.57871389e-03,
  5.41544570e-04, 1.43788834e-05]


--- Step 1548 ---
qpos:
[-0.0106007 , 1.29544328,-0.01821653, 0.9458577 , 0.0042779 , 1.29434849,
 -0.03008764, 0.9431494 , 0.01686872, 1.3310574 ,-0.02330951, 0.95509514,
  1.32187454,-0.00260859, 1.07823241, 0.06386689,-0.00161486,-0.09781702,
  0.08163743, 0.53308325,-0.01084361,-0.00501126, 0.84597846]

qacc:
[  0.0847007 ,-13.86976392, 31.30240662,-18.3699921 , -0.11687157,
 -21.16986734, 49.84055718,-48.21233444, -0.08097799, -9.6850571 ,
  32.51117414,-54.29894351, -0.85144868,  1.21460388,  6.39332068,
 -21.66329952, -0.99946738, -1.40708536, -0.35577004,-69.91570953,
 -60.62604235, -2.81749726]

qfrc_actuator:
[ 2.95057692e-03, 7.23135345e-02, 1.07612743e-02, 1.98310424e-03,
 -2.87462868e-05, 7.34321920e-02, 1.06865706e-02, 2.14485553e-03,
 -2.99303166e-03, 4.14497293e-02, 1.06963956e-02, 1.89920300e-03,
  3.09969999e-03,-1.68987616e-03, 0.00000000e+00,-2.20027535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012728955383421309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27076042e-14,  2.18050694e-14,  1.00000000e+00,  7.13191581e-28,
        1.00000000e+00, -2.18050694e-14, -1.00000000e+00,  0.00000000e+00,
       -3.27076042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02999526, -0.0590126 ,  0.06188695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36705422e-05,-1.00736290e-03,-1.52013059e-04,-1.86524086e-05,
 -3.37095185e-05,-1.68841475e-03,-3.50441194e-04,-1.22360902e-04,
 -2.34340833e-05,-2.92821530e-04,-2.04712525e-05,-1.32213080e-04,
 -6.96829620e-05,-2.56948938e-07, 9.86478510e-08,-1.04578049e-04,
  2.00018231e-05, 1.07377204e-06,-1.21644508e+00, 1.58083926e-03,
  5.40073874e-04, 1.67077788e-05]


--- Step 1549 ---
qpos:
[-0.01060165, 1.29620354,-0.0182139 , 0.94586332, 0.00427731, 1.29513238,
 -0.0300839 , 0.94315724, 0.01686951, 1.33119417,-0.02331139, 0.95509738,
  1.322013  ,-0.00260925, 1.07843495, 0.06386852,-0.00161013,-0.09781892,
  0.08164217, 0.53311814,-0.01072046,-0.00497972, 0.84595823]

qacc:
[  0.19919046, -9.87915243, 14.93592243,  7.6303439 , -0.17657332,
 -17.91002569, 35.61943703,-19.35786618, -0.0893765 , -5.49877225,
  16.81693243,-25.92323874, -0.25196624,  0.35415849,-11.31803532,
  38.33205349, -1.87349537,  1.02395757, -1.01467847,-65.22514716,
  85.09459818,  5.46379329]

qfrc_actuator:
[ 2.99352694e-03, 7.17609375e-02, 1.07238402e-02, 2.04039873e-03,
 -5.95544645e-05, 7.26932047e-02, 1.06690615e-02, 2.15364222e-03,
 -3.00508907e-03, 4.13636936e-02, 1.07189632e-02, 1.84620718e-03,
  3.09167554e-03,-1.67421514e-03, 0.00000000e+00,-2.01213921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012749919901429013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17692157e-14,  8.70768627e-14,  1.00000000e+00,  1.89559500e-27,
        1.00000000e+00, -8.70768627e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17692157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344439, -0.10769978,  0.06188682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.62457881e-05,-1.14627175e-03,-2.53275052e-04, 2.34801939e-05,
 -5.06417563e-05,-1.75190758e-03,-3.92528641e-04,-5.39671553e-05,
 -2.58076513e-05,-2.56838925e-04,-4.09587424e-05,-6.51471570e-05,
 -4.70864377e-05,-5.63575420e-07,-1.68942040e-05, 1.81123661e-04,
  6.70963635e-06,-3.39307103e-06,-1.21644285e+00, 1.57709478e-03,
  5.42077075e-04, 1.30665367e-05]


--- Step 1550 ---
qpos:
[-0.01060211, 1.29695294,-0.01821094, 0.94586939, 0.00427647, 1.29590186,
 -0.03007996, 0.94316517, 0.01687027, 1.33132872,-0.0233138 , 0.95509902,
  1.3221512 ,-0.00260957, 1.07863743, 0.06387167,-0.00161243,-0.09781711,
  0.08164053, 0.53314423,-0.01079689,-0.00496609, 0.84594089]

qacc:
[ 2.06592619e-01,-1.44006724e+01, 2.89068238e+01,-1.33739742e+01,
 -1.03747752e-01,-1.93344728e+01, 4.00638062e+01,-2.47339918e+01,
 -1.65641304e-02,-2.51035277e+00, 5.86175767e+00,-1.05509297e+01,
 -3.63304697e-01, 6.55211828e-01,-4.67292031e+00, 1.62715975e+01,
 -1.75620223e+00, 9.25699788e-01,-1.59377738e+00,-6.08179604e+01,
  7.96108733e+01, 4.89901069e+00]

qfrc_actuator:
[ 3.01939626e-03, 7.11130865e-02, 1.07003421e-02, 2.05399982e-03,
 -5.97983962e-05, 7.19624620e-02, 1.06748564e-02, 2.15563747e-03,
 -2.99476156e-03, 4.12231161e-02, 1.06798074e-02, 1.81417283e-03,
  3.09787649e-03,-1.64693128e-03, 0.00000000e+00,-1.93748781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.3656997 ,  2.14519124, -8.3656997 ,  9.50709316,
        3.39562346,  2.14519124,  3.39562346, 21.87843061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012851856547441698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.3193099e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.3193099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341976, -0.10769976,  0.06188599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82811819e-05,-1.33678864e-03,-2.76754283e-04,-2.63490769e-05,
 -3.00118604e-05,-1.78481713e-03,-3.84394785e-04,-6.23308341e-05,
 -4.82324848e-06,-2.93483079e-04,-9.60199700e-05,-4.21626417e-05,
 -2.00355399e-05, 1.61332822e-05, 9.68743028e-06, 8.19611108e-05,
  1.32929666e-06,-4.32145516e-07,-1.21644000e+00, 1.58212726e-03,
  5.43726761e-04, 2.85230649e-05]


--- Step 1551 ---
qpos:
[-0.01060232, 1.29769018,-0.01820704, 0.94587603, 0.00427578, 1.29665691,
 -0.03007705, 0.94317212, 0.01687119, 1.33146019,-0.02331663, 0.95510138,
  1.32228909,-0.00260909, 1.07884057, 0.06387034,-0.00162135,-0.09781193,
  0.08163057, 0.53316231,-0.01106127,-0.00496906, 0.84592606]

qacc:
[ 1.11815188e-01,-1.75413809e+01, 3.68264017e+01,-1.80192798e+01,
  6.57868630e-02,-1.78480087e+01, 3.73775659e+01,-3.47551764e+01,
  7.28980538e-02,-1.66031948e+00,-8.98536265e-01, 1.09176880e+01,
 -1.14523519e+00, 2.06932532e+00, 1.46116284e+01,-4.94706991e+01,
 -1.65748679e+00, 8.46092176e-01,-2.08262573e+00,-5.71555243e+01,
  7.50364929e+01, 4.43061361e+00]

qfrc_actuator:
[ 3.01706138e-03, 7.04311253e-02, 1.07203617e-02, 2.07722029e-03,
 -2.39548837e-05, 7.12071165e-02, 1.06056212e-02, 2.10035643e-03,
 -2.97109063e-03, 4.10152735e-02, 1.06398431e-02, 1.84790894e-03,
  3.09663604e-03,-1.59513258e-03, 0.00000000e+00,-2.17891416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.38386926,  2.07304441, -8.38386926,  9.62643112,
        4.00406103,  2.07304441,  4.00406103, 24.82970904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012790270283783156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343364, -0.10770643,  0.06188649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12778407e-05,-1.48223661e-03,-2.74587631e-04,-2.42527254e-05,
  1.81683406e-05,-1.82614465e-03,-4.65153281e-04,-1.20569336e-04,
  2.08963113e-05,-3.91066908e-04,-1.09566641e-04, 2.14421260e-05,
 -8.47085914e-06, 5.10952027e-05, 9.17159920e-06,-2.36638210e-04,
  2.46362113e-07, 1.67960033e-07,-1.21644070e+00, 1.58555935e-03,
  5.44871462e-04, 3.07516458e-05]


--- Step 1552 ---
qpos:
[-0.01060253, 1.29841529,-0.01820307, 0.94588261, 0.00427535, 1.29739689,
 -0.03007477, 0.94317875, 0.01687219, 1.3315874 ,-0.02331891, 0.95510625,
  1.32242692,-0.00260849, 1.07904353, 0.06386782,-0.00163375,-0.09781257,
  0.08161783, 0.5331843 ,-0.01130022,-0.00514769, 0.84590798]

qacc:
[-3.44927154e-03,-1.62089574e+01, 3.37851940e+01,-2.25729897e+01,
  1.15546458e-01,-1.85960192e+01, 3.73982484e+01,-2.65387660e+01,
  2.95954232e-02,-2.76930713e+00,-2.77282124e+00, 3.40265535e+01,
 -1.82900048e-01, 3.10797910e-01, 3.32543914e+00,-1.19844883e+01,
 -8.67110145e-01,-1.45708409e+00,-6.93460233e-01,-6.75080348e+01,
 -5.75586890e+01,-3.55169629e+00]

qfrc_actuator:
[ 2.99783397e-03, 6.98053589e-02, 1.07124938e-02, 2.07040329e-03,
 -2.26380609e-06, 7.04250381e-02, 1.05635311e-02, 2.08275315e-03,
 -2.97511416e-03, 4.07510660e-02, 1.06527605e-02, 1.97329444e-03,
  3.08561875e-03,-1.60023783e-03, 0.00000000e+00,-2.23178395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012821294066976824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16480298e-14, -2.16480298e-14,  1.00000000e+00, -4.68637195e-28,
        1.00000000e+00,  2.16480298e-14, -1.00000000e+00,  0.00000000e+00,
       -2.16480298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02999393, -0.0590386 ,  0.06188619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45223302e-06,-1.50588014e-03,-3.30566782e-04,-5.85143589e-05,
  3.22718707e-05,-1.89315899e-03,-4.56966472e-04,-8.78716728e-05,
  8.36884600e-06,-5.02129830e-04,-7.54137202e-05, 1.11282428e-04,
 -4.25395902e-06, 5.83706360e-06,-2.81856305e-05,-6.62777523e-05,
  2.68565268e-06,-1.17050086e-06,-1.21644439e+00, 1.58778391e-03,
  5.45618250e-04, 2.21553536e-05]


--- Step 1553 ---
qpos:
[-0.01060285, 1.29912785,-0.01819933, 0.94588983, 0.00427505, 1.29812166,
 -0.03007251, 0.94318685, 0.01687335, 1.33171114,-0.02332124, 0.95511256,
  1.32256459,-0.00260785, 1.07924599, 0.06386732,-0.00164937,-0.09781874,
  0.0816002 , 0.53321007,-0.01151542,-0.00549182, 0.84588667]

qacc:
[-4.35952348e-02,-1.47725745e+01, 2.70368160e+01,-8.49569729e+00,
  5.17043647e-02,-1.74335481e+01, 2.97455730e+01, 7.66509143e-01,
  6.94883699e-02,-1.93433411e+00,-2.06008511e+00, 2.04162925e+01,
 -1.01871651e-02,-7.04139658e-03,-6.84490417e+00, 2.28472734e+01,
 -8.06044287e-01,-1.38310923e+00,-1.22221754e+00,-6.36556899e+01,
 -5.41363121e+01,-3.46271037e+00]

qfrc_actuator:
[ 2.98639018e-03, 6.91471357e-02, 1.06883963e-02, 2.09921594e-03,
 -6.99405538e-06, 6.96865987e-02, 1.05732565e-02, 2.15848643e-03,
 -2.96021513e-03, 4.06152251e-02, 1.06610859e-02, 2.04506716e-03,
  3.06872370e-03,-1.60359926e-03, 0.00000000e+00,-2.11976763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.24834429,  -5.96196029,  -6.24834429,
        26.64158549, -18.87010646,  -5.96196029, -18.87010646,
        28.4128996 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001272981064481385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.36072089e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.36072089e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03000686, -0.05902589,  0.06188689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28663781e-05,-1.56326605e-03,-3.58779393e-04,-2.60447319e-05,
  1.41229101e-05,-1.88385643e-03,-4.16336391e-04, 4.42923918e-06,
  1.98939607e-05,-4.25813896e-04,-9.51748036e-05, 5.74701256e-05,
 -1.85875285e-05,-2.48125795e-06,-2.32376726e-05, 1.04025140e-04,
  1.16945088e-05, 1.41729181e-06,-1.21644511e+00, 1.58647210e-03,
  5.46699490e-04, 2.35610780e-05]


--- Step 1554 ---
qpos:
[-0.010603  , 1.29982684,-0.01819524, 0.94589879, 0.00427509, 1.29883172,
 -0.03007012, 0.94319645, 0.01687511, 1.331833  ,-0.0233244 , 0.95511854,
  1.32270203,-0.00260695, 1.07944835, 0.06386745,-0.00166111,-0.09781832,
  0.08158968, 0.53323643,-0.01176381,-0.0056395 , 0.84586566]

qacc:
[  0.07462802,-15.76388948, 26.4062802 ,  5.59855878,  0.14593748,
 -17.06267157, 29.25106978,  1.32913772,  0.25525817, -0.8027062 ,
   0.28916068, -2.80627116, -0.33821201,  0.57280717, -1.99275908,
   6.84560812,  0.97064439,  1.65027276,  1.77729368, 74.24645965,
  66.41151642,  1.06033775]

qfrc_actuator:
[ 3.01522032e-03, 6.84214557e-02, 1.06903359e-02, 2.18424744e-03,
  2.57235070e-05, 6.89982574e-02, 1.05959453e-02, 2.23531392e-03,
 -2.89857933e-03, 4.06105751e-02, 1.06492967e-02, 2.03149299e-03,
  3.05896435e-03,-1.58814982e-03, 0.00000000e+00,-2.08907334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001306384721549085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18691445e-14,  8.49843853e-14,  1.00000000e+00,  2.70837965e-27,
        1.00000000e+00, -8.49843853e-14, -1.00000000e+00,  0.00000000e+00,
       -3.18691445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02746434, -0.13112735,  0.06188401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07155694e-05,-1.66688544e-03,-3.46188317e-04, 2.83776039e-05,
  4.09255163e-05,-1.81772999e-03,-3.94185477e-04, 9.11538344e-06,
  7.34307741e-05,-2.57848620e-04,-1.04201565e-04,-2.74510079e-05,
 -2.09260053e-05, 1.06780509e-05,-1.51864488e-06, 3.29472629e-05,
  2.38891241e-05, 1.22525693e-05,-1.21644846e+00, 1.58488204e-03,
  5.47861402e-04, 3.37771635e-05]


--- Step 1555 ---
qpos:
[-0.01060291, 1.30051234,-0.0181913 , 0.94590703, 0.00427563, 1.29952695,
 -0.03006709, 0.94320517, 0.01687738, 1.33195291,-0.02332776, 0.9551236 ,
  1.32283949,-0.00260642, 1.07965107, 0.06386458,-0.00166931,-0.09781173,
  0.0815829 , 0.53326356,-0.01204274,-0.0056053 , 0.84584486]

qacc:
[  0.10320532,-18.57261704, 40.74194788,-35.70588851,  0.21702642,
 -22.72739826, 52.43727046,-46.33248605,  0.21407172, -3.59785486,
  10.5257181 ,-18.59005143,  0.08927631, -0.37153987,  9.54811318,
 -32.67005176,  0.88190439,  1.53990366,  0.93327249, 68.78204992,
  61.41080953,  0.88405277]

qfrc_actuator:
[ 3.03247423e-03, 6.77323424e-02, 1.06718895e-02, 2.14186595e-03,
  6.28885069e-05, 6.82567935e-02, 1.06262852e-02, 2.18790518e-03,
 -2.88041626e-03, 4.05246663e-02, 1.06439808e-02, 1.98564419e-03,
  3.05349962e-03,-1.61490251e-03, 0.00000000e+00,-2.24860928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.65008681,   6.53171462,   5.65008681,
        31.95724282, -20.17310913,   6.53171462, -20.17310913,
        26.08657761,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013322687492844515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.12499737e-14,  4.16666316e-14,  1.00000000e+00,  1.30208114e-27,
        1.00000000e+00, -4.16666316e-14, -1.00000000e+00,  0.00000000e+00,
       -3.12499737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0274354 , -0.13108521,  0.0618818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88602210e-05,-1.68340890e-03,-3.83759775e-04,-1.00495962e-04,
  6.11045447e-05,-1.82965540e-03,-3.70910973e-04,-1.12394713e-04,
  6.15483059e-05,-2.50488769e-04,-6.84372886e-05,-5.69978135e-05,
 -1.47053389e-05,-2.89078170e-05,-1.05527380e-06,-1.58824065e-04,
  1.00748129e-05, 3.39236737e-07,-1.21644512e+00, 1.58793595e-03,
  5.46809566e-04, 2.34140042e-05]


--- Step 1556 ---
qpos:
[-0.01060318, 1.30118455,-0.01818792, 0.94591298, 0.00427635, 1.30020738,
 -0.03006395, 0.94321262, 0.01687973, 1.33206994,-0.02333016, 0.95512671,
  1.32297695,-0.00260645, 1.07985433, 0.06385514,-0.00167429,-0.09779935,
  0.081577  , 0.53329153,-0.01235004,-0.00540132, 0.84582412]

qacc:
[-1.54309207e-01,-1.99318034e+01, 4.86224691e+01,-6.05080502e+01,
  7.95793611e-02,-2.18981519e+01, 5.06004608e+01,-4.94148295e+01,
  3.72049169e-02,-9.74514126e+00, 3.11100831e+01,-4.75816208e+01,
  1.08040844e-02,-3.86435324e-01, 2.06400094e+01,-7.10656491e+01,
  8.09018823e-01, 1.44776706e+00, 2.22971076e-01, 6.42448306e+01,
  5.72704778e+01, 7.59036854e-01]

qfrc_actuator:
[ 2.97163574e-03, 6.70705185e-02, 1.06415913e-02, 2.02482219e-03,
  4.91616543e-05, 6.75072159e-02, 1.06251320e-02, 2.12099188e-03,
 -2.90623292e-03, 4.03375536e-02, 1.06777612e-02, 1.88565682e-03,
  3.04527189e-03,-1.64869734e-03, 0.00000000e+00,-2.58992503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.70661226,   6.48238793,   5.70661226,
        35.53908924, -23.68315896,   6.48238793, -23.68315896,
        29.48525554,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013384570571277898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14739875e-14,  8.29479750e-14,  1.00000000e+00,  3.44018328e-27,
        1.00000000e+00, -8.29479750e-14, -1.00000000e+00,  0.00000000e+00,
       -4.14739875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02742957, -0.13107371,  0.06188124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44375222e-05,-1.67632963e-03,-4.06893949e-04,-1.79767387e-04,
  2.20586242e-05,-1.84334300e-03,-4.05632188e-04,-1.34412559e-04,
  1.05581326e-05,-3.41501136e-04,-2.47027045e-05,-1.10564067e-04,
 -2.37984835e-05,-4.39859500e-05,-2.28613070e-05,-3.51399218e-04,
  1.61962578e-06,-4.19426421e-07,-1.21644543e+00, 1.59088926e-03,
  5.45293211e-04, 2.53241373e-05]


--- Step 1557 ---
qpos:
[-0.01060412, 1.30184303,-0.01818455, 0.94591822, 0.00427741, 1.30087372,
 -0.03006152, 0.94322058, 0.016882  , 1.33218449,-0.02333191, 0.9551272 ,
  1.32311421,-0.00260659, 1.08005702, 0.06384535,-0.00167363,-0.0977903 ,
  0.0815782 , 0.533318  ,-0.01248637,-0.00518695, 0.84580677]

qacc:
[-2.80991809e-01,-1.92840643e+01, 4.26435645e+01,-3.71033929e+01,
  1.41439245e-01,-1.57097136e+01, 2.78379186e+01,-9.24082009e+00,
 -3.49766303e-02,-9.53919482e+00, 3.24545878e+01,-5.68086535e+01,
 -7.27118607e-02,-4.77914156e-02, 2.09285141e-01,-1.96773489e+00,
  1.40736073e+00,-8.32111821e-01, 1.77159768e+00, 4.99876834e+01,
 -6.95622133e+01, 1.14495834e+00]

qfrc_actuator:
[ 2.91770882e-03, 6.63770044e-02, 1.06401431e-02, 1.98908282e-03,
  7.60302722e-05, 6.68474388e-02, 1.06053716e-02, 2.14964428e-03,
 -2.92271606e-03, 4.02334678e-02, 1.07161653e-02, 1.75457439e-03,
  3.03538564e-03,-1.65087299e-03, 0.00000000e+00,-2.59171414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013328717653455294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08238904e-14,  2.08238904e-14,  1.00000000e+00,  4.33634413e-28,
        1.00000000e+00, -2.08238904e-14, -1.00000000e+00,  0.00000000e+00,
       -2.08238904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287831, -0.08939571,  0.06188168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.05545735e-05,-1.71087802e-03,-3.81609658e-04,-1.00795870e-04,
  3.97410807e-05,-1.76843899e-03,-4.31489687e-04,-4.08072865e-05,
 -1.01958842e-05,-3.01833899e-04,-3.44496162e-05,-1.44326286e-04,
 -3.47055552e-05,-1.78813915e-05,-5.41407471e-05,-2.53489300e-05,
 -2.49188394e-06, 7.77335372e-06,-1.21644870e+00, 1.59376703e-03,
  5.43371905e-04, 3.71129041e-05]


--- Step 1558 ---
qpos:
[-0.01060527, 1.30248771,-0.01818121, 0.94592266, 0.00427893, 1.30152632,
 -0.030059  , 0.94322843, 0.01688398, 1.3322974 ,-0.02333371, 0.95512954,
  1.32325102,-0.00260645, 1.08025873, 0.06384088,-0.00166766,-0.09778433,
  0.08158349, 0.53334315,-0.0124628 ,-0.00496292, 0.8457926 ]

qacc:
[ -0.08996365,-19.43832558, 43.19354025,-38.29492527,  0.2004236 ,
 -18.46014203, 38.69240215,-26.30294985, -0.11957223,  1.18913769,
 -10.1802449 , 31.08821179, -0.18624345,  0.3024184 ,-17.49598778,
  59.14005329,  1.32824254, -0.76878092,  1.0262881 , 46.71568278,
 -65.06910938,  1.0490565 ]

qfrc_actuator:
[ 0.00293938, 0.065688  , 0.01063794, 0.00194823, 0.00010928, 0.06621124,
  0.01062847, 0.00214559,-0.00295122, 0.04021545, 0.01073951, 0.00185483,
  0.00301387,-0.0016343 , 0.        ,-0.00230462, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.80205989, -7.17823082,  4.80205989, 56.38916514,
       31.94544986, -7.17823082, 31.94544986, 30.00708399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013362463338064817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15426032e-14,  4.15426032e-14,  1.00000000e+00,  1.72578788e-27,
        1.00000000e+00, -4.15426032e-14, -1.00000000e+00,  0.00000000e+00,
       -4.15426032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287227, -0.08939556,  0.0618814 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61585469e-05,-1.71805182e-03,-3.83889759e-04,-1.04378092e-04,
  5.65110096e-05,-1.70552196e-03,-3.74143783e-04,-6.98754513e-05,
 -3.44572603e-05,-1.96724959e-04,-4.38555680e-05, 8.71053595e-05,
 -4.58526439e-05, 4.53100161e-06,-2.92095004e-05, 2.78411313e-04,
  5.37355903e-07, 7.81249472e-06,-1.21644413e+00, 1.58975122e-03,
  5.42051580e-04, 4.46469458e-05]


--- Step 1559 ---
qpos:
[-0.0106063 , 1.3031189 ,-0.01817776, 0.94592587, 0.00428045, 1.30216486,
 -0.03005549, 0.94323443, 0.01688551, 1.33240932,-0.02333703, 0.95513446,
  1.32338728,-0.00260556, 1.08046038, 0.06383847,-0.00166011,-0.0977835 ,
  0.08159617, 0.53337031,-0.01232525,-0.00482575, 0.84577829]

qacc:
[ 5.61397345e-02,-2.01693947e+01, 4.69537929e+01,-4.68538641e+01,
 -1.76153992e-03,-2.42894061e+01, 6.07215054e+01,-6.51319287e+01,
 -1.93831530e-01, 7.24583247e+00,-3.03909465e+01, 5.67403671e+01,
 -8.55517614e-01, 1.51960287e+00,-6.23994540e+00, 2.18791023e+01,
  3.96466483e-01,-1.28613610e+00, 1.84341938e+00,-6.32068758e+00,
 -7.13566070e+01,-1.70925886e+00]

qfrc_actuator:
[ 2.97073013e-03, 6.50427514e-02, 1.06530446e-02, 1.88691019e-03,
  7.50886038e-05, 6.55057169e-02, 1.06767789e-02, 2.05132187e-03,
 -2.98669428e-03, 4.01782068e-02, 1.06655197e-02, 1.98394711e-03,
  2.99606308e-03,-1.58908460e-03, 0.00000000e+00,-2.20477475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013288141621752014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.08874773e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.08874773e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00662302, -0.0766707 ,  0.06188204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54685704e-05,-1.67868674e-03,-3.68320283e-04,-1.25227909e-04,
 -1.08722171e-06,-1.72957934e-03,-3.30928665e-04,-1.57202876e-04,
 -5.57478862e-05,-1.52786355e-04,-1.14964642e-04, 1.24198456e-04,
 -4.20706405e-05, 3.55599592e-05, 1.60165410e-05, 1.11285127e-04,
  5.69565095e-06, 6.63882787e-06,-1.21644255e+00, 1.58666417e-03,
  5.41341178e-04, 4.31996974e-05]


--- Step 1560 ---
qpos:
[-0.01060723, 1.30373697,-0.01817412, 0.94592933, 0.00428193, 1.30278974,
 -0.03005183, 0.9432386 , 0.01688674, 1.33252028,-0.02334203, 0.95513813,
  1.32352316,-0.00260415, 1.0806626 , 0.06383294,-0.00165241,-0.09778801,
  0.08161312, 0.53340031,-0.01210001,-0.00480098, 0.84576276]

qacc:
[ 3.67483345e-02,-1.72870838e+01, 3.51252735e+01,-1.95730533e+01,
 -1.24445626e-02,-2.14836684e+01, 5.22276290e+01,-5.80696052e+01,
 -1.27599887e-01, 1.14010004e+00,-2.72358213e+00,-1.13907402e+01,
 -9.02919496e-01, 1.49947491e+00, 1.03446513e+01,-3.48089698e+01,
  3.50443186e-02,-1.33677524e+00, 1.07046573e+00,-2.41305340e+01,
 -6.70460231e+01,-2.43178087e+00]

qfrc_actuator:
[ 2.97211727e-03, 6.44289747e-02, 1.06784173e-02, 1.90283037e-03,
  7.17221683e-05, 6.48354256e-02, 1.06860113e-02, 1.95795739e-03,
 -2.99056625e-03, 4.01116893e-02, 1.05701013e-02, 1.91587993e-03,
  2.98050176e-03,-1.56275298e-03, 0.00000000e+00,-2.37592883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.61848681, -0.55539354,  8.61848681,  8.85765828,
        3.43400636, -0.55539354,  3.43400636, 61.92459296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013157727631510716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35834992e-06,  4.21890107e-14,  1.00000000e+00,  9.94964502e-20,
        1.00000000e+00, -4.21890107e-14, -1.00000000e+00,  1.20370622e-35,
       -2.35834992e-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([ 0.00237362, -0.07234503,  0.0618832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.97245236e-06,-1.62290382e-03,-3.49183054e-04,-4.68651043e-05,
 -4.07386285e-06,-1.70170857e-03,-3.72335719e-04,-1.57803582e-04,
 -3.67035285e-05,-1.70542626e-04,-1.34797040e-04,-7.29054659e-05,
 -3.02130479e-05, 2.50903263e-05, 1.48281149e-05,-1.63999463e-04,
  5.51898166e-06, 1.02528343e-06,-1.21644123e+00, 1.58400601e-03,
  5.41699465e-04, 3.38252307e-05]


--- Step 1561 ---
qpos:
[-0.0106087 , 1.3043423 ,-0.01817042, 0.9459333 , 0.00428352, 1.30340129,
 -0.03004861, 0.94324302, 0.01688777, 1.33262936,-0.02334677, 0.95514233,
  1.32365897,-0.00260298, 1.08086474, 0.06382643,-0.001648  ,-0.09779781,
  0.08162487, 0.53343366,-0.01185087,-0.00494031, 0.84574446]

qacc:
[-2.24499992e-01,-1.60842578e+01, 3.12817722e+01,-1.36321515e+01,
  4.62618356e-02,-1.58924686e+01, 3.01949777e+01,-1.48977323e+01,
 -8.39249598e-02,-2.29276927e+00, 3.43426808e+00, 4.21280719e+00,
  6.06470424e-02,-2.66363710e-01, 2.82089559e+00,-1.00615338e+01,
 -8.21971038e-01,-1.31836207e+00,-1.29980504e+00,-6.30113329e+01,
 -5.38468255e+01,-3.20657673e+00]

qfrc_actuator:
[ 2.90226460e-03, 6.38213467e-02, 1.06920781e-02, 1.92859479e-03,
  8.68809303e-05, 6.41914912e-02, 1.06722428e-02, 1.97238733e-03,
 -2.99320056e-03, 4.00102135e-02, 1.05868697e-02, 1.94532618e-03,
  2.97162006e-03,-1.58333351e-03, 0.00000000e+00,-2.42127457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.00359139,  3.24488855,  8.00359139,  8.97332929,
       -0.83113345,  3.24488855, -0.83113345, 10.6863732 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013035099427731595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.25859055e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.25859055e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02998642, -0.0590983 ,  0.06188431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44829552e-05,-1.57970568e-03,-3.45483789e-04,-3.29967329e-05,
  1.26988151e-05,-1.66793285e-03,-3.94593206e-04,-5.04203687e-05,
 -2.42302786e-05,-2.25026084e-04,-3.40996308e-05, 1.89085286e-05,
 -2.00547441e-05,-2.12912600e-05,-1.74843307e-05,-5.39538296e-05,
  2.60611464e-06,-1.47440211e-06,-1.21644124e+00, 1.58137043e-03,
  5.42355674e-04, 2.77056383e-05]


--- Step 1562 ---
qpos:
[-0.01061083, 1.30493561,-0.01816752, 0.94593823, 0.0042851 , 1.30399946,
 -0.03004566, 0.94324862, 0.01688853, 1.33273645,-0.02335071, 0.95514822,
  1.32379473,-0.00260228, 1.08106682, 0.06381872,-0.00164668,-0.09781268,
  0.08162971, 0.53347033,-0.01157923,-0.00523553, 0.84572331]

qacc:
[-2.76913098e-01,-1.19423772e+01, 1.79766979e+01, 2.93367553e+00,
 -5.22231907e-03,-1.48033785e+01, 2.46385907e+01, 8.23514662e-01,
 -1.17335610e-01,-1.86454361e+00,-4.51059834e-01, 2.10239970e+01,
  2.55128163e-01,-7.01996946e-01, 3.50321642e+00,-1.24331010e+01,
 -7.69642069e-01,-1.27087175e+00,-1.72911710e+00,-5.99074630e+01,
 -5.10725010e+01,-3.14164387e+00]

qfrc_actuator:
[ 2.86125915e-03, 6.32577951e-02, 1.06632448e-02, 1.97767297e-03,
  7.75240804e-05, 6.35330031e-02, 1.06629555e-02, 2.03238705e-03,
 -3.01282690e-03, 3.99245848e-02, 1.06341732e-02, 2.03201133e-03,
  2.96140600e-03,-1.61376749e-03, 0.00000000e+00,-2.48079747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.26189131,  -4.67458141,  -7.26189131,
        16.55977038, -12.30889218,  -4.67458141, -12.30889218,
        27.75804092,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012802896539296851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.33582753e-14,  4.33582753e-14,  1.00000000e+00, -1.87994003e-27,
        1.00000000e+00, -4.33582753e-14, -1.00000000e+00,  0.00000000e+00,
        4.33582753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03002077, -0.05906027,  0.06188631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93705867e-05,-1.51048975e-03,-3.78684455e-04,-7.98437532e-06,
 -1.96533714e-06,-1.66479483e-03,-3.82859125e-04,-2.01720700e-06,
 -3.38666197e-05,-2.16907061e-04,-6.99598550e-08, 7.96161623e-05,
 -2.69005310e-05,-4.00585747e-05,-1.74284972e-05,-6.55487313e-05,
 -2.09966978e-06, 3.29690347e-06,-1.21644222e+00, 1.57879735e-03,
  5.43584842e-04, 3.33651127e-05]


--- Step 1563 ---
qpos:
[-0.01061309, 1.30551714,-0.01816546, 0.94594406, 0.00428646, 1.30458467,
 -0.03004331, 0.94325455, 0.01688902, 1.33284172,-0.02335452, 0.95515235,
  1.32393014,-0.00260161, 1.08126842, 0.06381335,-0.00164169,-0.09782174,
  0.0816365 , 0.533507  ,-0.01133763,-0.00535572, 0.8457027 ]

qacc:
[-5.89561216e-02,-1.16395075e+01, 1.75127782e+01, 2.34571522e+00,
 -8.68830232e-02,-1.48476920e+01, 2.72003744e+01,-1.16257235e+01,
 -1.10316412e-01,-5.75318023e+00, 1.94115455e+01,-3.58536114e+01,
 -8.08368578e-02,-2.38112854e-02,-7.76305917e+00, 2.61056308e+01,
  9.13184204e-01, 1.45258628e+00, 4.87531701e-01, 6.60045580e+01,
  5.93889153e+01, 1.23423816e+00]

qfrc_actuator:
[ 2.89115484e-03, 6.26895507e-02, 1.06275126e-02, 2.02232022e-03,
  5.35364138e-05, 6.29066674e-02, 1.06386122e-02, 2.04768141e-03,
 -3.02473744e-03, 3.98138113e-02, 1.06281457e-02, 1.93863802e-03,
  2.93974105e-03,-1.61426580e-03, 0.00000000e+00,-2.35293811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012548647495099277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21183802e-14,  8.84735208e-14,  1.00000000e+00,  1.95689097e-27,
        1.00000000e+00, -8.84735208e-14, -1.00000000e+00,  0.00000000e+00,
       -2.21183802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0275491 , -0.13119614,  0.06188847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72096459e-05,-1.48253691e-03,-3.75079215e-04,-1.07688475e-05,
 -2.52083709e-05,-1.62702898e-03,-3.94518246e-04,-4.51789688e-05,
 -3.18382806e-05,-2.29102505e-04,-4.61672790e-05,-9.77923656e-05,
 -4.65966498e-05,-1.63421910e-05,-1.87124245e-05, 1.21191978e-04,
 -3.30732916e-06, 1.52475966e-05,-1.21644550e+00, 1.57601656e-03,
  5.44872397e-04, 4.65367644e-05]


--- Step 1564 ---
qpos:
[-0.01061514, 1.30608645,-0.01816343, 0.94595004, 0.00428744, 1.30515677,
 -0.03004069, 0.9432606 , 0.01688915, 1.33294453,-0.02335867, 0.95515611,
  1.32406516,-0.0026007 , 1.08146965, 0.06381118,-0.00163338,-0.09782529,
  0.08164272, 0.53354401,-0.01112386,-0.00531167, 0.84568247]

qacc:
[  0.09311655,-15.73403162, 31.67474812,-18.26149894, -0.1647163 ,
 -17.6909594 , 36.69242121,-22.17866098, -0.15143787, -2.94738356,
   6.452802  , -8.35598682, -0.27742012,  0.41370043,-10.17652051,
  34.88230553,  0.83420704,  1.37850187, -0.14097332, 62.02704511,
  55.57794145,  0.96157566]

qfrc_actuator:
[ 2.92783474e-03, 6.20698020e-02, 1.06235110e-02, 2.02849040e-03,
  2.09679685e-05, 6.22690597e-02, 1.06589306e-02, 2.05428972e-03,
 -3.04967675e-03, 3.96353114e-02, 1.05904658e-02, 1.91751383e-03,
  2.92721120e-03,-1.59706558e-03, 0.00000000e+00,-2.18670824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.31395413,   6.80798563,   5.31395413,
        22.10804713, -10.51528483,   6.80798563, -10.51528483,
        16.84403978,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001256731529963112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.417105e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.417105e-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([-0.02755054, -0.13119182,  0.06188835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61112983e-05,-1.51785113e-03,-3.37536017e-04,-4.83899307e-05,
 -4.74410295e-05,-1.62087673e-03,-3.45039947e-04,-5.40910467e-05,
 -4.36711794e-05,-3.17822027e-04,-9.06333840e-05,-3.13873902e-05,
 -4.23400285e-05, 2.32625538e-06, 2.12187284e-06, 1.69969083e-04,
 -1.72259867e-06, 2.36686890e-06,-1.21644168e+00, 1.57855834e-03,
  5.44110516e-04, 3.04210142e-05]


--- Step 1565 ---
qpos:
[-0.01061673, 1.30664351,-0.01816092, 0.94595708, 0.00428803, 1.30571623,
 -0.03003804, 0.94326598, 0.0168891 , 1.33304425,-0.02336218, 0.95516133,
  1.32419978,-0.00259935, 1.08167108, 0.06380899,-0.00162198,-0.09782358,
  0.08164627, 0.53358158,-0.0109361 ,-0.00511233, 0.84566244]

qacc:
[  0.1956051 ,-15.53944837, 29.1689671 , -5.65693425, -0.16542954,
 -17.88637182, 39.682867  ,-34.26200716, -0.07866807, -3.29792816,
   2.94139197, 16.08373583, -0.65306074,  1.08244224,  0.39427979,
  -0.82881246,  0.76984842,  1.31645203, -0.66872342, 58.72792024,
  52.42721824,  0.75239596]

qfrc_actuator:
[ 2.96828434e-03, 6.14775604e-02, 1.06558133e-02, 2.08296377e-03,
  1.26968307e-06, 6.16655147e-02, 1.06699228e-02, 2.02025702e-03,
 -3.04672678e-03, 3.94708163e-02, 1.06229846e-02, 1.99232028e-03,
  2.91485405e-03,-1.56950107e-03, 0.00000000e+00,-2.19453915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.37121368,   6.76290178,   5.37121368,
        24.58109296, -12.6635801 ,   6.76290178, -12.6635801 ,
        18.69399821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001244745615668258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45963822e-14,  8.91927644e-14,  1.00000000e+00,  3.97767461e-27,
        1.00000000e+00, -8.91927644e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45963822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0275678 , -0.13120899,  0.06188939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53498757e-05,-1.50355016e-03,-3.04945915e-04,-9.23646916e-07,
 -4.76337020e-05,-1.57388316e-03,-3.47770503e-04,-9.33206113e-05,
 -2.27691888e-05,-3.59576797e-04,-4.08667249e-05, 6.21566906e-05,
 -3.50513794e-05, 1.81102733e-05, 1.62066417e-05, 1.08499545e-06,
  3.25301891e-06,-1.40450946e-06,-1.21644085e+00, 1.58088169e-03,
  5.42985700e-04, 2.45216170e-05]


--- Step 1566 ---
qpos:
[-0.01061785, 1.30718878,-0.01815848, 0.94596437, 0.00428829, 1.3062643 ,
 -0.03003617, 0.94327154, 0.01688925, 1.33314078,-0.02336369, 0.9551663 ,
  1.32433413,-0.00259771, 1.08187209, 0.06381043,-0.00161699,-0.09782276,
  0.08165253, 0.53361572,-0.01085655,-0.0050288 , 0.84564242]

qacc:
[  0.20027008,-14.85797613, 29.28247111,-15.27873136, -0.1384773 ,
 -12.47515912, 22.26992518, -9.9825353 ,  0.08407444, -9.98240469,
  27.98410266,-25.05683552, -0.18169179,  0.35885041,-11.53541771,
  39.50891347, -1.60348545, -0.22577415,  0.67583064,-77.8554983 ,
  14.84845138,  1.09893997]

qfrc_actuator:
[ 2.99291564e-03, 6.09067386e-02, 1.06561543e-02, 2.09444621e-03,
 -1.05489364e-05, 6.11759570e-02, 1.06576725e-02, 2.03359510e-03,
 -3.00931888e-03, 3.93340875e-02, 1.07322762e-02, 1.98098987e-03,
  2.90794116e-03,-1.55376793e-03, 0.00000000e+00,-2.00307476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012519979480883042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86761058e-14,  1.03838585e-06,  1.00000000e+00,  9.20800133e-20,
        1.00000000e+00, -1.03838585e-06, -1.00000000e+00,  0.00000000e+00,
       -8.86761058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04138991, -0.08258882,  0.06188879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67296823e-05,-1.46632506e-03,-3.28982336e-04,-4.14432135e-05,
 -3.98681123e-05,-1.43550648e-03,-3.63262695e-04,-4.55458152e-05,
  2.40181686e-05,-3.42385804e-04, 3.61508143e-05,-2.15844090e-05,
 -2.20374395e-05, 1.19790871e-05, 2.27276216e-06, 1.92401428e-04,
  1.10932230e-05, 2.42416466e-06,-1.21644252e+00, 1.58308018e-03,
  5.41512535e-04, 2.71658480e-05]


--- Step 1567 ---
qpos:
[-0.01061828, 1.3077228 ,-0.01815654, 0.94597035, 0.0042883 , 1.30680107,
 -0.03003411, 0.94327821, 0.01688969, 1.3332348 ,-0.02336496, 0.95517183,
  1.32446847,-0.0025962 , 1.0820733 , 0.06381212,-0.00161901,-0.0978183 ,
  0.08165173, 0.53364124,-0.01097249,-0.00496268, 0.84562521]

qacc:
[  0.29346548,-15.72138639, 36.16147878,-39.76162816, -0.10541325,
 -13.49375016, 23.81347897, -0.68729847,  0.12702688, -3.03468049,
   4.81633481,  3.70928334,  0.09229282, -0.22807803, -0.49785031,
   2.12747111, -1.75086939,  0.91251476, -1.76238856,-59.5590846 ,
  77.97962551,  4.78735806]

qfrc_actuator:
[ 3.04336702e-03, 6.03709695e-02, 1.06376768e-02, 2.02725323e-03,
 -1.75471040e-05, 6.06520663e-02, 1.06855591e-02, 2.09251811e-03,
 -2.98705048e-03, 3.92153526e-02, 1.07440059e-02, 2.00785116e-03,
  2.90962247e-03,-1.56291106e-03, 0.00000000e+00,-1.99746201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.22525297, -8.63342562, -0.22525297, 15.32733638,
       -0.17457282, -8.63342562, -0.17457282,  8.64091838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001257736565333109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20678768e-14,  4.41357537e-14,  1.00000000e+00,  9.73982376e-28,
        1.00000000e+00, -4.41357537e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20678768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534742 , -0.10778304,  0.06188834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.33750794e-05,-1.41649105e-03,-3.44438127e-04,-1.20675858e-04,
 -3.04819365e-05,-1.39477877e-03,-2.96396836e-04, 4.83289544e-06,
  3.64860056e-05,-3.02304524e-04,-5.17513049e-05, 1.74182903e-05,
 -7.47074874e-06,-1.14457610e-05, 1.90399767e-05, 1.58398056e-05,
  2.14234047e-06, 4.49204863e-07,-1.21644023e+00, 1.58373180e-03,
  5.43370380e-04, 3.06778026e-05]


--- Step 1568 ---
qpos:
[-0.01061865, 1.30824607,-0.01815425, 0.94597472, 0.00428812, 1.3073265 ,
 -0.03003143, 0.94328519, 0.01689013, 1.33332668,-0.02336763, 0.95517769,
  1.32460285,-0.00259507, 1.08227476, 0.06381221,-0.00162467,-0.09781959,
  0.08164793, 0.53367023,-0.01106279,-0.00507127, 0.8456051 ]

qacc:
[ 2.82097638e-02,-1.79030805e+01, 4.46787053e+01,-5.10260588e+01,
 -7.56450756e-02,-1.60273728e+01, 3.36783914e+01,-1.85428697e+01,
 -3.17909051e-03, 1.57211326e+00,-9.18158409e+00, 1.31502429e+01,
  2.03717189e-01,-5.28354418e-01, 5.18921626e+00,-1.76433429e+01,
 -9.08533343e-01,-1.43895639e+00,-7.51038644e-01,-6.70174802e+01,
 -5.74370050e+01,-3.26256053e+00]

qfrc_actuator:
[ 3.00238779e-03, 5.98959028e-02, 1.06793707e-02, 1.94982597e-03,
 -2.15993609e-05, 6.00943030e-02, 1.07190970e-02, 2.10678638e-03,
 -3.00955208e-03, 3.90902587e-02, 1.06626344e-02, 2.02142859e-03,
  2.90579612e-03,-1.58667181e-03, 0.00000000e+00,-2.08368723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012621613171408252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49762840e-14,  6.59715408e-14,  1.00000000e+00, -3.62687016e-27,
        1.00000000e+00, -6.59715408e-14, -1.00000000e+00,  0.00000000e+00,
        5.49762840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03006593, -0.05904319,  0.06188796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.62412720e-06,-1.33351738e-03,-2.78605562e-04,-1.31741699e-04,
 -2.20210646e-05,-1.39141747e-03,-2.73667909e-04,-3.54837235e-05,
 -9.26675704e-07,-3.02491186e-04,-1.45870343e-04, 3.65470123e-06,
 -1.06632459e-05,-2.82855783e-05, 5.62740840e-06,-8.40446046e-05,
 -9.75323341e-08, 9.69072874e-07,-1.21644154e+00, 1.58683419e-03,
  5.44509080e-04, 3.17199134e-05]


--- Step 1569 ---
qpos:
[-0.01061977, 1.30875886,-0.01815141, 0.9459788 , 0.00428797, 1.30784092,
 -0.03002933, 0.94329233, 0.01689045, 1.33341593,-0.02337079, 0.95518297,
  1.32473707,-0.00259415, 1.08247656, 0.0638086 ,-0.00163368,-0.09782637,
  0.08163906, 0.53370268,-0.01112917,-0.00534463, 0.84558206]

qacc:
[-3.18583673e-01,-1.57607953e+01, 3.54364725e+01,-2.78286351e+01,
  1.00861970e-02,-1.26154779e+01, 2.33507637e+01,-1.13970197e+01,
 -4.89775514e-02,-3.10100153e+00, 7.11275280e+00,-1.11631349e+01,
 -1.94642602e-01, 7.71890282e-02, 1.16787406e+01,-4.01320818e+01,
 -8.40065931e-01,-1.36957248e+00,-1.26731417e+00,-6.32680841e+01,
 -5.40592507e+01,-3.21638986e+00]

qfrc_actuator:
[ 2.90689918e-03, 5.94080060e-02, 1.07210117e-02, 1.93809762e-03,
 -6.10113075e-06, 5.95385260e-02, 1.06845214e-02, 2.11237459e-03,
 -3.02322343e-03, 3.89442271e-02, 1.06334766e-02, 1.99152429e-03,
  2.88800898e-03,-1.60115424e-03, 0.00000000e+00,-2.27652194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.63917294,  -6.54113946,  -5.63917294,
        23.89180261, -13.15184597,  -6.54113946, -13.15184597,
        19.97468387,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012533413256758455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.32178973e-14,  2.21452649e-14,  1.00000000e+00, -7.35619134e-28,
        1.00000000e+00, -2.21452649e-14, -1.00000000e+00,  0.00000000e+00,
        3.32178973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03008001, -0.05903047,  0.06188869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.14091815e-05,-1.28783211e-03,-2.55256995e-04,-6.19136960e-05,
  2.50064541e-06,-1.38424112e-03,-3.39702165e-04,-4.43452683e-05,
 -1.41746603e-05,-3.42304703e-04,-1.04787916e-04,-4.29110982e-05,
 -3.07389711e-05,-2.37178599e-05,-1.13873858e-05,-1.97883245e-04,
  2.98312460e-06, 1.31619138e-06,-1.21644132e+00, 1.58477387e-03,
  5.45807905e-04, 3.14200472e-05]


--- Step 1570 ---
qpos:
[-0.01062137, 1.30926149,-0.01814911, 0.94598309, 0.00428791, 1.30834482,
 -0.03002871, 0.94329846, 0.01689078, 1.3335031 ,-0.02337453, 0.95518713,
  1.32487091,-0.00259331, 1.08267807, 0.06380437,-0.00163897,-0.09782704,
  0.08163436, 0.53373543,-0.01122684,-0.00543336, 0.84555954]

qacc:
[-1.99288484e-01,-1.15534550e+01, 2.11537445e+01,-9.65545435e+00,
  3.88481663e-02,-1.15088266e+01, 2.29466681e+01,-2.49582324e+01,
  4.24084162e-03,-3.16124318e+00, 9.28061432e+00,-1.97969758e+01,
 -2.66172185e-01, 1.96179175e-01, 1.46676457e+00,-5.70037587e+00,
  9.31551961e-01, 1.52358524e+00, 1.04353314e+00, 6.97092574e+01,
  6.25030315e+01, 1.12376825e+00]

qfrc_actuator:
[ 2.90376360e-03, 5.88986839e-02, 1.06912754e-02, 1.94735918e-03,
  3.24481282e-06, 5.90236551e-02, 1.06100253e-02, 2.05951391e-03,
 -3.01373247e-03, 3.88757396e-02, 1.06175458e-02, 1.93630668e-03,
  2.85653548e-03,-1.61007839e-03, 0.00000000e+00,-2.29979211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012515765965206704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43529796e-14,  8.87059592e-14,  1.00000000e+00,  3.93437360e-27,
        1.00000000e+00, -8.87059592e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43529796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02757132, -0.13118852,  0.06188879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.72810454e-05,-1.27725669e-03,-3.12974828e-04,-3.72703351e-05,
  1.07610758e-05,-1.35245476e-03,-3.85975240e-04,-1.04735326e-04,
  1.16695378e-06,-2.80115991e-04,-9.60267962e-05,-6.92902503e-05,
 -5.48562527e-05,-2.15692299e-05,-3.18092154e-05,-3.68111939e-05,
  9.54848269e-06, 9.95998704e-06,-1.21644376e+00, 1.58252728e-03,
  5.47137979e-04, 3.99387746e-05]


--- Step 1571 ---
qpos:
[-0.0106231 , 1.30975403,-0.01814806, 0.94598646, 0.00428781, 1.30883869,
 -0.03002899, 0.94330248, 0.01689116, 1.33358943,-0.02337872, 0.95518909,
  1.32500424,-0.00259249, 1.08287922, 0.06380118,-0.00164086,-0.09782197,
  0.08163096, 0.53376872,-0.01135345,-0.00534989, 0.84553736]

qacc:
[-5.93523585e-02,-1.14456090e+01, 2.32429596e+01,-2.45992144e+01,
 -1.94808797e-02,-1.43926178e+01, 3.54137303e+01,-4.90301408e+01,
  2.19161806e-02,-3.63940101e+00, 1.49489540e+01,-3.76916102e+01,
 -3.03405723e-01, 2.32018184e-01,-3.65842914e+00, 1.20582048e+01,
  8.49970949e-01, 1.43749669e+00, 3.23878373e-01, 6.50819357e+01,
  5.81854457e+01, 9.09047111e-01]

qfrc_actuator:
[ 2.92055420e-03, 5.83803919e-02, 1.06195727e-02, 1.89781219e-03,
 -8.92996099e-06, 5.85727371e-02, 1.05837279e-02, 1.95493687e-03,
 -3.00817610e-03, 3.89253018e-02, 1.06275743e-02, 1.83118276e-03,
  2.82220203e-03,-1.61572834e-03, 0.00000000e+00,-2.24068078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.95897097,   6.25119523,   5.95897097,
        23.43207338, -14.10405555,   6.25119523, -14.10405555,
        22.0810977 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012650843386710214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38794075e-14,  8.77588150e-14,  1.00000000e+00,  3.85080481e-27,
        1.00000000e+00, -8.77588150e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38794075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02755763, -0.13116525,  0.06188764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72814212e-05,-1.29083509e-03,-3.58705315e-04,-9.69033172e-05,
 -5.90199531e-06,-1.28169984e-03,-3.38580146e-04,-1.58271056e-04,
  6.28672918e-06,-1.26733245e-04,-5.76983920e-05,-1.17718245e-04,
 -7.04073530e-05,-2.35351052e-05,-2.16628609e-05, 5.23155434e-05,
  2.57018834e-06, 8.61633830e-07,-1.21644132e+00, 1.58558965e-03,
  5.45907218e-04, 3.10751498e-05]


--- Step 1572 ---
qpos:
[-0.01062497, 1.31023637,-0.01814794, 0.94598992, 0.00428776, 1.30932207,
 -0.03002901, 0.94330589, 0.01689175, 1.33367439,-0.02338187, 0.95519044,
  1.3251371 ,-0.00259175, 1.08308005, 0.06380002,-0.00163961,-0.09781144,
  0.08162644, 0.53380268,-0.01150705,-0.00510455, 0.84551536]

qacc:
[-5.98721286e-02,-1.07443376e+01, 1.87433867e+01,-9.11197534e+00,
  2.59135201e-02,-1.55261687e+01, 3.52582050e+01,-3.09570046e+01,
  8.59480821e-02,-5.67866224e+00, 1.76029687e+01,-2.15253418e+01,
 -1.58955372e-01, 6.36730099e-03,-6.59338659e+00, 2.23921505e+01,
  7.83156888e-01, 1.36522161e+00,-2.81330349e-01, 6.12401757e+01,
  5.46137006e+01, 7.51788640e-01]

qfrc_actuator:
[ 2.91365409e-03, 5.78784463e-02, 1.05768833e-02, 1.90278666e-03,
  1.58957909e-06, 5.80574012e-02, 1.06041031e-02, 1.92736459e-03,
 -2.98727360e-03, 3.88677527e-02, 1.06888019e-02, 1.80414270e-03,
  2.80215596e-03,-1.61943321e-03, 0.00000000e+00,-2.13355120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.99477387,   6.21686924,   5.99477387,
        26.07733213, -16.81789631,   6.21686924, -16.81789631,
        24.85344678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001262188313224881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39800865e-14,  8.79601731e-14,  1.00000000e+00,  3.86849602e-27,
        1.00000000e+00, -8.79601731e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39800865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02756303, -0.13116755,  0.06188786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74425779e-05,-1.29262918e-03,-3.39294172e-04,-4.55325245e-05,
  6.99993450e-06,-1.29923234e-03,-2.74229458e-04,-7.90100849e-05,
  2.46594286e-05,-1.42972745e-04, 2.63901295e-05,-3.51035207e-05,
 -6.48542525e-05,-2.59201998e-05,-7.32491138e-06, 1.06555441e-04,
 -7.07516517e-08, 1.54598897e-06,-1.21644209e+00, 1.58850689e-03,
  5.44285963e-04, 3.30645872e-05]


--- Step 1573 ---
qpos:
[-0.01062682, 1.31070852,-0.01814815, 0.94599373, 0.00428779, 1.30979537,
 -0.0300293 , 0.94330998, 0.01689241, 1.33375708,-0.02338385, 0.95519222,
  1.32526969,-0.00259117, 1.08328033, 0.06380381,-0.00164251,-0.09780694,
  0.08162191, 0.53383965,-0.01163222,-0.00504867, 0.84549065]

qacc:
[ 1.46032953e-02,-1.18905586e+01, 2.19228797e+01,-8.66279549e+00,
  3.75069447e-02,-1.12865604e+01, 1.94382314e+01,-2.58431544e+00,
  3.17777510e-02,-5.41004697e+00, 1.31507721e+01,-4.99464514e+00,
  2.20475731e-01,-5.17909623e-01,-1.57687214e+01, 5.39502038e+01,
 -1.03503645e+00,-1.50998152e+00,-8.87544482e-04,-7.24972334e+01,
 -6.25649898e+01,-3.15602607e+00]

qfrc_actuator:
[ 2.92810265e-03, 5.73904624e-02, 1.05695353e-02, 1.92209365e-03,
  7.88580900e-06, 5.75788945e-02, 1.05984185e-02, 1.96307558e-03,
 -2.99283995e-03, 3.86935365e-02, 1.07261690e-02, 1.82325501e-03,
  2.80134752e-03,-1.62190278e-03, 0.00000000e+00,-1.87474748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012654092575424894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38681406e-14,  2.19340703e-14,  1.00000000e+00, -9.62206880e-28,
        1.00000000e+00, -2.19340703e-14, -1.00000000e+00,  0.00000000e+00,
        4.38681406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03007498, -0.05906311,  0.06188757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81781375e-06,-1.27424420e-03,-3.00562674e-04,-2.95043642e-05,
  1.03608291e-05,-1.25703125e-03,-2.94050575e-04,-1.25439868e-05,
  9.03126608e-06,-2.49742262e-04, 1.13321888e-05, 1.49499922e-05,
 -4.28342301e-05,-2.41004867e-05, 4.89929796e-06, 2.62992457e-04,
  8.74983145e-07, 1.02482115e-05,-1.21644550e+00, 1.59133228e-03,
  5.42306969e-04, 4.39770200e-05]


--- Step 1574 ---
qpos:
[-0.01062828, 1.31117033,-0.01814812, 0.94599706, 0.00428791, 1.31025945,
 -0.03003065, 0.94331445, 0.01689293, 1.33383806,-0.02338547, 0.95519386,
  1.32540196,-0.0025902 , 1.08348077, 0.06380898,-0.00164918,-0.09780817,
  0.08161483, 0.53387979,-0.01173121,-0.00516976, 0.8454632 ]

qacc:
[ 1.64989739e-01,-1.50820150e+01, 3.38626907e+01,-2.88728009e+01,
  3.51548635e-02,-8.65904960e+00, 1.28490567e+01,-1.00980869e+00,
 -5.54128919e-02,-3.42912937e+00, 8.77543760e+00,-8.14139381e+00,
 -4.47457237e-01, 7.84345863e-01,-3.88335251e+00, 1.40278819e+01,
 -9.42745845e-01,-1.43019083e+00,-6.37250977e-01,-6.78182779e+01,
 -5.82810074e+01,-3.16749800e+00]

qfrc_actuator:
[ 2.97299507e-03, 5.68794274e-02, 1.05831607e-02, 1.89643105e-03,
  1.15969313e-05, 5.71617717e-02, 1.05597931e-02, 1.98245442e-03,
 -3.01424049e-03, 3.86283161e-02, 1.07486803e-02, 1.81599763e-03,
  2.80675634e-03,-1.58802124e-03, 0.00000000e+00,-1.81271428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.70448199, -6.48426265, -5.70448199, 17.91198397,
       -8.16015823, -6.48426265, -8.16015823, 15.81520234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012741399610234003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.71350918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.71350918e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03006634, -0.05908111,  0.06188681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67750758e-05,-1.27899048e-03,-2.71097225e-04,-7.24303304e-05,
  9.75383824e-06,-1.17408856e-03,-3.19022486e-04,-2.66616607e-05,
 -1.60308023e-05,-2.01231036e-04,-2.46178524e-05,-1.38574984e-05,
 -2.35681517e-05, 1.76818277e-05, 2.83085656e-05, 7.65744512e-05,
  1.74786869e-07, 9.01374277e-07,-1.21644193e+00, 1.58834430e-03,
  5.44200674e-04, 3.32183999e-05]


--- Step 1575 ---
qpos:
[-0.01062914, 1.31162193,-0.01814797, 0.94599971, 0.0042881 , 1.31071422,
 -0.03003221, 0.9433184 , 0.01689328, 1.33391768,-0.02338674, 0.95519745,
  1.32553418,-0.00258941, 1.08368161, 0.06381254,-0.00165931,-0.09781485,
  0.08160306, 0.53392317,-0.01180587,-0.00545747, 0.84543296]

qacc:
[ 2.53847534e-01,-1.49349751e+01, 3.39172535e+01,-3.10181439e+01,
  2.85351429e-02,-1.25080112e+01, 2.71250709e+01,-2.36807662e+01,
 -7.75887731e-02, 6.19925328e-01,-8.10966248e+00, 3.03102032e+01,
 -2.35571023e-02,-1.10227532e-01, 5.42312257e+00,-1.81489126e+01,
 -8.67045883e-01,-1.36258909e+00,-1.17324789e+00,-6.39290781e+01,
 -5.47339621e+01,-3.15420589e+00]

qfrc_actuator:
[ 3.01803457e-03, 5.63765254e-02, 1.05911827e-02, 1.86224883e-03,
  1.37275357e-05, 5.67136513e-02, 1.05555345e-02, 1.95656637e-03,
 -3.02721311e-03, 3.85933109e-02, 1.07803737e-02, 1.91758396e-03,
  2.79993036e-03,-1.60381498e-03, 0.00000000e+00,-1.90265827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.66743476, -6.51666787, -5.66743476, 20.06000884,
       -9.93494915, -6.51666787, -9.93494915, 17.27661926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012671439717470631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.19040427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.19040427e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03007824, -0.05907231,  0.06188737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.22007714e-05,-1.26891665e-03,-2.75522130e-04,-8.12368525e-05,
  7.82042064e-06,-1.16443348e-03,-2.71670708e-04,-7.05096896e-05,
 -2.23922417e-05,-1.52053661e-04,-1.08899520e-05, 9.46982321e-05,
 -1.54045159e-05,-1.70701748e-05, 1.61023891e-05,-8.33050394e-05,
  3.74388744e-06, 1.81581014e-06,-1.21644172e+00, 1.58531175e-03,
  5.46014574e-04, 3.34225187e-05]


--- Step 1576 ---
qpos:
[-0.01062972, 1.31206391,-0.018148  , 0.9460019 , 0.00428833, 1.31115983,
 -0.03003388, 0.94332131, 0.0168936 , 1.33399633,-0.02338951, 0.95520264,
  1.32566638,-0.00258906, 1.08388278, 0.06381267,-0.00166542,-0.09781545,
  0.08159654, 0.53396619,-0.0119134 ,-0.00555613, 0.84540363]

qacc:
[ 1.18826106e-01,-1.29484714e+01, 2.79426445e+01,-2.36864360e+01,
  2.11861686e-02,-1.34998873e+01, 3.16308886e+01,-3.36839482e+01,
 -1.13605043e-02, 5.50538629e+00,-2.26915363e+01, 3.86662761e+01,
  8.37380291e-02,-4.14189300e-01, 1.08284307e+01,-3.71868665e+01,
  1.00496997e+00, 1.51816988e+00, 1.31466541e+00, 7.11452083e+01,
  6.43525372e+01, 1.59924240e+00]

qfrc_actuator:
[ 3.00954076e-03, 5.59357805e-02, 1.05958604e-02, 1.84108057e-03,
  1.48932722e-05, 5.62684486e-02, 1.05537341e-02, 1.90425946e-03,
 -3.01727170e-03, 3.85235332e-02, 1.06931770e-02, 1.99368478e-03,
  2.79107799e-03,-1.63124737e-03, 0.00000000e+00,-2.08135226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013038393041209795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.25751479e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.25751479e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02752491, -0.13109066,  0.06188424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36362831e-05,-1.20223135e-03,-2.77647199e-04,-6.82730069e-05,
  5.71956690e-06,-1.14815249e-03,-2.63207122e-04,-9.62804432e-05,
 -3.23223310e-06,-1.53723201e-04,-1.15435567e-04, 7.35987019e-05,
 -2.16379223e-05,-3.50960610e-05,-7.16359286e-06,-1.82516222e-04,
  1.08541142e-05, 1.11864481e-05,-1.21644424e+00, 1.58217973e-03,
  5.47816299e-04, 4.26271590e-05]


--- Step 1577 ---
qpos:
[-0.01063019, 1.31249713,-0.01814871, 0.94600414, 0.00428859, 1.31159632,
 -0.0300357 , 0.94332496, 0.01689395, 1.33407377,-0.02339316, 0.95520661,
  1.32579841,-0.00258877, 1.0840836 , 0.06381301,-0.00166791,-0.09781032,
  0.08159222, 0.53400925,-0.0120511 ,-0.00547904, 0.84537499]

qacc:
[ 5.14313711e-02,-9.60464303e+00, 1.73977249e+01,-9.34098099e+00,
  1.47516041e-02,-1.03071366e+01, 1.76579115e+01,-9.94601576e-01,
  1.38839277e-02,-1.27767571e+00, 4.70033632e+00,-1.72569561e+01,
 -5.56985678e-02,-2.16760545e-02,-1.10035379e+00, 3.11291945e+00,
  9.08184771e-01, 1.43322026e+00, 5.46412108e-01, 6.62347551e+01,
  5.96780719e+01, 1.29799448e+00]

qfrc_actuator:
[ 3.00451166e-03, 5.55535726e-02, 1.05810347e-02, 1.84552635e-03,
  1.54712886e-05, 5.58285887e-02, 1.05533942e-02, 1.94334239e-03,
 -3.01141816e-03, 3.84507879e-02, 1.06428583e-02, 1.92979734e-03,
  2.78633416e-03,-1.62983712e-03, 0.00000000e+00,-2.06229875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.74933621,  6.44452558,  5.74933621, 19.37424742,
       -9.57955762,  6.44452558, -9.57955762, 17.18254703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013201460681799976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.25615617e-15,  4.20492494e-14,  1.00000000e+00, -2.21017422e-28,
        1.00000000e+00, -4.20492494e-14, -1.00000000e+00,  0.00000000e+00,
        5.25615617e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02750891, -0.1310622 ,  0.06188284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44236882e-05,-1.10676421e-03,-2.83964884e-04,-4.04514603e-05,
  3.89745860e-06,-1.13284708e-03,-2.58341375e-04,-4.76482672e-06,
  3.98653787e-06,-1.78644270e-04,-9.13773542e-05,-6.99902597e-05,
 -2.57140268e-05,-1.19263883e-05,-2.81326337e-05, 6.89662741e-06,
  3.23742771e-06, 1.21808611e-06,-1.21644172e+00, 1.58634354e-03,
  5.46024607e-04, 3.29478006e-05]


--- Step 1578 ---
qpos:
[-0.01063046, 1.31292181,-0.01814982, 0.94600673, 0.00428873, 1.31202393,
 -0.03003738, 0.94332972, 0.01689449, 1.33414873,-0.02339577, 0.9552105 ,
  1.32593025,-0.00258869, 1.08428399, 0.06381552,-0.00166707,-0.09779975,
  0.08158749, 0.53405258,-0.0122168 ,-0.00523721, 0.84534677]

qacc:
[ 8.14371100e-02,-9.54523604e+00, 1.69055957e+01,-5.33683115e+00,
 -5.23518714e-02,-1.01633633e+01, 1.67804893e+01, 3.88935736e+00,
  8.20120110e-02,-6.20430181e+00, 1.64588819e+01,-1.37393316e+01,
  1.57755297e-01,-4.40763643e-01,-7.24741774e+00, 2.43841650e+01,
  8.29238052e-01, 1.36157728e+00,-9.98211080e-02, 6.21565591e+01,
  5.58133892e+01, 1.07299994e+00]

qfrc_actuator:
[ 3.01936111e-03, 5.51562157e-02, 1.05728337e-02, 1.86503206e-03,
 -2.06013740e-06, 5.54132934e-02, 1.05717572e-02, 2.00039256e-03,
 -2.99031333e-03, 3.82881175e-02, 1.06856648e-02, 1.92610373e-03,
  2.76809219e-03,-1.64682411e-03, 0.00000000e+00,-1.94460117e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.77960931,   6.41738989,   5.77960931,
        21.43394855, -11.5257203 ,   6.41738989, -11.5257203 ,
        19.01662126,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013188532022119087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.26130876e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.26130876e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02751318, -0.1310613 ,  0.06188293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30089490e-05,-1.06944629e-03,-2.58569950e-04,-2.21051121e-05,
 -1.52831044e-05,-1.09602698e-03,-2.33387684e-04, 1.59150554e-05,
  2.34969780e-05,-2.81898251e-04,-4.58641579e-06,-1.31773736e-05,
 -3.58152028e-05,-2.56504091e-05,-1.48140652e-05, 1.13850311e-04,
  1.45839197e-07, 1.53748411e-06,-1.21644255e+00, 1.59016690e-03,
  5.43928974e-04, 3.46793930e-05]


--- Step 1579 ---
qpos:
[-0.01063055, 1.31333811,-0.0181511 , 0.94600883, 0.00428886, 1.31244331,
 -0.03003973, 0.94333581, 0.01689539, 1.33422156,-0.02339906, 0.95521403,
  1.3260617 ,-0.00258828, 1.0844843 , 0.06381905,-0.00166097,-0.09779254,
  0.08158784, 0.53409409,-0.01221884,-0.00498512, 0.84532204]

qacc:
[ 7.83757146e-02,-1.13792420e+01, 2.48493210e+01,-2.21592359e+01,
 -5.32116025e-03,-6.71863183e+00, 6.14054043e+00, 1.52997467e+01,
  1.52860049e-01,-1.62425800e+00, 2.66276844e+00,-5.16777625e+00,
 -4.79976181e-01, 7.71388740e-01,-3.15785444e+00, 1.09635299e+01,
  1.31675793e+00,-8.42644927e-01, 1.26975499e+00, 4.80379286e+01,
 -6.64566940e+01, 1.32908649e+00]

qfrc_actuator:
[ 3.02826664e-03, 5.47530497e-02, 1.05685871e-02, 1.83998035e-03,
  5.19280091e-06, 5.50339142e-02, 1.05478554e-02, 2.06755995e-03,
 -2.96023085e-03, 3.81620303e-02, 1.06407692e-02, 1.90463152e-03,
  2.75773777e-03,-1.62141233e-03, 0.00000000e+00,-1.89405054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013101940908073761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23686472e-14,  2.11843236e-14,  1.00000000e+00,  8.97551134e-28,
        1.00000000e+00, -2.11843236e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23686472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03289705, -0.08933441,  0.06188362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21254475e-05,-1.04903311e-03,-2.43876771e-04,-6.43918168e-05,
 -1.77965226e-06,-1.03416116e-03,-2.64987120e-04, 2.83391833e-05,
  4.39838238e-05,-2.83763211e-04,-1.00924139e-04,-3.01537330e-05,
 -3.63633191e-05, 1.07733014e-05, 3.02016174e-06, 5.43285387e-05,
  7.72097619e-07, 1.02066987e-05,-1.21644610e+00, 1.59375576e-03,
  5.41540012e-04, 4.57014392e-05]


--- Step 1580 ---
qpos:
[-0.01063035, 1.31374634,-0.01815288, 0.94601026, 0.00428901, 1.31285408,
 -0.0300417 , 0.94334369, 0.01689651, 1.33429273,-0.02340307, 0.9552169 ,
  1.32619265,-0.00258682, 1.08468517, 0.06381847,-0.00165347,-0.09779061,
  0.08159663, 0.53413739,-0.0121038 ,-0.00482192, 0.84529728]

qacc:
[ 1.25817040e-01,-1.04214801e+01, 2.25812849e+01,-2.23711053e+01,
  1.23706526e-02,-9.25259726e+00, 1.28508485e+01, 1.49973557e+01,
  8.93594828e-02,-1.33833737e+00, 3.09100877e+00,-9.33240617e+00,
 -1.43638732e+00, 2.56333731e+00, 1.33560174e+01,-4.52588966e+01,
  3.48599031e-01,-1.31748037e+00, 2.11029214e+00,-6.28875368e+00,
 -7.32228039e+01,-1.59757277e+00]

qfrc_actuator:
[ 3.05128970e-03, 5.43674148e-02, 1.05489106e-02, 1.80665096e-03,
  9.50258813e-06, 5.46079615e-02, 1.05703577e-02, 2.15788346e-03,
 -2.96051204e-03, 3.81117793e-02, 1.06155425e-02, 1.87280139e-03,
  2.75213925e-03,-1.55327435e-03, 0.00000000e+00,-2.11428206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013152350910496033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22062577e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.22062577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00659017, -0.07665145,  0.0618832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57310477e-05,-1.01853279e-03,-2.54877252e-04,-7.26254543e-05,
  3.22268506e-06,-1.05224677e-03,-2.09697041e-04, 5.27052852e-05,
  2.57101620e-05,-2.28258913e-04,-9.30620779e-05,-4.37852861e-05,
 -2.31996605e-05, 6.23107559e-05, 3.12163722e-06,-2.17812864e-04,
  6.38425499e-06, 8.90394968e-06,-1.21644352e+00, 1.58882972e-03,
  5.40252591e-04, 4.51397023e-05]


--- Step 1581 ---
qpos:
[-0.01063001, 1.31414642,-0.0181547 , 0.94601301, 0.00428905, 1.3132562 ,
 -0.030043  , 0.9433512 , 0.01689789, 1.33436266,-0.02340676, 0.95521892,
  1.32632357,-0.00258538, 1.08488582, 0.06381695,-0.00164983,-0.0977942 ,
  0.08160324, 0.53418346,-0.01196195,-0.00483755, 0.8452701 ]

qacc:
[ 5.87225407e-02,-8.32036912e+00, 1.15728701e+01, 1.01185536e+01,
 -4.56258026e-02,-1.38000658e+01, 3.20659901e+01,-2.65836001e+01,
  1.12061573e-01,-3.97612444e+00, 1.26685913e+01,-1.98770349e+01,
 -5.77742270e-02, 5.43732703e-02, 2.54618542e+00,-9.35938853e+00,
 -9.63338091e-01,-1.38201331e+00,-5.47466097e-01,-6.84148222e+01,
 -5.90661915e+01,-2.96358065e+00]

qfrc_actuator:
[ 3.04709298e-03, 5.39775796e-02, 1.05558643e-02, 1.87523928e-03,
 -5.74180262e-06, 5.41754985e-02, 1.06021801e-02, 2.13684534e-03,
 -2.94350065e-03, 3.81074063e-02, 1.06557097e-02, 1.83520504e-03,
  2.74409252e-03,-1.56685859e-03, 0.00000000e+00,-2.15495801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.22148628, 2.64460586, 8.22148628, 8.52207405,
       0.35530068, 2.64460586, 0.35530068, 7.53181354, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013166898889516304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.21596244e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.21596244e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03003405, -0.05917876,  0.06188312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65268376e-05,-1.00819382e-03,-2.23770319e-04, 2.96717350e-05,
 -1.33894796e-05,-1.05713546e-03,-1.96890811e-04,-5.70225185e-05,
  3.22191361e-05,-1.50545601e-04,-1.63330187e-05,-4.79995426e-05,
 -6.75911087e-06,-3.29043659e-06,-2.86610141e-05,-5.37527956e-05,
  6.32443751e-06, 2.26091203e-06,-1.21644123e+00, 1.58436351e-03,
  5.40684989e-04, 3.50149744e-05]


--- Step 1582 ---
qpos:
[-0.01062962, 1.31453816,-0.01815581, 0.94601724, 0.00428896, 1.3136502 ,
 -0.03004461, 0.94335739, 0.0168995 , 1.33443202,-0.02340995, 0.95521903,
  1.32645453,-0.00258455, 1.08508596, 0.06381757,-0.00164972,-0.0978031 ,
  0.08160545, 0.53423246,-0.01179526,-0.00502126, 0.8452404 ]

qacc:
[ 2.44950910e-02,-1.02997789e+01, 1.73953548e+01, 7.08335703e+00,
 -5.84967575e-02,-1.20937373e+01, 2.92960762e+01,-3.57009818e+01,
  9.92855668e-02,-5.38677043e+00, 2.05332372e+01,-3.95564342e+01,
  6.33085683e-01,-1.28740593e+00,-7.32343885e+00, 2.43764028e+01,
 -8.84218144e-01,-1.32506234e+00,-1.09872253e+00,-6.43920267e+01,
 -5.53667515e+01,-2.97764525e+00]

qfrc_actuator:
[ 3.04435714e-03, 5.35707876e-02, 1.05962953e-02, 1.95001140e-03,
 -1.48402627e-05, 5.37781081e-02, 1.05858786e-02, 2.06817693e-03,
 -2.93400398e-03, 3.81308230e-02, 1.06988419e-02, 1.74133058e-03,
  2.72922758e-03,-1.61107503e-03, 0.00000000e+00,-2.03616369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.57088616, -5.6044832 , -6.57088616, 14.86812107,
       -7.30632375, -5.6044832 , -7.30632375, 17.20254537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013102305614625387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47349358e-14, -4.23674679e-14,  1.00000000e+00,  3.59000467e-27,
        1.00000000e+00,  4.23674679e-14, -1.00000000e+00,  0.00000000e+00,
        8.47349358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03004672, -0.05917068,  0.0618837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69190365e-06,-1.01023290e-03,-1.81704204e-04, 3.94448774e-05,
 -1.70169754e-05,-1.02549844e-03,-2.47722904e-04,-1.06979356e-04,
  2.85481195e-05,-6.49148106e-05, 1.04042189e-05,-9.98321857e-05,
 -2.00770551e-05,-4.62082121e-05,-2.19097790e-05, 1.11471560e-04,
  4.37733289e-07,-2.07821832e-07,-1.21643969e+00, 1.58065807e-03,
  5.42716533e-04, 3.26270359e-05]


--- Step 1583 ---
qpos:
[-0.01062935, 1.31492144,-0.01815597, 0.94602061, 0.00428859, 1.31403601,
 -0.03004585, 0.94336233, 0.01690115, 1.33450039,-0.02341361, 0.95521844,
  1.32658523,-0.00258389, 1.08528618, 0.06381756,-0.0016529 ,-0.0978171 ,
  0.08160141, 0.53428445,-0.01160535,-0.00536413, 0.84520806]

qacc:
[-5.44267161e-02,-1.51790228e+01, 3.78950742e+01,-3.77501303e+01,
 -1.14749363e-01,-1.38702193e+01, 3.48137688e+01,-3.93896693e+01,
  1.41158604e-02,-1.22268835e+00, 3.80466672e+00,-1.06394869e+01,
 -1.06388286e-01,-5.73519704e-02, 2.05980635e+00,-7.01169069e+00,
 -8.19453809e-01,-1.27624517e+00,-1.56252330e+00,-6.10519551e+01,
 -5.23109067e+01,-2.96484902e+00]

qfrc_actuator:
[ 3.02477142e-03, 5.31395193e-02, 1.06383291e-02, 1.90353342e-03,
 -3.79301600e-05, 5.33869537e-02, 1.06124366e-02, 2.00754591e-03,
 -2.94684428e-03, 3.80287022e-02, 1.06546894e-02, 1.70386687e-03,
  2.71026623e-03,-1.61982546e-03, 0.00000000e+00,-2.07294555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.57134736, -5.60394242, -6.57134736, 16.4862942 ,
       -9.20505897, -5.60394242, -9.20505897, 19.43048597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012908157541746818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60094108e-14,  4.30047054e-14,  1.00000000e+00,  3.69880937e-27,
        1.00000000e+00, -4.30047054e-14, -1.00000000e+00,  0.00000000e+00,
       -8.60094108e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03007604, -0.0591406 ,  0.06188533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59405231e-05,-1.02725417e-03,-1.75408222e-04,-8.04104351e-05,
 -3.31417877e-05,-1.01314555e-03,-2.05915130e-04,-1.00653145e-04,
  4.04775582e-06,-1.39413387e-04,-5.86394111e-05,-4.13129006e-05,
 -4.12477853e-05,-2.47116403e-05, 1.75033991e-07,-3.39000099e-05,
 -1.29584493e-06, 6.13797792e-06,-1.21644103e+00, 1.57690619e-03,
  5.44675702e-04, 3.95578104e-05]


--- Step 1584 ---
qpos:
[-0.01062941, 1.31529619,-0.01815548, 0.9460224 , 0.0042881 , 1.31441369,
 -0.03004677, 0.94336584, 0.0169026 , 1.33456659,-0.02341731, 0.95521853,
  1.32671559,-0.0025831 , 1.08548599, 0.06382012,-0.00165192,-0.09782521,
  0.08160174, 0.53433558,-0.01144806,-0.00552162, 0.84517687]

qacc:
[-1.35669134e-01,-1.57437897e+01, 4.10712530e+01,-4.88715640e+01,
 -5.24945733e-02,-1.39802902e+01, 3.57009761e+01,-4.26469062e+01,
 -8.20791865e-02,-1.59145139e+00, 3.99365273e-01, 8.78257927e+00,
 -1.96424410e-01, 2.49805544e-01,-8.33771969e+00, 2.83419638e+01,
  1.03637613e+00, 1.47175141e+00, 1.09443706e+00, 6.96283298e+01,
  6.33021741e+01, 1.83143565e+00]

qfrc_actuator:
[ 2.99523959e-03, 5.26970079e-02, 1.06630413e-02, 1.82155413e-03,
 -3.37212507e-05, 5.29850975e-02, 1.06286424e-02, 1.93442424e-03,
 -2.97297962e-03, 3.78519146e-02, 1.06299454e-02, 1.73529432e-03,
  2.69952343e-03,-1.60747955e-03, 0.00000000e+00,-1.93485301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012958255358369586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60644170e-14, -4.28384452e-14,  1.00000000e+00, -6.88174646e-28,
        1.00000000e+00,  4.28384452e-14, -1.00000000e+00,  0.00000000e+00,
       -1.60644170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02756485, -0.13108154,  0.0618849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92036831e-05,-1.05018969e-03,-1.98858483e-04,-1.19028938e-04,
 -1.53316588e-05,-1.00857807e-03,-2.08896102e-04,-1.11412357e-04,
 -2.37106456e-05,-2.67020467e-04,-5.99121453e-05, 2.47114432e-05,
 -3.96498446e-05,-3.30151083e-06,-8.12395612e-06, 1.35202572e-04,
  4.74537638e-07, 1.98887595e-05,-1.21644475e+00, 1.57306760e-03,
  5.46621311e-04, 5.42824198e-05]


--- Step 1585 ---
qpos:
[-0.01062966, 1.31566277,-0.01815516, 0.94602424, 0.00428755, 1.31478338,
 -0.03004759, 0.94336879, 0.01690381, 1.33463108,-0.02342053, 0.95521824,
  1.3268455 ,-0.00258165, 1.0856863 , 0.0638196 ,-0.00164722,-0.09782774,
  0.08160353, 0.5343864 ,-0.01132067,-0.0055064 , 0.84514656]

qacc:
[-7.97010884e-02,-1.01679770e+01, 2.01292609e+01,-1.18101317e+01,
 -2.08630711e-02,-1.17270108e+01, 2.67252033e+01,-2.45344637e+01,
 -1.04246883e-01,-4.19472928e+00, 1.17275221e+01,-1.34811967e+01,
 -1.04082702e+00, 1.74796156e+00, 1.01021428e+01,-3.41088332e+01,
  9.32883877e-01, 1.39553222e+00, 3.63652177e-01, 6.50009567e+01,
  5.87752406e+01, 1.44182023e+00]

qfrc_actuator:
[ 2.99548880e-03, 5.23044786e-02, 1.06595295e-02, 1.82585931e-03,
 -3.09234752e-05, 5.25977889e-02, 1.06385519e-02, 1.90777179e-03,
 -2.98912527e-03, 3.78094254e-02, 1.06698555e-02, 1.71820329e-03,
  2.68840335e-03,-1.56496978e-03, 0.00000000e+00,-2.10310015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.40284472,  6.73765877,  5.40284472, 16.84070043,
       -6.57895558,  6.73765877, -6.57895558, 13.91194624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013082099760694937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65205664e-14,  4.24329062e-14,  1.00000000e+00,  1.12534471e-27,
        1.00000000e+00, -4.24329062e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65205664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02755487, -0.13105935,  0.06188387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31132516e-05,-1.01856267e-03,-2.35363250e-04,-3.50263278e-05,
 -6.26306411e-06,-9.92345608e-04,-2.14943727e-04,-6.51553509e-05,
 -3.01103805e-05,-2.01564217e-04,-1.83860595e-05,-2.60879606e-05,
 -3.38134737e-05, 3.23979704e-05, 8.05660043e-06,-1.62505847e-04,
 -1.16689260e-06, 4.63538618e-06,-1.21644050e+00, 1.57749297e-03,
  5.45049543e-04, 3.64020837e-05]


--- Step 1586 ---
qpos:
[-0.01062987, 1.31602186,-0.01815526, 0.94602713, 0.004287  , 1.31514519,
 -0.03004862, 0.94337107, 0.01690478, 1.33469398,-0.0234228 , 0.95521875,
  1.32697535,-0.00258054, 1.08588678, 0.06381574,-0.00163912,-0.09782494,
  0.08160432, 0.53443725,-0.01122096,-0.00532895, 0.84511687]

qacc:
[ 1.56101435e-02,-6.92061168e+00, 8.61806499e+00, 9.09703864e+00,
 -5.31552382e-03,-1.09312213e+01, 2.45384583e+01,-2.40946046e+01,
 -9.60712475e-02,-3.27205468e+00, 6.56205235e+00, 4.47881001e+00,
 -1.22604879e-02,-2.21109559e-01, 1.03218431e+01,-3.57394200e+01,
  8.48862192e-01, 1.33110675e+00,-2.50605517e-01, 6.11585360e+01,
  5.50348837e+01, 1.14311015e+00]

qfrc_actuator:
[ 3.01360295e-03, 5.19804839e-02, 1.06573955e-02, 1.88092476e-03,
 -2.89968387e-05, 5.22045665e-02, 1.06270052e-02, 1.87317714e-03,
 -2.99914696e-03, 3.77591662e-02, 1.07303086e-02, 1.76154936e-03,
  2.67707904e-03,-1.59368611e-03, 0.00000000e+00,-2.27300070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.44219324,  6.70591602,  5.44219324, 18.56937391,
       -8.061145  ,  6.70591602, -8.061145  , 15.17839438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013039925493068538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59638042e-14,  8.51402890e-14,  1.00000000e+00, -1.35916290e-27,
        1.00000000e+00, -8.51402890e-14, -1.00000000e+00,  0.00000000e+00,
        1.59638042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02756378, -0.13106319,  0.06188423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23006477e-06,-9.37099985e-04,-2.29477118e-04, 1.75412357e-05,
 -1.79730869e-06,-9.89003798e-04,-2.32543415e-04,-7.17261848e-05,
 -2.77623585e-05,-1.66523154e-04, 1.81726321e-05, 3.63176359e-05,
 -2.27858246e-05,-2.84085375e-05,-2.01449152e-05,-1.79241185e-04,
  1.12769522e-06,-3.27092698e-07,-1.21643957e+00, 1.58142349e-03,
  5.43208203e-04, 3.00214070e-05]


--- Step 1587 ---
qpos:
[-0.01062997, 1.31637371,-0.01815521, 0.94602957, 0.00428659, 1.31549951,
 -0.03005057, 0.94337327, 0.01690558, 1.33475551,-0.02342408, 0.95521976,
  1.32710527,-0.00258049, 1.08608672, 0.0638132 ,-0.00162789,-0.09781704,
  0.08160205, 0.53448837,-0.01114709,-0.00499797, 0.84508754]

qacc:
[ 4.68595268e-02,-1.06624478e+01, 2.42093665e+01,-2.17299583e+01,
  6.38358504e-02,-7.45995455e+00, 1.26294448e+01,-7.11794352e+00,
 -7.82405556e-02,-3.61837496e+00, 8.61159398e+00,-8.87634122e-01,
  9.53546666e-01,-2.04645297e+00,-4.86350589e+00, 1.56410554e+01,
  7.80505167e-01, 1.27664703e+00,-7.66471362e-01, 5.79712828e+01,
  5.19460642e+01, 9.16233015e-01]

qfrc_actuator:
[ 3.02453436e-03, 5.16469438e-02, 1.06741536e-02, 1.85893142e-03,
 -9.85668279e-06, 5.18463936e-02, 1.05851088e-02, 1.86966250e-03,
 -3.00541484e-03, 3.77047972e-02, 1.07846696e-02, 1.78687468e-03,
  2.66028717e-03,-1.66442491e-03, 0.00000000e+00,-2.19387194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.45628987,  6.69445126,  5.45628987, 20.80584057,
       -9.91869103,  6.69445126, -9.91869103, 16.72055923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012865485041102104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31473443e-14,  4.31473443e-14,  1.00000000e+00,  1.86169332e-27,
        1.00000000e+00, -4.31473443e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31473443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02758762, -0.13108758,  0.06188569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31539582e-05,-8.98810418e-04,-1.92434684e-04,-5.57101821e-05,
  1.80445362e-05,-9.55682786e-04,-2.64423806e-04,-4.12260836e-05,
 -2.26228666e-05,-1.42256606e-04, 2.49060898e-05, 2.18569833e-05,
 -3.69447803e-05,-8.26569450e-05,-3.30613384e-05, 6.56584648e-05,
  6.68547759e-06, 3.12156469e-06,-1.21644137e+00, 1.58502759e-03,
  5.41087398e-04, 3.30643324e-05]


--- Step 1588 ---
qpos:
[-0.01062995, 1.31671813,-0.01815554, 0.94603282, 0.00428622, 1.31584639,
 -0.03005264, 0.9433778 , 0.01690623, 1.33481661,-0.02342524, 0.95521861,
  1.32723497,-0.00258122, 1.08628623, 0.06381324,-0.00162124,-0.09781515,
  0.08160134, 0.53454163,-0.01104271,-0.00486418, 0.845056  ]

qacc:
[ 4.97717227e-02,-7.37202811e+00, 1.06610647e+01, 4.61252880e+00,
  1.61894373e-02,-5.47531982e+00, 1.26724546e+00, 3.05425665e+01,
 -5.98892352e-02,-4.62243148e+00, 1.87490075e+01,-4.08900922e+01,
  5.88152430e-01,-1.42827203e+00,-8.46629410e+00, 2.85782097e+01,
 -1.14303856e+00,-1.50314360e+00, 3.93938743e-01,-7.51659942e+01,
 -6.55726170e+01,-2.67189903e+00]

qfrc_actuator:
[ 3.03106859e-03, 5.12571734e-02, 1.06486049e-02, 1.89827999e-03,
 -1.60512705e-05, 5.15120001e-02, 1.05968104e-02, 1.99098517e-03,
 -3.00938159e-03, 3.77194063e-02, 1.07994566e-02, 1.67710095e-03,
  2.64020581e-03,-1.70624344e-03, 0.00000000e+00,-2.05740397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013047713536468233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12723674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12723674e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03007923, -0.05918398,  0.06188415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40181455e-05,-9.28750254e-04,-2.25187281e-04, 6.14728987e-06,
  4.38966692e-06,-9.18725774e-04,-2.07028133e-04, 8.43731512e-05,
 -1.72883109e-05,-5.89637749e-05,-9.58610019e-06,-1.12662977e-04,
 -6.05125400e-05,-7.06805572e-05,-9.64891424e-06, 1.35464325e-04,
  1.50126841e-05, 1.36047274e-05,-1.21644548e+00, 1.58841782e-03,
  5.38686046e-04, 4.40135777e-05]


--- Step 1589 ---
qpos:
[-0.01062999, 1.31705493,-0.01815614, 0.94603792, 0.00428598, 1.31618538,
 -0.03005414, 0.94338445, 0.01690678, 1.33487632,-0.02342587, 0.9552169 ,
  1.32736413,-0.0025817 , 1.08648557, 0.06381555,-0.00161871,-0.09781897,
  0.08159941, 0.5345974 ,-0.01091046,-0.00491372, 0.84502215]

qacc:
[-1.97742815e-02,-6.02080369e+00, 3.83281700e+00, 2.27683504e+01,
  5.93851209e-02,-8.29713587e+00, 1.01958935e+01, 2.07219597e+01,
 -4.39218120e-02,-4.18929226e+00, 1.25710177e+01,-1.63705327e+01,
 -4.66604538e-01, 6.36397726e-01,-7.09503395e+00, 2.45228962e+01,
 -1.02979258e+00,-1.42635533e+00,-3.08295012e-01,-6.99983631e+01,
 -6.07529770e+01,-2.75774954e+00]

qfrc_actuator:
[ 3.01716124e-03, 5.08722462e-02, 1.06336228e-02, 1.99111687e-03,
 -1.88875385e-06, 5.11060733e-02, 1.06224885e-02, 2.09607944e-03,
 -3.01193719e-03, 3.75974696e-02, 1.08087160e-02, 1.64849973e-03,
  2.62882496e-03,-1.67731982e-03, 0.00000000e+00,-1.94157979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.81581406, -6.38459737, -5.81581406, 14.39910316,
       -5.24935554, -6.38459737, -5.24935554, 13.41807092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013208265351114107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.35482761e-14,  2.10137932e-14,  1.00000000e+00, -1.54552826e-27,
        1.00000000e+00, -2.10137932e-14, -1.00000000e+00,  0.00000000e+00,
        7.35482761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03006246, -0.05921525,  0.0618828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91003808e-06,-9.44962388e-04,-2.22368885e-04, 5.92096500e-05,
  1.67107894e-05,-9.54738249e-04,-1.75588326e-04, 7.38428028e-05,
 -1.27251618e-05,-1.60171008e-04,-6.70750418e-06,-3.31679359e-05,
 -6.15299947e-05,-2.77255137e-06, 7.65608707e-06, 1.21446756e-04,
  4.84017068e-06, 1.47856683e-06,-1.21644060e+00, 1.58359795e-03,
  5.41484328e-04, 3.12477743e-05]


--- Step 1590 ---
qpos:
[-0.01063026, 1.31738451,-0.01815643, 0.94604231, 0.00428619, 1.31651742,
 -0.03005554, 0.94338984, 0.01690739, 1.33493426,-0.02342678, 0.95521633,
  1.32749282,-0.00258168, 1.08668502, 0.06381822,-0.00161993,-0.09782823,
  0.08159388, 0.53465588,-0.01075249,-0.00513505, 0.84498586]

qacc:
[-1.02959967e-01,-1.15688528e+01, 2.77529874e+01,-2.79609165e+01,
  1.88832424e-01,-1.15084273e+01, 2.91302955e+01,-3.55085527e+01,
  2.99246438e-02, 3.62472510e-01,-6.26704512e+00, 1.95609070e+01,
 -7.10048614e-01, 1.17210292e+00,-8.70928808e-01, 3.42338826e+00,
 -9.37479730e-01,-1.36083054e+00,-8.99901066e-01,-6.57012502e+01,
 -5.67678427e+01,-2.79804405e+00]

qfrc_actuator:
[ 2.99110637e-03, 5.05466402e-02, 1.06605496e-02, 1.95490633e-03,
  4.21245625e-05, 5.08026662e-02, 1.06381452e-02, 2.03093657e-03,
 -2.99587428e-03, 3.74657484e-02, 1.07787033e-02, 1.70336024e-03,
  2.62270216e-03,-1.64217479e-03, 0.00000000e+00,-1.92763331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.82291641, -6.37812052, -5.82291641, 15.88789316,
       -6.62029671, -6.37812052, -6.62029671, 14.68037523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013192039002857606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03006862, -0.05921614,  0.06188292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97876099e-05,-8.92411740e-04,-1.81731982e-04,-6.90125792e-05,
  5.38133065e-05,-8.66240093e-04,-1.89371282e-04,-9.68059097e-05,
  8.58205080e-06,-2.22995876e-04,-6.30895388e-05, 4.92295992e-05,
 -4.05717305e-05, 1.99138842e-05, 1.26332988e-05, 2.06975070e-05,
 -1.09504367e-07, 5.84500810e-07,-1.21643942e+00, 1.57896588e-03,
  5.44023304e-04, 3.04287090e-05]


--- Step 1591 ---
qpos:
[-0.01063052, 1.31770758,-0.01815701, 0.94604586, 0.00428658, 1.31684361,
 -0.03005724, 0.94339365, 0.01690827, 1.33499055,-0.02342782, 0.95521744,
  1.32762142,-0.00258186, 1.08688469, 0.06381938,-0.00162784,-0.09783359,
  0.08158261, 0.53470477,-0.01079844,-0.00537477, 0.84495285]

qacc:
[ 8.96835824e-03,-9.27038154e+00, 2.16329381e+01,-2.45190780e+01,
  7.82317996e-02,-9.59984284e+00, 2.52851381e+01,-3.65923639e+01,
  1.11864278e-01, 1.09903755e+00,-9.56736439e+00, 2.86807031e+01,
 -2.96840150e-02,-1.20017282e-01, 4.90836596e+00,-1.66947096e+01,
 -1.67349366e+00, 9.75781342e-01,-1.43187253e+00,-6.23247446e+01,
  8.11926770e+01, 5.35077475e+00]

qfrc_actuator:
[ 3.01123637e-03, 5.02592850e-02, 1.06588863e-02, 1.91409794e-03,
  3.26774960e-05, 5.05807318e-02, 1.06480476e-02, 1.95494567e-03,
 -2.96877326e-03, 3.74001116e-02, 1.07789772e-02, 1.78908501e-03,
  2.61974634e-03,-1.65689664e-03, 0.00000000e+00,-2.00931663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.75025152, -8.18675109,  2.75025152, 77.45888289,
       23.1201897 , -8.18675109, 23.1201897 , 16.40334423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013232296467800136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.19512602e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.19512602e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328002, -0.10788367,  0.06188256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34255580e-06,-8.20922204e-04,-1.99190170e-04,-7.38421511e-05,
  2.21995987e-05,-7.43592304e-04,-1.84383455e-04,-1.09366370e-04,
  3.21929915e-05,-2.00207120e-04,-4.90638042e-05, 7.85004424e-05,
 -2.06452172e-05,-1.92974642e-05, 3.03474900e-06,-8.00724858e-05,
 -7.82436572e-07, 8.81722133e-06,-1.21644122e+00, 1.57441116e-03,
  5.46418260e-04, 3.92755621e-05]


--- Step 1592 ---
qpos:
[-0.01063082, 1.31802438,-0.01815805, 0.94604855, 0.00428674, 1.31716401,
 -0.03005926, 0.94339686, 0.01690944, 1.3350452 ,-0.02342849, 0.95521781,
  1.32774987,-0.00258196, 1.08708435, 0.06381956,-0.00164212,-0.0978354 ,
  0.08156355, 0.53474503,-0.01103579,-0.00563145, 0.84492263]

qacc:
[-1.47580218e-02,-8.49192608e+00, 1.95455251e+01,-2.31874104e+01,
 -9.84721357e-02,-7.76547663e+00, 1.73732860e+01,-1.82970923e+01,
  1.20960840e-01,-4.41965053e+00, 1.32891832e+01,-1.89596137e+01,
 -2.31234716e-01, 3.24882945e-01, 2.96590416e+00,-1.03692637e+01,
 -1.59056869e+00, 8.87337746e-01,-1.94971917e+00,-5.83771732e+01,
  7.62949062e+01, 4.82089656e+00]

qfrc_actuator:
[ 3.00565301e-03, 4.99615549e-02, 1.06405318e-02, 1.87094149e-03,
 -8.76297739e-06, 5.03028580e-02, 1.06370929e-02, 1.92652959e-03,
 -2.95302367e-03, 3.73214467e-02, 1.07973910e-02, 1.75030493e-03,
  2.61867394e-03,-1.64779048e-03, 0.00000000e+00,-2.05787989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.35525034,  4.52626439, -7.35525034, 11.91055814,
        5.32061723,  4.52626439,  5.32061723, 17.28244975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013188587185280487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26270882e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.26270882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328644, -0.10789001,  0.06188287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44162023e-06,-7.95263160e-04,-2.04032589e-04,-7.47002051e-05,
 -2.83988935e-05,-7.31041588e-04,-1.81042278e-04,-5.82614278e-05,
  3.47774872e-05,-1.97012591e-04,-2.40188964e-05,-4.42381765e-05,
 -1.74048025e-05,-2.79559957e-07,-1.21250562e-05,-5.37152375e-05,
  6.88932621e-06, 8.29081923e-06,-1.21644272e+00, 1.58138943e-03,
  5.48269628e-04, 3.76618267e-05]


--- Step 1593 ---
qpos:
[-0.0106316 , 1.31833504,-0.01815912, 0.94605032, 0.00428656, 1.31747816,
 -0.03006148, 0.94339872, 0.0169107 , 1.33509874,-0.02342944, 0.95521771,
  1.32787799,-0.00258164, 1.08728338, 0.06382348,-0.0016524 ,-0.09783103,
  0.0815511 , 0.53478519,-0.01130637,-0.00569356, 0.84489322]

qacc:
[-2.06103547e-01,-9.56574102e+00, 2.33353796e+01,-2.70712847e+01,
 -1.44232905e-01,-9.96480711e+00, 2.53961575e+01,-3.38445821e+01,
  4.04031702e-02,-1.53828446e+00, 4.22009026e+00,-8.49025372e+00,
 -3.09021314e-01, 5.98832754e-01,-1.22158215e+01, 4.14494977e+01,
  9.97680341e-01, 1.54202234e+00, 1.65174715e+00, 7.33158372e+01,
  6.60500630e+01, 1.42043994e+00]

qfrc_actuator:
[ 2.94918420e-03, 4.96777101e-02, 1.06479646e-02, 1.82674009e-03,
 -3.35513693e-05, 4.99581898e-02, 1.06137618e-02, 1.85529150e-03,
 -2.96196431e-03, 3.72888771e-02, 1.07907337e-02, 1.72732696e-03,
  2.60276279e-03,-1.62457948e-03, 0.00000000e+00,-1.85571283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001353000368628593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10281863e-14,  1.23084559e-13,  1.00000000e+00,  5.04993622e-27,
        1.00000000e+00, -1.23084559e-13, -1.00000000e+00,  0.00000000e+00,
       -4.10281863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0275319 , -0.13096068,  0.06187992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93173819e-05,-7.68110082e-04,-1.73799486e-04,-7.51547823e-05,
 -4.15359239e-05,-7.88654815e-04,-1.89074641e-04,-9.94323389e-05,
  1.16125351e-05,-1.47885558e-04,-4.92114655e-05,-3.04685201e-05,
 -2.60751548e-05, 1.93637802e-05,-1.53058166e-05, 1.96741484e-04,
  1.76927398e-05, 5.77915741e-06,-1.21644720e+00, 1.58674895e-03,
  5.49653865e-04, 2.49664028e-05]


--- Step 1594 ---
qpos:
[-0.01063309, 1.31863977,-0.01816028, 0.94605258, 0.00428606, 1.31778581,
 -0.0300636 , 0.94340007, 0.01691197, 1.33515097,-0.02342968, 0.95522006,
  1.32800583,-0.00258102, 1.08748255, 0.0638274 ,-0.00165907,-0.09782087,
  0.08154194, 0.53482556,-0.01160741,-0.00557545, 0.84486437]

qacc:
[-2.99894650e-01,-6.70360470e+00, 1.15074626e+01,-7.73374084e-01,
 -1.35590213e-01,-9.67181159e+00, 2.22930576e+01,-2.11294626e+01,
  3.50389648e-03, 6.05711471e-01,-8.99999443e+00, 3.69176151e+01,
 -4.43932195e-01, 7.30560307e-01, 2.46612595e-01,-4.59455508e-01,
  9.03004159e-01, 1.45197884e+00, 8.23786304e-01, 6.79872484e+01,
  6.10618820e+01, 1.16676652e+00]

qfrc_actuator:
[ 2.89815477e-03, 4.94045781e-02, 1.06528725e-02, 1.85331145e-03,
 -4.81473514e-05, 4.96294773e-02, 1.06185285e-02, 1.83037267e-03,
 -2.96789066e-03, 3.72485867e-02, 1.08405429e-02, 1.85589007e-03,
  2.58862167e-03,-1.61103020e-03, 0.00000000e+00,-1.86249871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.47530772,   5.71464494,   6.47530772,
        18.77401956, -11.48705515,   5.71464494, -11.48705515,
        21.65243333,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013734463124059904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02087081e-14, -4.04174162e-14,  1.00000000e+00,  8.16783766e-28,
        1.00000000e+00,  4.04174162e-14, -1.00000000e+00,  0.00000000e+00,
        2.02087081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02750993, -0.13092523,  0.06187816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.61951861e-05,-7.36438177e-04,-1.67580648e-04,-2.70563098e-06,
 -3.90813934e-05,-8.07333130e-04,-1.74361461e-04,-5.60448757e-05,
  9.54719565e-07,-1.32945336e-04, 1.43894578e-05, 1.22108131e-04,
 -2.39296461e-05, 1.22528334e-05, 1.23166076e-05, 1.62327498e-06,
  6.05565219e-06,-1.00413214e-06,-1.21644578e+00, 1.59107586e-03,
  5.47631119e-04, 2.03382375e-05]


--- Step 1595 ---
qpos:
[-0.01063524, 1.31893839,-0.01816162, 0.94605552, 0.00428559, 1.31808678,
 -0.03006477, 0.94340213, 0.01691307, 1.33520262,-0.0234301 , 0.95522219,
  1.3281334 ,-0.00258019, 1.08768221, 0.06382755,-0.00166244,-0.09780519,
  0.08153329, 0.53486631,-0.01193669,-0.00528902, 0.84483583]

qacc:
[-2.80320832e-01,-6.35320821e+00, 9.69650624e+00, 3.12168103e+00,
  1.52510438e-02,-1.01309018e+01, 2.10018037e+01,-5.81263766e+00,
 -7.36397298e-02,-6.80959187e-01, 1.77451304e+00,-3.78235549e+00,
 -6.22184411e-01, 9.23866150e-01, 1.21732646e+01,-4.14421158e+01,
  8.25458254e-01, 1.37593976e+00, 1.26886398e-01, 6.35617924e+01,
  5.69362684e+01, 9.82165837e-01]

qfrc_actuator:
[ 2.86855723e-03, 4.90868570e-02, 1.06385825e-02, 1.88581189e-03,
 -2.10064664e-05, 4.93130879e-02, 1.06754336e-02, 1.86844336e-03,
 -2.98971182e-03, 3.72398189e-02, 1.08345999e-02, 1.84185069e-03,
  2.57022376e-03,-1.60332685e-03, 0.00000000e+00,-2.06342132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.5041482 ,   5.68179841,   6.5041482 ,
        20.57365852, -13.66502812,   5.68179841, -13.66502812,
        24.27918685,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013747911100146157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53306455e-14,  4.03778806e-14,  1.00000000e+00,  1.42657658e-27,
        1.00000000e+00, -4.03778806e-14, -1.00000000e+00,  0.00000000e+00,
       -3.53306455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02751024, -0.13091963,  0.06187799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.05920376e-05,-7.60088445e-04,-1.77739067e-04, 6.02389456e-06,
  4.09851913e-06,-8.01105701e-04,-1.22919821e-04, 7.81125915e-06,
 -2.12321127e-05,-7.62093927e-05,-2.67482012e-05,-1.46369386e-05,
 -2.87794002e-05, 5.19226632e-06, 9.24695357e-07,-2.00395635e-04,
 -4.78567884e-07, 2.79343587e-06,-1.21644779e+00, 1.59512347e-03,
  5.45269009e-04, 2.73817556e-05]


--- Step 1596 ---
qpos:
[-0.01063762, 1.31923037,-0.01816256, 0.94605816, 0.00428543, 1.31838102,
 -0.03006575, 0.94340468, 0.01691366, 1.33525421,-0.02343187, 0.95522208,
  1.32826062,-0.00257919, 1.08788207, 0.06382362,-0.00166277,-0.09778428,
  0.0815228 , 0.53490747,-0.01229235,-0.00484411, 0.84480734]

qacc:
[ -0.09913395,-10.34069182, 23.81320062,-20.09724449,  0.12851958,
  -8.50677216, 16.07155285, -3.99321154, -0.21334378, -0.28458622,
   5.3212342 ,-30.34718175, -0.65953664,  0.92471889, 12.63310572,
 -43.66471154,  0.76184809,  1.31166564, -0.45918997, 59.88830689,
  53.52622591,  0.85268521]

qfrc_actuator:
[ 2.88756110e-03, 4.87271770e-02, 1.06484076e-02, 1.86822766e-03,
  1.31971662e-05, 4.89536180e-02, 1.06739683e-02, 1.89003912e-03,
 -3.03864382e-03, 3.72319900e-02, 1.07602899e-02, 1.72619570e-03,
  2.54395585e-03,-1.59916175e-03, 0.00000000e+00,-2.27052767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.50783392,   5.67757647,   6.50783392,
        23.04849651, -16.51968364,   5.67757647, -16.51968364,
        27.57179464,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013608570324254929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52967440e-14,  8.15826349e-14,  1.00000000e+00,  1.24794869e-27,
        1.00000000e+00, -8.15826349e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52967440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02752822, -0.13093772,  0.06187911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86892461e-05,-8.16802875e-04,-1.59136437e-04,-4.48679450e-05,
  3.65864429e-05,-8.28699108e-04,-1.72333802e-04,-5.49482184e-06,
 -6.14370074e-05,-5.59780190e-05,-9.27120594e-05,-1.18960390e-04,
 -4.15501649e-05,-9.64221453e-07,-2.72246703e-05,-2.19393432e-04,
 -2.86421660e-06, 1.50788998e-05,-1.21645259e+00, 1.59896596e-03,
  5.42594662e-04, 4.38206058e-05]


--- Step 1597 ---
qpos:
[-0.01063975, 1.31951558,-0.01816294, 0.9460592 , 0.00428531, 1.31866904,
 -0.03006716, 0.94340677, 0.01691372, 1.33530437,-0.02343377, 0.95522099,
  1.32838766,-0.00257842, 1.08808181, 0.06381687,-0.00166176,-0.09776924,
  0.08152651, 0.53495027,-0.01251685,-0.00449846, 0.84477885]

qacc:
[ 1.08649847e-01,-1.32093937e+01, 3.56429896e+01,-4.54452471e+01,
  2.30955952e-02,-7.76591737e+00, 1.63953075e+01,-1.55705263e+01,
 -2.27248305e-01,-3.18900391e+00, 1.01233916e+01,-1.92041258e+01,
 -1.25525816e-01,-3.43192984e-02, 8.33795337e+00,-2.94244148e+01,
  3.32088043e-01,-1.47099649e+00, 3.54902582e+00,-6.83624254e+00,
 -8.19478268e+01,-1.62104893e+00]

qfrc_actuator:
[ 2.93556394e-03, 4.83808177e-02, 1.06721935e-02, 1.78578889e-03,
 -1.90026900e-06, 4.86597811e-02, 1.06556129e-02, 1.86617645e-03,
 -3.06793802e-03, 3.71001830e-02, 1.07349775e-02, 1.67594112e-03,
  2.53428608e-03,-1.61492045e-03, 0.00000000e+00,-2.40852908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013866956133027214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60124978e-13,  2.00156223e-14,  1.00000000e+00, -3.20500108e-27,
        1.00000000e+00, -2.00156223e-14, -1.00000000e+00,  0.00000000e+00,
        1.60124978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00653191, -0.07670712,  0.06187689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08854078e-05,-8.32676595e-04,-1.55631033e-04,-1.12053974e-04,
  6.41613211e-06,-7.88343752e-04,-2.00625853e-04,-5.35482212e-05,
 -6.55299589e-05,-1.84743543e-04,-5.03146908e-05,-5.73241839e-05,
 -3.38039700e-05,-2.52572496e-05,-4.09905269e-05,-1.54648024e-04,
 -1.80876843e-06, 3.43385002e-05,-1.21645972e+00, 1.60264649e-03,
  5.39633200e-04, 6.80154105e-05]


--- Step 1598 ---
qpos:
[-0.01064178, 1.31979469,-0.01816332, 0.94605922, 0.00428516, 1.31895117,
 -0.03006877, 0.94340991, 0.01691346, 1.33535344,-0.02343675, 0.9552214 ,
  1.32851464,-0.00257813, 1.08828139, 0.06380779,-0.00166512,-0.09776022,
  0.08153152, 0.53499576,-0.01271211,-0.00434748, 0.84474791]

qacc:
[ 4.25425618e-02,-9.80388683e+00, 2.44196735e+01,-2.93269172e+01,
 -1.78094555e-02,-5.42008843e+00, 6.21150433e+00, 1.04137552e+01,
 -1.32564711e-01, 4.04691032e+00,-1.79505939e+01, 3.35289583e+01,
  1.70912048e-01,-5.85764983e-01, 6.78052618e+00,-2.41148036e+01,
 -1.09093757e+00,-1.50345372e+00, 3.25581340e-01,-7.43970043e+01,
 -6.43962221e+01,-3.07286277e+00]

qfrc_actuator:
[ 2.92956017e-03, 4.81162378e-02, 1.06862799e-02, 1.73687172e-03,
 -1.09455712e-05, 4.84075150e-02, 1.06631834e-02, 1.92230413e-03,
 -3.06746210e-03, 3.70551433e-02, 1.06851293e-02, 1.75332901e-03,
  2.52924547e-03,-1.64230086e-03, 0.00000000e+00,-2.52244334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.3255614 , 2.296041  , 8.3255614 , 8.56204768,
       0.26947345, 2.296041  , 0.26947345, 7.65923919, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014141989417574136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.92527173e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.92527173e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02996859, -0.05940766,  0.06187462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19787773e-05,-7.60941966e-04,-1.70005208e-04,-8.04733782e-05,
 -5.29636607e-06,-7.31382830e-04,-1.71426990e-04, 2.57015605e-05,
 -3.81816587e-05,-1.59067808e-04,-9.33734391e-05, 6.91770537e-05,
 -3.06893986e-05,-4.10467599e-05,-3.88077020e-05,-1.28420600e-04,
  1.26423950e-06, 2.03169125e-05,-1.21645092e+00, 1.59690604e-03,
  5.39769341e-04, 5.77395839e-05]


--- Step 1599 ---
qpos:
[-0.01064364, 1.32006814,-0.01816378, 0.94605931, 0.00428508, 1.31922709,
 -0.03007047, 0.94341407, 0.01691302, 1.3354021 ,-0.02344097, 0.95522303,
  1.3286413 ,-0.00257763, 1.08848029, 0.06380104,-0.00167242,-0.09775689,
  0.08153504, 0.53504423,-0.01288066,-0.00437751, 0.84471451]

qacc:
[ 7.65115520e-02,-7.06499507e+00, 1.39027652e+01,-7.69497897e+00,
  3.30523419e-02,-6.16641833e+00, 8.13952401e+00, 8.76137721e+00,
 -7.62907505e-02, 4.90861403e+00,-1.91028293e+01, 3.08448346e+01,
 -2.25980180e-01, 3.38357583e-01,-8.02349675e+00, 2.66517024e+01,
 -9.87096543e-01,-1.42333583e+00,-3.73212419e-01,-6.92917279e+01,
 -5.96760818e+01,-3.12965837e+00]

qfrc_actuator:
[ 2.94446399e-03, 4.78672490e-02, 1.06948754e-02, 1.74363081e-03,
  1.46802216e-06, 4.80758194e-02, 1.06507320e-02, 1.97185301e-03,
 -3.06688609e-03, 3.70801622e-02, 1.06393046e-02, 1.81645048e-03,
  2.52165350e-03,-1.62305388e-03, 0.00000000e+00,-2.39048196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.94347235, -6.26593276, -5.94347235, 15.34339101,
       -6.36186714, -6.26593276, -6.36186714, 14.67083335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014224035586498512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90263023e-14,  7.80526045e-14,  1.00000000e+00, -3.04610454e-27,
        1.00000000e+00, -7.80526045e-14, -1.00000000e+00,  0.00000000e+00,
        3.90263023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02996227, -0.05942445,  0.06187396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17550967e-05,-7.07500489e-04,-1.62177816e-04,-2.23622510e-05,
  9.26664849e-06,-7.71154890e-04,-1.74646938e-04, 2.35211186e-05,
 -2.19389664e-05,-7.94607293e-05,-8.55230670e-05, 5.73546158e-05,
 -3.51846863e-05, 2.36971008e-06,-3.47213668e-05, 1.19236996e-04,
 -4.10493416e-07, 4.61171281e-06,-1.21644509e+00, 1.59300622e-03,
  5.42247879e-04, 3.98660638e-05]


--- Step 1600 ---
qpos:
[-0.01064502, 1.32033576,-0.01816416, 0.94606019, 0.00428496, 1.31949673,
 -0.03007257, 0.94341917, 0.01691278, 1.335449  ,-0.02344351, 0.95522502,
  1.32876755,-0.00257644, 1.08867895, 0.06379586,-0.00168334,-0.09775899,
  0.08153471, 0.53509584,-0.01302457,-0.00457719, 0.84467855]

qacc:
[ 2.01796294e-01,-6.54058836e+00, 1.05464261e+01, 3.42041692e+00,
 -1.63704876e-02,-5.57453540e+00, 6.32258659e+00, 9.31367923e+00,
  8.09664291e-02,-6.21519616e+00, 1.67525474e+01,-9.22708022e+00,
 -7.20169746e-01, 1.34601149e+00,-5.00574680e+00, 1.71519632e+01,
 -9.02303996e-01,-1.35542136e+00,-9.61454632e-01,-6.50498756e+01,
 -5.57707852e+01,-3.15181439e+00]

qfrc_actuator:
[ 2.98954513e-03, 4.75763802e-02, 1.07002772e-02, 1.78310451e-03,
 -8.85084840e-06, 4.77524178e-02, 1.06262444e-02, 2.01705439e-03,
 -3.03075272e-03, 3.69694413e-02, 1.07207572e-02, 1.83518944e-03,
  2.51788213e-03,-1.57631890e-03, 0.00000000e+00,-2.31000436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.96315914, -6.24720017, -5.96315914, 16.7868949 ,
       -7.77995161, -6.24720017, -7.77995161, 16.06258471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014134263502171979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.85483463e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.85483463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02997827, -0.0594121 ,  0.06187473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76984353e-05,-7.16517601e-04,-1.52317959e-04, 1.35142337e-05,
 -4.89031968e-06,-7.85506975e-04,-1.94883187e-04, 1.78261724e-05,
  2.32084586e-05,-1.69989985e-04, 5.78493757e-05, 1.52832803e-05,
 -2.29758198e-05, 3.92622671e-05,-4.55811357e-06, 8.22625749e-05,
  2.48006439e-06, 1.07080743e-07,-1.21644297e+00, 1.58920844e-03,
  5.44562516e-04, 3.40232524e-05]


--- Step 1601 ---
qpos:
[-0.01064604, 1.32059765,-0.01816453, 0.94606258, 0.00428462, 1.31976059,
 -0.03007492, 0.94342576, 0.01691282, 1.3354941 ,-0.02344461, 0.95522689,
  1.32889382,-0.00257552, 1.08887761, 0.06379099,-0.00169247,-0.09776677,
  0.0815422 , 0.53514955,-0.01305563,-0.00486339, 0.84464245]

qacc:
[  0.15176857, -4.91431068,  3.89066696, 17.58808012, -0.09277693,
  -4.34643994,  1.93095752, 19.31605782,  0.12320446, -6.4683329 ,
  18.47873658,-16.27146996,  0.23127584, -0.50867941, -0.97144873,
   3.34807333,  0.44572868, -1.42313108,  1.95527309, -6.3336091 ,
 -70.80562384, -1.75017709]

qfrc_actuator:
[ 2.99910780e-03, 4.72982999e-02, 1.07036120e-02, 1.85922730e-03,
 -3.27235454e-05, 4.75075374e-02, 1.06303764e-02, 2.09483302e-03,
 -3.00908830e-03, 3.68675482e-02, 1.07873888e-02, 1.82766402e-03,
  2.51109537e-03,-1.60243431e-03, 0.00000000e+00,-2.29608753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.58247305,  -4.13435355,  -7.58247305,
        26.7152563 , -33.15698934,  -4.13435355, -33.15698934,
        69.44683266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001407276978606313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94457893e-14,  7.88915787e-14,  1.00000000e+00,  3.11194059e-27,
        1.00000000e+00, -7.88915787e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94457893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00651874, -0.07672135,  0.06187524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33620466e-05,-7.05672634e-04,-1.53959865e-04, 5.10116203e-05,
 -2.67826900e-05,-7.19005219e-04,-1.71530579e-04, 4.92389368e-05,
  3.53853344e-05,-1.84458563e-04, 4.04127808e-05,-1.04459922e-05,
 -1.02595863e-05,-2.16947589e-05, 3.33101612e-06, 1.70850260e-05,
  9.10697090e-06, 4.70980163e-06,-1.21644385e+00, 1.58541220e-03,
  5.46808591e-04, 3.79300175e-05]


--- Step 1602 ---
qpos:
[-0.01064695, 1.32085386,-0.01816518, 0.94606622, 0.00428404, 1.32001937,
 -0.03007742, 0.94343041, 0.0169127 , 1.33553878,-0.0234468 , 0.95522833,
  1.32902014,-0.00257536, 1.08907591, 0.063789  ,-0.00169586,-0.09777828,
  0.08155396, 0.53520103,-0.01292898,-0.00513917, 0.84461014]

qacc:
[ 4.77885049e-02,-4.54285058e+00, 3.28712956e+00, 1.51630562e+01,
 -1.03496881e-01,-9.56950007e+00, 2.71602502e+01,-4.29116775e+01,
 -6.79114027e-02, 1.64249362e+00,-5.13584898e+00,-3.39754400e-01,
  7.98657657e-01,-1.62331459e+00,-9.29672826e+00, 3.15844653e+01,
  1.43677390e+00,-9.28965037e-01, 1.06520719e+00, 4.65944034e+01,
 -6.38444639e+01, 1.63783777e+00]

qfrc_actuator:
[ 2.98728739e-03, 4.70123860e-02, 1.06880102e-02, 1.92079522e-03,
 -4.67800992e-05, 4.72940402e-02, 1.06339487e-02, 1.99594507e-03,
 -3.04953905e-03, 3.68782156e-02, 1.07381774e-02, 1.80471765e-03,
  2.49715143e-03,-1.65381027e-03, 0.00000000e+00,-2.14395688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.4008992 , -4.45123218, -7.4008992 , 13.88960154,
       -8.73436446, -4.45123218, -8.73436446, 23.15866853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014028732778110717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.9569612e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.9569612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274376, -0.08928097,  0.06187565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35374286e-05,-7.06666240e-04,-1.69850860e-04, 3.75963914e-05,
 -2.98593254e-05,-6.45272242e-04,-1.55490999e-04,-1.24022262e-04,
 -1.95430742e-05,-8.40550433e-05,-8.09899101e-05,-2.74052211e-05,
 -2.49110376e-05,-5.90342838e-05,-5.19591500e-07, 1.52599424e-04,
  8.58890882e-06, 1.20174103e-05,-1.21644356e+00, 1.58023885e-03,
  5.46904847e-04, 4.93671323e-05]


--- Step 1603 ---
qpos:
[-0.01064799, 1.32110444,-0.01816626, 0.94606954, 0.00428339, 1.3202735 ,
 -0.03008033, 0.94343175, 0.0169123 , 1.33558336,-0.02344977, 0.95522874,
  1.32914612,-0.00257501, 1.08927423, 0.06378816,-0.00169386,-0.09779316,
  0.08156742, 0.53525061,-0.01265343,-0.00540545, 0.84458123]

qacc:
[-5.77568747e-02,-6.77021425e+00, 1.38102900e+01,-1.21898314e+01,
 -2.70199048e-02,-1.06750764e+01, 3.42802433e+01,-6.52464562e+01,
 -1.23748784e-01, 2.12563482e-01, 1.19391779e+00,-1.27236618e+01,
 -3.42946971e-01, 5.02976313e-01,-3.40596266e+00, 1.20333085e+01,
  1.34636172e+00,-8.44438803e-01, 4.27323531e-01, 4.38524975e+01,
 -6.03669303e+01, 1.39708791e+00]

qfrc_actuator:
[ 2.96273944e-03, 4.67240053e-02, 1.06613164e-02, 1.90226897e-03,
 -3.70811686e-05, 4.70832334e-02, 1.06194374e-02, 1.82940310e-03,
 -3.07366688e-03, 3.69024997e-02, 1.07101806e-02, 1.75513317e-03,
  2.48956079e-03,-1.63097939e-03, 0.00000000e+00,-2.08911478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.5527404 ,  1.19891973,  8.5527404 ,  9.10916354,
       -3.3728153 ,  1.19891973, -3.3728153 , 32.69703498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013884015881018702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99910284e-14,  3.99820569e-14,  1.00000000e+00,  7.99282435e-28,
        1.00000000e+00, -3.99820569e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99910284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0327663 , -0.08927199,  0.06187692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67592103e-05,-7.13144095e-04,-1.83332257e-04,-4.33127246e-05,
 -7.91338876e-06,-6.03834755e-04,-1.62405577e-04,-1.93016758e-04,
 -3.56407762e-05,-3.91258539e-05,-5.44604855e-05,-5.50195513e-05,
 -3.52184612e-05, 2.31946153e-06, 1.37356108e-05, 6.25775607e-05,
  1.25497325e-06, 1.28257883e-05,-1.21644256e+00, 1.57640706e-03,
  5.45229099e-04, 5.15300332e-05]


--- Step 1604 ---
qpos:
[-0.01064924, 1.32134972,-0.01816751, 0.9460719 , 0.00428261, 1.32052262,
 -0.03008282, 0.94343211, 0.0169116 , 1.33562735,-0.02345266, 0.95522856,
  1.32927169,-0.00257414, 1.0894725 , 0.06378866,-0.00168677,-0.09781114,
  0.08158046, 0.53529849,-0.01223626,-0.00566299, 0.84455534]

qacc:
[-8.39601076e-02,-8.20434045e+00, 2.03575108e+01,-2.57521241e+01,
 -5.62078190e-02,-9.40702335e+00, 2.47361651e+01,-2.95954287e+01,
 -1.21886500e-01,-2.00327837e+00, 6.81731946e+00,-1.24585420e+01,
 -6.18119162e-01, 1.06836639e+00,-4.08875384e+00, 1.43040664e+01,
  1.27231393e+00,-7.76708007e-01,-1.05987339e-01, 4.15906109e+01,
 -5.74909100e+01, 1.19535132e+00]

qfrc_actuator:
[ 2.94851176e-03, 4.64896294e-02, 1.06637467e-02, 1.85450565e-03,
 -4.87165641e-05, 4.68401300e-02, 1.06476416e-02, 1.78418864e-03,
 -3.08780500e-03, 3.68637966e-02, 1.07127907e-02, 1.72582792e-03,
  2.47516330e-03,-1.59979426e-03, 0.00000000e+00,-2.02105764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56922932,  1.07474918,  8.56922932,  9.09771223,
       -3.67844141,  1.07474918, -3.67844141, 37.96544682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013622354863680672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03750202e-14,  2.03750202e-14,  1.00000000e+00,  4.15141450e-28,
        1.00000000e+00, -2.03750202e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03750202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280546, -0.08925985,  0.06187918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42878956e-05,-6.67725995e-04,-1.59383423e-04,-7.50274342e-05,
 -1.63189047e-05,-6.16604687e-04,-1.14393158e-04,-7.22576654e-05,
 -3.51520645e-05,-7.29058239e-05,-1.28733996e-05,-3.32789915e-05,
 -3.31790531e-05, 2.34624105e-05, 8.56069091e-06, 7.22311662e-05,
 -3.59656694e-06, 1.25745366e-05,-1.21644399e+00, 1.57345817e-03,
  5.44202243e-04, 4.61473589e-05]


--- Step 1605 ---
qpos:
[-0.01065038, 1.32158999,-0.01816861, 0.94607328, 0.00428155, 1.32076683,
 -0.03008531, 0.94343229, 0.01691081, 1.33567036,-0.02345569, 0.9552298 ,
  1.32939707,-0.00257341, 1.08967109, 0.0637873 ,-0.00167598,-0.0978234 ,
  0.08159434, 0.5353463 ,-0.01184799,-0.00575123, 0.84452998]

qacc:
[ 4.62805815e-02,-8.67458776e+00, 2.23573753e+01,-2.76658037e+01,
 -1.17863414e-01,-6.72030929e+00, 1.45303393e+01,-1.16260955e+01,
 -3.81305877e-02, 1.52061308e+00,-9.39151103e+00, 2.51773321e+01,
 -1.65655727e-01, 7.10019626e-02, 6.11765466e+00,-2.06940427e+01,
  9.23993223e-01, 1.43265874e+00, 2.10709677e-01, 6.37596175e+01,
  5.75146844e+01, 1.29244418e+00]

qfrc_actuator:
[ 2.97609820e-03, 4.62718255e-02, 1.06835603e-02, 1.80773893e-03,
 -7.30576743e-05, 4.65976336e-02, 1.06475481e-02, 1.77525170e-03,
 -3.07808390e-03, 3.67878201e-02, 1.06977154e-02, 1.79744091e-03,
  2.45670102e-03,-1.61724417e-03, 0.00000000e+00,-2.12325224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013502232578500237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05562861e-14,  1.64450289e-13,  1.00000000e+00,  3.38048719e-27,
        1.00000000e+00, -1.64450289e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05562861e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02758499, -0.13093153,  0.06188025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30943884e-05,-6.22259833e-04,-1.31324254e-04,-7.27213554e-05,
 -3.39774882e-05,-6.09995267e-04,-1.36175127e-04,-3.21639423e-05,
 -1.10060917e-05,-1.20090570e-04,-3.17932910e-05, 6.83602719e-05,
 -3.11518858e-05,-1.94276174e-05, 7.46568210e-06,-9.80980244e-05,
 -6.37187069e-06, 1.14238027e-05,-1.21644746e+00, 1.57119345e-03,
  5.43717015e-04, 3.43021030e-05]


--- Step 1606 ---
qpos:
[-0.01065146, 1.32182569,-0.01816997, 0.94607373, 0.00428036, 1.32100618,
 -0.03008779, 0.94343202, 0.01691017, 1.33571196,-0.02345812, 0.95523258,
  1.32952235,-0.00257314, 1.08986973, 0.06378439,-0.00166183,-0.09783022,
  0.0816067 , 0.53539437,-0.01148652,-0.00568015, 0.84450498]

qacc:
[ 2.39996634e-02,-6.94501760e+00, 1.73009612e+01,-2.29935398e+01,
 -5.62244380e-02,-7.18185025e+00, 1.66377737e+01,-1.65966242e+01,
  6.08518051e-02,-7.89908780e-01,-2.74048129e+00, 2.09782201e+01,
  1.70452412e-01,-5.78741514e-01, 4.68911561e+00,-1.63523480e+01,
  8.42329972e-01, 1.35836831e+00,-3.80969416e-01, 6.01040450e+01,
  5.39635264e+01, 1.00337183e+00]

qfrc_actuator:
[ 2.97528785e-03, 4.60657898e-02, 1.06780486e-02, 1.76195848e-03,
 -6.93184078e-05, 4.63573889e-02, 1.06484931e-02, 1.75217342e-03,
 -3.05412995e-03, 3.67078732e-02, 1.07254670e-02, 1.87456220e-03,
  2.44644578e-03,-1.64566938e-03, 0.00000000e+00,-2.20065607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.07321566,  7.6154902 ,  4.07321566, 24.00961137,
       -8.22252432,  7.6154902 , -8.22252432, 13.03425713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001340816274024173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17512655e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.17512655e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02760089, -0.13094555,  0.06188111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73225287e-06,-5.79754742e-04,-1.44495775e-04,-6.95121466e-05,
 -1.63003839e-05,-6.07104185e-04,-1.35139241e-04,-4.58227201e-05,
  1.74775213e-05,-1.50827679e-04, 2.64662147e-06, 7.42839351e-05,
 -3.23655908e-05,-4.03805689e-05,-1.25089400e-05,-8.30724660e-05,
 -1.81393853e-07,-5.45083995e-07,-1.21644403e+00, 1.57429896e-03,
  5.42672249e-04, 1.79863171e-05]


--- Step 1607 ---
qpos:
[-0.01065295, 1.32205639,-0.01817126, 0.94607365, 0.0042794 , 1.3212404 ,
 -0.03008957, 0.94343112, 0.01690973, 1.33575186,-0.02345885, 0.95523589,
  1.32964732,-0.00257291, 1.09006782, 0.06378425,-0.00164457,-0.09783186,
  0.08161555, 0.53544294,-0.01115013,-0.005458  , 0.84448016]

qacc:
[-1.71926666e-01,-7.67114014e+00, 1.81899581e+01,-1.88592843e+01,
  1.00710443e-01,-9.70870129e+00, 2.48432597e+01,-2.56053117e+01,
  8.67493215e-02,-5.94332192e+00, 1.56179767e+01,-6.41134610e+00,
 -2.48891637e-02,-1.03816207e-01,-9.13452026e+00, 3.07786974e+01,
  7.76051797e-01, 1.29657906e+00,-8.77120180e-01, 5.70750244e+01,
  5.10290102e+01, 7.78465391e-01]

qfrc_actuator:
[ 2.92194324e-03, 4.57973771e-02, 1.06754367e-02, 1.73486649e-03,
 -3.10120417e-05, 4.61026721e-02, 1.06855547e-02, 1.72095220e-03,
 -3.03958629e-03, 3.66263529e-02, 1.08137467e-02, 1.90104677e-03,
  2.43046156e-03,-1.64480509e-03, 0.00000000e+00,-2.04973664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.16055922,   7.56812552,   4.16055922,
        26.94494998, -10.06510233,   7.56812552, -10.06510233,
        14.16963   ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001318949864142882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10436927e-14,  4.20873854e-14,  1.00000000e+00, -8.85674004e-28,
        1.00000000e+00, -4.20873854e-14, -1.00000000e+00,  0.00000000e+00,
        2.10436927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02763078, -0.13097854,  0.061883  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95465902e-05,-6.21068691e-04,-1.34689696e-04,-4.98800605e-05,
  2.86804072e-05,-6.20147418e-04,-9.87338366e-05,-5.41724256e-05,
  2.48793823e-05,-1.62484952e-04, 6.12626019e-05, 2.38834601e-05,
 -4.39269839e-05,-1.64724427e-05,-1.87720901e-05, 1.43809356e-04,
  8.95103168e-06,-4.01830618e-06,-1.21644338e+00, 1.57709443e-03,
  5.41305258e-04, 1.12547670e-05]


--- Step 1608 ---
qpos:
[-0.01065493, 1.32228157,-0.01817201, 0.94607259, 0.00427877, 1.32146956,
 -0.03009116, 0.94342989, 0.01690963, 1.33579047,-0.02345775, 0.95524014,
  1.32977192,-0.00257267, 1.09026588, 0.06378487,-0.00162443,-0.09782852,
  0.08161923, 0.53549213,-0.0108374 ,-0.00509162, 0.84445533]

qacc:
[ -0.21003731,-10.41500509, 27.23612754,-31.74097294,  0.14041234,
  -7.71539147, 17.82546696,-16.18616041,  0.14346266, -5.01496072,
  12.41529523,  0.87041371, -0.25045108,  0.23614305, -2.31485767,
   8.07579492,  0.7220818 ,  1.2451621 , -1.2927187 , 54.5708242 ,
  48.60731666,  0.60449963]

qfrc_actuator:
[ 2.89077580e-03, 4.54937881e-02, 1.06920952e-02, 1.68345112e-03,
 -7.78685057e-06, 4.58414736e-02, 1.06903243e-02, 1.70295480e-03,
 -3.01305416e-03, 3.65980108e-02, 1.09192395e-02, 1.95080358e-03,
  2.41106365e-03,-1.64435543e-03, 0.00000000e+00,-2.01404008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.19690795,   7.54802892,   4.19690795,
        30.5371994 , -12.17745623,   7.54802892, -12.17745623,
        15.40735821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012873303654429569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31211387e-14,  4.31211387e-14,  1.00000000e+00,  1.85943260e-27,
        1.00000000e+00, -4.31211387e-14, -1.00000000e+00,  0.00000000e+00,
       -4.31211387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02767153, -0.13102623,  0.06188568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.05368170e-05,-6.76557094e-04,-1.21793157e-04,-7.46953082e-05,
  4.00995272e-05,-6.26933770e-04,-1.29673681e-04,-4.04737603e-05,
  4.12361184e-05,-1.05788155e-04, 8.13865128e-05, 4.73530612e-05,
 -4.76198245e-05,-1.38981147e-05, 4.79421682e-06, 4.07134094e-05,
  2.06003836e-05,-3.45347034e-07,-1.21644508e+00, 1.57969522e-03,
  5.39620473e-04, 1.26027525e-05]


--- Step 1609 ---
qpos:
[-0.01065736, 1.32250163,-0.0181731 , 0.94607336, 0.00427831, 1.32169372,
 -0.03009309, 0.94343055, 0.01690971, 1.33582894,-0.02345601, 0.95524353,
  1.32989629,-0.00257247, 1.0904645 , 0.06378121,-0.0016126 ,-0.09782046,
  0.08162104, 0.53553014,-0.01074999,-0.00474578, 0.84443436]

qacc:
[-1.85627760e-01,-2.64950478e+00,-3.14933295e+00, 2.70081648e+01,
  6.96561868e-02,-2.42050042e+00,-3.90890656e+00, 2.84863989e+01,
  7.77266572e-02,-3.36260481e+00, 1.24918024e+01,-2.06476673e+01,
 -4.29968610e-01, 4.85524989e-01, 1.37308696e+01,-4.67724370e+01,
 -2.08019963e+00, 1.17700773e+00,-4.67077707e-01,-6.90519675e+01,
  8.95851572e+01, 6.21250791e+00]

qfrc_actuator:
[ 2.87316740e-03, 4.52603860e-02, 1.06843226e-02, 1.77788495e-03,
 -1.15512325e-05, 4.55961356e-02, 1.06759654e-02, 1.79936864e-03,
 -3.01504977e-03, 3.66373490e-02, 1.09632454e-02, 1.90738407e-03,
  2.40561060e-03,-1.64419606e-03, 0.00000000e+00,-2.24186008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001290535062510506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30140589e-14,  8.60281179e-14,  1.00000000e+00,  3.70041853e-27,
        1.00000000e+00, -8.60281179e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30140589e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05333945, -0.10801247,  0.06188543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34550227e-05,-6.35237435e-04,-1.56325074e-04, 6.92976707e-05,
  1.98384525e-05,-6.20429021e-04,-1.53242652e-04, 7.31366173e-05,
  2.23654055e-05,-2.12140973e-06, 3.39458921e-05,-4.30072584e-05,
 -3.50348741e-05,-1.44581249e-05, 2.33113542e-06,-2.25944040e-04,
  3.44607971e-05, 9.47851329e-06,-1.21644884e+00, 1.58218107e-03,
  5.37624639e-04, 2.09217237e-05]


--- Step 1610 ---
qpos:
[-0.01065954, 1.32271693,-0.01817505, 0.94607629, 0.00427792, 1.32191317,
 -0.0300953 , 0.94343233, 0.0169096 , 1.33586761,-0.02345496, 0.95524468,
  1.33002027,-0.00257178, 1.090663  , 0.06377588,-0.00160513,-0.0978185 ,
  0.08162418, 0.5355709 ,-0.01063311,-0.00459571, 0.84441082]

qacc:
[ 1.04874498e-01,-1.56190942e-01,-1.14438179e+01, 3.79874253e+01,
  3.35930792e-02,-3.50760355e+00, 1.63994432e+00, 1.46460617e+01,
 -8.20183892e-02,-1.75484102e+00, 1.05094119e+01,-3.49366496e+01,
 -7.66804629e-01, 1.28233862e+00, 4.95862987e+00,-1.74717471e+01,
 -1.08916348e+00,-1.52203219e+00, 3.32520038e-01,-7.47517039e+01,
 -6.48434346e+01,-2.96879083e+00]

qfrc_actuator:
[ 2.93484544e-03, 4.50353832e-02, 1.06447848e-02, 1.88640304e-03,
 -1.37222270e-05, 4.53800129e-02, 1.06683204e-02, 1.85581903e-03,
 -3.05189513e-03, 3.66278832e-02, 1.09175630e-02, 1.79172888e-03,
  2.39787454e-03,-1.60863875e-03, 0.00000000e+00,-2.32127430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001316132932051177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10887327e-14,  4.21774654e-14,  1.00000000e+00,  8.89469295e-28,
        1.00000000e+00, -4.21774654e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10887327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03015701, -0.05928205,  0.06188329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00088937e-05,-6.06403104e-04,-1.79700636e-04, 8.69357431e-05,
  9.49459791e-06,-5.88765607e-04,-1.44594693e-04, 3.53067716e-05,
 -2.36199646e-05,-5.54199288e-06,-4.35356013e-05,-1.15664898e-04,
 -3.11282570e-05, 2.40886724e-05,-2.95424434e-05,-9.29623658e-05,
  1.65648074e-05, 1.45740539e-05,-1.21644599e+00, 1.58691593e-03,
  5.40009042e-04, 4.33069382e-05]


--- Step 1611 ---
qpos:
[-0.01066082, 1.32292755,-0.01817718, 0.94607873, 0.00427757, 1.32212812,
 -0.0300976 , 0.94343234, 0.01690905, 1.3359062 ,-0.0234547 , 0.95524482,
  1.33014375,-0.00257013, 1.09086143, 0.06376859,-0.00160391,-0.09781739,
  0.08162959, 0.53560838,-0.01062319,-0.00455964, 0.84438737]

qacc:
[ 3.78387491e-01,-6.50600828e+00, 1.48209023e+01,-1.56794967e+01,
  1.58175680e-02,-8.69854851e+00, 2.49164318e+01,-3.94247759e+01,
 -1.86120063e-01, 2.83494753e-01, 9.96221497e-01,-1.25428553e+01,
 -1.20203131e+00, 2.15695059e+00, 5.93302273e+00,-2.06539557e+01,
 -1.56298013e+00,-2.14063001e-01, 5.67153625e-01,-7.67979141e+01,
  1.46282142e+01, 1.04804165e+00]

qfrc_actuator:
[ 3.02583282e-03, 4.48171246e-02, 1.06401145e-02, 1.86027995e-03,
 -1.49175598e-05, 4.51653902e-02, 1.06647848e-02, 1.76402937e-03,
 -3.09159424e-03, 3.66066230e-02, 1.08723890e-02, 1.74096355e-03,
  2.38346461e-03,-1.55238003e-03, 0.00000000e+00,-2.41903758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.55463781, -8.61853548,  0.55463781, 46.19667552,
        2.41715882, -8.61853548,  2.41715882,  8.79191764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013300740522264318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08676920e-14,  4.15289691e-07,  1.00000000e+00,  8.66613734e-21,
        1.00000000e+00, -4.15289691e-07, -1.00000000e+00, -1.50463277e-36,
       -2.08676920e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04130027, -0.08282737,  0.06188214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08518315e-04,-5.87712295e-04,-1.41331381e-04,-4.71304974e-05,
  4.37710837e-06,-5.69158688e-04,-1.34408826e-04,-1.12610419e-04,
 -5.36195938e-05,-3.65164329e-05,-5.46290739e-05,-5.48382288e-05,
 -2.66108052e-05, 5.53402400e-05,-2.72285115e-05,-1.07476446e-04,
  5.70603196e-06, 1.74026837e-06,-1.21644107e+00, 1.58331818e-03,
  5.42132174e-04, 2.99034260e-05]


--- Step 1612 ---
qpos:
[-0.01066143, 1.32313365,-0.01817891, 0.94608149, 0.00427738, 1.32233856,
 -0.0300997 , 0.94343193, 0.01690834, 1.33594432,-0.02345426, 0.9552433 ,
  1.3302671 ,-0.00256812, 1.09105957, 0.06376114,-0.00160639,-0.09782184,
  0.08163145, 0.53564895,-0.01058808,-0.00469526, 0.84436133]

qacc:
[ 2.89146176e-01,-6.47604701e+00, 1.33077882e+01,-5.09603890e+00,
  6.92629173e-02,-7.16822415e+00, 1.70772576e+01,-1.67918077e+01,
 -6.74072587e-02,-3.96268977e+00, 1.55211782e+01,-3.23094478e+01,
 -3.71181753e-01, 7.12660628e-01, 4.62657522e-02,-7.36928450e-01,
 -9.23715686e-01,-1.38893446e+00,-8.88457090e-01,-6.57297167e+01,
 -5.66012407e+01,-2.96804546e+00]

qfrc_actuator:
[ 3.04489939e-03, 4.46224763e-02, 1.06737778e-02, 1.87942731e-03,
  2.23582809e-06, 4.49533300e-02, 1.06813889e-02, 1.74552544e-03,
 -3.07942452e-03, 3.65784802e-02, 1.08811623e-02, 1.65780082e-03,
  2.38105122e-03,-1.53760794e-03, 0.00000000e+00,-2.42034272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.0829621 ,  4.94150025, -7.0829621 , 10.29194568,
        2.37304953,  4.94150025,  2.37304953, 12.0378043 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013287096212027116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17782413e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17782413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0301482 , -0.05930845,  0.06188228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28802412e-05,-5.50222798e-04,-9.89158532e-05,-3.29802859e-06,
  1.97118240e-05,-5.58177615e-04,-1.13611070e-04,-4.18746850e-05,
 -1.94618883e-05,-6.08932676e-05,-6.21171803e-06,-8.70640609e-05,
 -4.72814154e-06, 2.26822034e-05,-2.81056187e-05,-1.15918057e-05,
  4.69463114e-07, 3.33306807e-07,-1.21644005e+00, 1.58407522e-03,
  5.44124441e-04, 3.11874378e-05]


--- Step 1613 ---
qpos:
[-0.01066154, 1.32333563,-0.01818095, 0.94608378, 0.00427738, 1.32254483,
 -0.03010152, 0.94343231, 0.01690789, 1.33598087,-0.02345297, 0.95524086,
  1.33039059,-0.00256692, 1.09125734, 0.06375502,-0.00161538,-0.09782276,
  0.08162552, 0.53568114,-0.01074415,-0.0048474 , 0.84433807]

qacc:
[  0.20927048, -5.40306854, 12.08720721,-13.52314185,  0.07670366,
  -4.89833166,  7.74803813,  5.02763456,  0.11037146, -5.95645281,
  18.78501948,-25.92541964,  0.81179352, -1.6313665 , -4.6212281 ,
  15.22269583, -1.62851104,  0.88313739, -1.94687711,-58.21154124,
  76.2604484 ,  4.64689168]

qfrc_actuator:
[ 3.05617273e-03, 4.44259675e-02, 1.06589231e-02, 1.85411249e-03,
  1.25053223e-05, 4.47801352e-02, 1.07098284e-02, 1.78809402e-03,
 -3.03623767e-03, 3.64401123e-02, 1.09038964e-02, 1.60950801e-03,
  2.36451894e-03,-1.60077402e-03, 0.00000000e+00,-2.34704468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.64714871, -8.22066789,  2.64714871, 77.81857927,
       22.2774616 , -8.22066789, 22.2774616 , 15.80996007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001323205022622509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09760205e-14, -4.19520409e-14,  1.00000000e+00, -8.79986868e-28,
        1.00000000e+00,  4.19520409e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09760205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532605 , -0.10801824,  0.06188275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99803392e-05,-5.21720268e-04,-1.33981068e-04,-4.43844058e-05,
  2.18645483e-05,-5.07004671e-04,-9.51794699e-05, 2.17710719e-05,
  3.17187235e-05,-1.76095963e-04, 7.54603408e-06,-5.22523084e-05,
 -1.43701414e-05,-5.82887841e-05,-1.68438352e-05, 6.84522320e-05,
  8.83177628e-07, 3.19418745e-06,-1.21644042e+00, 1.58100872e-03,
  5.45830480e-04, 3.40017566e-05]


--- Step 1614 ---
qpos:
[-0.01066145, 1.32353347,-0.01818343, 0.94608507, 0.00427738, 1.32274717,
 -0.03010342, 0.94343388, 0.01690766, 1.33601621,-0.0234521 , 0.95523893,
  1.33051392,-0.00256633, 1.09145477, 0.06375146,-0.00163058,-0.09782042,
  0.08161005, 0.53570565,-0.01108106,-0.00501491, 0.84431719]

qacc:
[ 8.39176758e-02,-5.99194437e+00, 1.50139388e+01,-2.20537246e+01,
  4.51081351e-03,-2.88745541e+00, 7.35341383e-01, 1.57435642e+01,
  9.34818339e-02, 4.30712741e-01,-4.34161264e+00, 1.04078434e+01,
  4.94697592e-01,-1.16249519e+00,-8.28456031e+00, 2.81429203e+01,
 -1.55100354e+00, 8.12756851e-01,-2.38276351e+00,-5.49627564e+01,
  7.21957926e+01, 4.23064411e+00]

qfrc_actuator:
[ 3.04493322e-03, 4.42119853e-02, 1.06332592e-02, 1.80279084e-03,
  8.09283095e-07, 4.45962150e-02, 1.07096968e-02, 1.84851795e-03,
 -3.02805408e-03, 3.63789220e-02, 1.08810042e-02, 1.63531926e-03,
  2.33949427e-03,-1.63866885e-03, 0.00000000e+00,-2.21265327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.79556965,  3.71697063, -7.79556965, 11.86315234,
        6.76751543,  3.71697063,  6.76751543, 22.82981392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013052768966486522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25282569e-14,  2.12641285e-14,  1.00000000e+00,  9.04326319e-28,
        1.00000000e+00, -2.12641285e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25282569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05330118, -0.10803032,  0.06188422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39737537e-05,-5.31478251e-04,-1.44417612e-04,-7.15357477e-05,
  1.16970716e-06,-4.83867129e-04,-1.09768417e-04, 4.31761821e-05,
  2.69243864e-05,-1.58895015e-04,-5.79954812e-05, 1.96506610e-05,
 -4.70436408e-05,-5.55900618e-05,-2.55599864e-06, 1.35478803e-04,
  6.82582546e-06, 1.99956508e-06,-1.21644303e+00, 1.58528722e-03,
  5.47013200e-04, 2.79778403e-05]


--- Step 1615 ---
qpos:
[-0.01066145, 1.32372707,-0.01818536, 0.94608569, 0.00427733, 1.32294571,
 -0.03010564, 0.94343618, 0.0169076 , 1.3360509 ,-0.02345267, 0.95523837,
  1.33063682,-0.00256567, 1.09165238, 0.06374752,-0.00164918,-0.09782373,
  0.08159025, 0.53573389,-0.01139424,-0.0053503 , 0.84429305]

qacc:
[-3.64801080e-02,-8.21856382e+00, 2.14748399e+01,-2.38123445e+01,
 -2.17365610e-02,-2.89246438e+00, 1.92396059e+00, 9.07833096e+00,
  7.19349090e-02, 5.39816625e+00,-2.13670071e+01, 3.46514899e+01,
 -4.15358706e-01, 4.83676386e-01, 1.47849023e+00,-4.71352781e+00,
 -8.50700246e-01,-1.41213453e+00,-1.08471063e+00,-6.45035584e+01,
 -5.49579194e+01,-3.43355638e+00]

qfrc_actuator:
[ 3.02028449e-03, 4.40247000e-02, 1.06723747e-02, 1.77207990e-03,
 -6.21543929e-06, 4.44072769e-02, 1.06926706e-02, 1.88342259e-03,
 -3.02318452e-03, 3.63643004e-02, 1.08139138e-02, 1.70452852e-03,
  2.32537445e-03,-1.62577132e-03, 0.00000000e+00,-2.23864902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012942587724535937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21677274e-14,  2.14451516e-14,  1.00000000e+00, -6.89841792e-28,
        1.00000000e+00, -2.14451516e-14, -1.00000000e+00,  0.00000000e+00,
        3.21677274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.030201  , -0.05925782,  0.06188507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06583048e-05,-5.12998045e-04,-8.35283941e-05,-5.21606125e-05,
 -6.35350634e-06,-4.78264179e-04,-1.23161921e-04, 1.84169799e-05,
  2.07798305e-05,-1.13474599e-04,-1.04176471e-04, 6.33124619e-05,
 -5.31328721e-05,-1.20307851e-05, 1.06592096e-05,-1.95113202e-05,
  1.56191511e-05,-9.12692633e-07,-1.21644828e+00, 1.58842573e-03,
  5.47842696e-04, 1.24308584e-05]


--- Step 1616 ---
qpos:
[-0.01066163, 1.32391689,-0.01818636, 0.94608451, 0.00427707, 1.32313985,
 -0.03010716, 0.9434375 , 0.01690766, 1.33608464,-0.0234538 , 0.95524069,
  1.33075928,-0.00256465, 1.09185026, 0.06374129,-0.00166381,-0.09782054,
  0.08157789, 0.5357625 ,-0.01174049,-0.00548744, 0.84426927]

qacc:
[-7.29875615e-02,-1.06226352e+01, 3.23253689e+01,-4.67716488e+01,
 -8.87962799e-02,-9.32125568e+00, 2.54266246e+01,-3.05839318e+01,
  5.24449208e-02, 5.22819627e+00,-2.43779972e+01, 5.50124707e+01,
 -7.62782712e-01, 1.15496004e+00, 7.32659372e+00,-2.49267241e+01,
  9.90839934e-01, 1.62756927e+00, 1.86123554e+00, 7.48339950e+01,
  6.70607834e+01, 1.15607365e+00]

qfrc_actuator:
[ 3.00554828e-03, 4.38729272e-02, 1.07317856e-02, 1.68279166e-03,
 -2.81321996e-05, 4.41635211e-02, 1.07190414e-02, 1.83200480e-03,
 -3.02034128e-03, 3.63242837e-02, 1.07925043e-02, 1.85197668e-03,
  2.31250095e-03,-1.60058871e-03, 0.00000000e+00,-2.35894901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013055467023744827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.2519468e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.2519468e-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([-0.02766966, -0.13097857,  0.06188403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11589733e-05,-4.54757555e-04,-5.21130412e-05,-1.07953304e-04,
 -2.56788840e-05,-5.33317683e-04,-8.09130229e-05,-6.87084383e-05,
  1.51270384e-05,-1.21470284e-04,-5.35923023e-05, 1.42560456e-04,
 -4.50801554e-05, 9.73400718e-06,-2.33681023e-06,-1.21161919e-04,
  3.02639926e-05, 8.77263928e-06,-1.21645130e+00, 1.58672293e-03,
  5.49166344e-04, 2.11202926e-05]


--- Step 1617 ---
qpos:
[-0.01066212, 1.32410333,-0.01818717, 0.9460833 , 0.00427644, 1.32332917,
 -0.03010756, 0.94343787, 0.01690767, 1.33611801,-0.02345483, 0.95524364,
  1.3308813 ,-0.00256309, 1.09204756, 0.06373803,-0.00167485,-0.09781125,
  0.08156955, 0.5357917 ,-0.01211714,-0.00544123, 0.84424571]

qacc:
[-1.35390143e-01,-5.00309327e+00, 1.10324886e+01,-7.78123053e+00,
 -1.58850773e-01,-1.10075216e+01, 3.02455355e+01,-3.42633827e+01,
 -2.49463237e-02, 3.39252881e-01,-2.93910765e+00, 9.98031459e+00,
 -5.22106691e-01, 9.36933864e-01,-9.73726705e+00, 3.29279105e+01,
  8.99510952e-01, 1.52152700e+00, 1.00331233e+00, 6.92644053e+01,
  6.19518752e+01, 9.69898384e-01]

qfrc_actuator:
[ 2.97912803e-03, 4.37259695e-02, 1.07495319e-02, 1.68403433e-03,
 -5.88047915e-05, 4.39067533e-02, 1.07705641e-02, 1.78345737e-03,
 -3.03648829e-03, 3.63583672e-02, 1.08159505e-02, 1.88452532e-03,
  2.30039260e-03,-1.56834881e-03, 0.00000000e+00,-2.19648831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.25916733,   5.95059671,   6.25916733,
        25.71047582, -17.95949726,   5.95059671, -17.95949726,
        27.52715797,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013332758721210022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56131841e-14,  8.32703155e-14,  1.00000000e+00,  1.30011477e-27,
        1.00000000e+00, -8.32703155e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56131841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02763824, -0.13093309,  0.06188165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90294208e-05,-4.13229096e-04,-8.04585945e-05,-1.60686494e-05,
 -4.58261777e-05,-5.71111011e-04,-6.42750483e-05,-6.82801043e-05,
 -7.20190667e-06,-3.95548835e-05,-2.22464271e-06, 3.07507474e-05,
 -3.51015783e-05, 2.43016211e-05,-1.94916975e-05, 1.54301143e-04,
  1.36887260e-05,-1.72876608e-06,-1.21644848e+00, 1.59027713e-03,
  5.47795609e-04, 1.31777586e-05]


--- Step 1618 ---
qpos:
[-0.0106625 , 1.32428661,-0.01818879, 0.94608389, 0.00427558, 1.32351422,
 -0.03010839, 0.94343873, 0.01690756, 1.33615091,-0.02345607, 0.95524595,
  1.33100297,-0.00256093, 1.09224461, 0.06373735,-0.00168259,-0.09779624,
  0.08156233, 0.53582159,-0.01252199,-0.00522399, 0.84422221]

qacc:
[ 5.12007516e-02, 1.15840467e+00,-1.24242038e+01, 3.35082602e+01,
 -9.42945547e-02,-3.58286395e+00, 3.89919005e+00, 5.01486424e+00,
 -4.81471612e-02,-1.14727940e+00, 4.28467708e+00,-1.08210607e+01,
 -5.51747922e-01, 1.05980484e+00,-8.13788006e+00, 2.80567918e+01,
  8.24470821e-01, 1.43272792e+00, 2.81127055e-01, 6.46394550e+01,
  5.77230670e+01, 8.38514992e-01]

qfrc_actuator:
[ 3.01692391e-03, 4.35652397e-02, 1.07071257e-02, 1.77403689e-03,
 -5.89760195e-05, 4.36976024e-02, 1.07476951e-02, 1.80801101e-03,
 -3.04614344e-03, 3.63124289e-02, 1.07948673e-02, 1.84924171e-03,
  2.29408404e-03,-1.53219272e-03, 0.00000000e+00,-2.06397451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.30986578,   5.89681022,   6.30986578,
        28.3239512 , -21.06664965,   5.89681022, -21.06664965,
        31.17867494,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001340902194381946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65731545e-14,  8.27967192e-14,  1.00000000e+00,  3.85610440e-27,
        1.00000000e+00, -8.27967192e-14, -1.00000000e+00,  0.00000000e+00,
       -4.65731545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02763062, -0.13091888,  0.06188097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46539480e-05,-4.06811766e-04,-1.33015061e-04, 7.52233893e-05,
 -2.72010594e-05,-5.41100083e-04,-1.44149874e-04, 4.17657100e-06,
 -1.38890708e-05,-6.75569934e-05,-2.81907061e-05,-3.57547965e-05,
 -1.99840899e-05, 3.40109473e-05, 5.60058150e-06, 1.38034377e-04,
  2.80935646e-06,-1.03005673e-06,-1.21644935e+00, 1.59368186e-03,
  5.45985302e-04, 1.75523437e-05]


--- Step 1619 ---
qpos:
[-0.01066247, 1.32446653,-0.01819109, 0.94608453, 0.00427474, 1.32369507,
 -0.03011014, 0.94344059, 0.01690734, 1.33618293,-0.02345767, 0.95524786,
  1.33112459,-0.00255888, 1.09244151, 0.06373927,-0.00168459,-0.09778474,
  0.08156361, 0.53584982,-0.01275086,-0.0049964 , 0.84420224]

qacc:
[ 1.70872343e-01,-2.49316324e+00, 2.70570239e+00, 3.46175457e-01,
  7.57619306e-03,-1.32025744e+00,-4.42608457e+00, 1.81238487e+01,
 -4.80403607e-02,-8.75195389e-01, 2.26738215e+00,-5.98770968e+00,
  2.06501041e-01,-3.85676847e-01,-8.06295108e+00, 2.78358548e+01,
  1.43425872e+00,-8.78425314e-01, 2.12488097e+00, 5.15149719e+01,
 -7.15353472e+01, 1.25412867e+00]

qfrc_actuator:
[ 3.05743162e-03, 4.33796334e-02, 1.06650641e-02, 1.77347205e-03,
 -4.08490051e-05, 4.34829037e-02, 1.06990652e-02, 1.85760942e-03,
 -3.05182511e-03, 3.62364849e-02, 1.07650922e-02, 1.82753383e-03,
  2.28593752e-03,-1.54723458e-03, 0.00000000e+00,-1.93249366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013549472190525491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04846176e-14,  2.04846176e-14,  1.00000000e+00,  4.19619557e-28,
        1.00000000e+00, -2.04846176e-14, -1.00000000e+00,  0.00000000e+00,
       -2.04846176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280063, -0.08922143,  0.06187976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.90184863e-05,-4.35662807e-04,-1.34708025e-04,-1.45809692e-05,
  2.07483489e-06,-5.43457505e-04,-1.70997401e-04, 2.94550820e-05,
 -1.38643441e-05,-1.20085746e-04,-4.72479879e-05,-2.53178768e-05,
 -1.09599997e-05,-1.13254599e-05, 1.40324723e-05, 1.39005564e-04,
 -3.45894538e-06, 8.62662264e-06,-1.21645319e+00, 1.59696835e-03,
  5.43790534e-04, 3.18087474e-05]


--- Step 1620 ---
qpos:
[-0.0106623 , 1.3246427 ,-0.01819344, 0.94608517, 0.004274  , 1.32387175,
 -0.03011198, 0.94344334, 0.01690717, 1.33621376,-0.0234586 , 0.95524878,
  1.33124637,-0.00255756, 1.09263821, 0.06374442,-0.00168119,-0.09777647,
  0.08157017, 0.53587662,-0.01281577,-0.00475926, 0.84418561]

qacc:
[ 6.07115841e-02,-4.77412278e+00, 9.64004888e+00,-6.12149665e+00,
  4.36647760e-02,-3.73397886e+00, 3.76777183e+00, 9.58607931e+00,
  2.22143653e-02,-5.10104401e+00, 1.67312778e+01,-2.51712688e+01,
  8.68635194e-01,-1.64630061e+00,-1.01392280e+01, 3.48805993e+01,
  1.34989080e+00,-8.06994870e-01, 1.32023745e+00, 4.79632482e+01,
 -6.66761086e+01, 1.14522113e+00]

qfrc_actuator:
[ 3.04597825e-03, 4.31805635e-02, 1.06589035e-02, 1.77284490e-03,
 -2.96468890e-05, 4.33020223e-02, 1.07066469e-02, 1.90377443e-03,
 -3.03732480e-03, 3.61786333e-02, 1.08013372e-02, 1.77847677e-03,
  2.28732585e-03,-1.59251640e-03, 0.00000000e+00,-1.76716147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.17388804, -6.91503141,  5.17388804, 47.6956745 ,
       29.22452397, -6.91503141, 29.22452397, 30.50241253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013640952061955355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06944845e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.06944845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0327862 , -0.08922297,  0.061879  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73206698e-05,-4.68061918e-04,-1.07276139e-04,-1.76433744e-05,
  1.24048406e-05,-5.15400383e-04,-1.17552599e-04, 2.57438036e-05,
  6.32984408e-06,-1.34447626e-04, 6.65478366e-06,-5.45394963e-05,
 -7.11449060e-06,-5.07667725e-05, 1.79549000e-05, 1.73952186e-04,
 -1.28707987e-06, 9.30249115e-06,-1.21644673e+00, 1.59221551e-03,
  5.42078840e-04, 4.45981401e-05]


--- Step 1621 ---
qpos:
[-0.0106624 , 1.32481515,-0.01819619, 0.9460865 , 0.00427338, 1.32404455,
 -0.03011381, 0.94344555, 0.0169071 , 1.33624382,-0.02345838, 0.9552487 ,
  1.33136822,-0.00255678, 1.09283474, 0.0637532 ,-0.00167626,-0.09777342,
  0.08158475, 0.53590543,-0.01276558,-0.0046103 , 0.84416891]

qacc:
[-1.12513350e-01,-2.61834959e+00, 1.24105052e+00, 9.28468618e+00,
  5.00871406e-02,-6.02100361e+00, 1.45708740e+01,-1.63334322e+01,
  4.35919181e-02,-5.82310128e+00, 1.97960208e+01,-2.82489764e+01,
  6.83363896e-01,-1.30999917e+00,-1.12494631e+01, 3.88531169e+01,
  3.83722732e-01,-1.30573468e+00, 2.00299296e+00,-6.36734191e+00,
 -7.22018619e+01,-1.70599549e+00]

qfrc_actuator:
[ 3.00344732e-03, 4.29929068e-02, 1.06384339e-02, 1.80772081e-03,
 -2.26914824e-05, 4.31253169e-02, 1.07119793e-02, 1.87658858e-03,
 -3.02858798e-03, 3.61855661e-02, 1.08763071e-02, 1.73151502e-03,
  2.28909152e-03,-1.61978251e-03, 0.00000000e+00,-1.58320322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013585807787043214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08596619e-14,  6.12894928e-14,  1.00000000e+00,  2.50426795e-27,
        1.00000000e+00, -6.12894928e-14, -1.00000000e+00,  0.00000000e+00,
       -4.08596619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00649397, -0.07667351,  0.06187949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24445388e-05,-4.69270329e-04,-1.24878386e-04, 1.76262314e-05,
  1.42479536e-05,-4.85326194e-04,-1.08332940e-04,-4.52872468e-05,
  1.24871397e-05,-6.79373535e-05, 4.78448215e-05,-5.19747311e-05,
 -1.38539198e-05,-4.17151073e-05, 2.38953359e-05, 1.95062754e-04,
  3.18940945e-06, 8.64280964e-06,-1.21644356e+00, 1.58851954e-03,
  5.41035239e-04, 4.75972896e-05]


--- Step 1622 ---
qpos:
[-0.01066286, 1.32498433,-0.01819961, 0.94608719, 0.00427301, 1.3242138 ,
 -0.0301157 , 0.94344671, 0.01690699, 1.3362744 ,-0.02345832, 0.95524698,
  1.33148979,-0.00255602, 1.09303188, 0.06375977,-0.00166982,-0.09777531,
  0.08160461, 0.53593622,-0.01260703,-0.00454444, 0.84415211]

qacc:
[-1.54765536e-01,-3.60533352e+00, 7.89358212e+00,-1.23494886e+01,
  1.06575113e-01,-6.27780987e+00, 1.70336689e+01,-2.47940741e+01,
 -1.79351372e-02,-1.71813388e+00, 9.71666921e+00,-2.76768100e+01,
 -3.65338229e-01, 4.09775053e-01, 7.56287938e+00,-2.50940536e+01,
  3.76319625e-01,-1.23643783e+00, 1.32224238e+00,-6.03271638e+00,
 -6.79973298e+01,-1.63972259e+00]

qfrc_actuator:
[ 2.97812652e-03, 4.28490677e-02, 1.06097314e-02, 1.77443651e-03,
 -5.87463923e-07, 4.29702587e-02, 1.07159075e-02, 1.82420328e-03,
 -3.04113307e-03, 3.62669210e-02, 1.08850099e-02, 1.65071444e-03,
  2.26978403e-03,-1.61836672e-03, 0.00000000e+00,-1.70929690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.65899516,  -7.82294901,  -3.65899516,
        63.24874897, -25.54362218,  -7.82294901, -25.54362218,
        20.58377501,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013471480516755313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03016055e-14,  4.12064221e-14,  1.00000000e+00, -4.24492305e-28,
        1.00000000e+00, -4.12064221e-14, -1.00000000e+00,  0.00000000e+00,
        1.03016055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00649555, -0.07666298,  0.06188052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45751225e-05,-4.28483459e-04,-1.34308147e-04,-5.02728021e-05,
  3.04845953e-05,-4.47347420e-04,-1.04884371e-04,-7.09651680e-05,
 -5.15767771e-06, 5.13863248e-05,-6.79968855e-07,-8.25800337e-05,
 -3.63665228e-05,-1.24275329e-05, 2.86222905e-05,-1.13135747e-04,
  3.57059571e-06, 2.56814210e-06,-1.21644108e+00, 1.58554371e-03,
  5.41299796e-04, 3.97818080e-05]


--- Step 1623 ---
qpos:
[-0.01066337, 1.32515017,-0.01820312, 0.94608745, 0.00427289, 1.32437995,
 -0.03011776, 0.94344686, 0.01690694, 1.33630556,-0.02345951, 0.95524642,
  1.33161089,-0.00255494, 1.09322981, 0.06375948,-0.00166676,-0.09778245,
  0.08161953, 0.53597028,-0.01242488,-0.00464383, 0.84413264]

qacc:
[-1.93841307e-02,-4.87900320e+00, 1.15145044e+01,-1.29104339e+01,
  1.09037973e-01,-5.35613477e+00, 1.46449286e+01,-2.25049429e+01,
  2.49537451e-02, 6.13053019e+00,-2.14074038e+01, 3.16433682e+01,
 -1.05938702e+00, 1.54562822e+00, 2.19906742e+01,-7.50509577e+01,
 -8.44382913e-01,-1.31176915e+00,-1.23484428e+00,-6.34084913e+01,
 -5.42224117e+01,-3.19373398e+00]

qfrc_actuator:
[ 2.99884300e-03, 4.26970590e-02, 1.06120367e-02, 1.75458031e-03,
  1.26728881e-05, 4.28471546e-02, 1.07190636e-02, 1.77518920e-03,
 -3.03083834e-03, 3.62854443e-02, 1.08192979e-02, 1.71042562e-03,
  2.24318604e-03,-1.60006075e-03, 0.00000000e+00,-2.07030645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.10149841,  2.99207291,  8.10149841,  8.75137242,
       -0.31140401,  2.99207291, -0.31140401,  9.47953797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013286027475818626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35632040e-14,  4.17816020e-14,  1.00000000e+00,  3.49140453e-27,
        1.00000000e+00, -4.17816020e-14, -1.00000000e+00,  0.00000000e+00,
       -8.35632040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03017795, -0.05933714,  0.06188217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.68732179e-06,-4.17937161e-04,-9.83971177e-05,-3.74924901e-05,
  3.12135868e-05,-3.94455801e-04,-9.85846902e-05,-6.69530063e-05,
  7.27016039e-06, 4.41498519e-05,-5.82059335e-05, 5.93312938e-05,
 -4.96704321e-05, 6.72238459e-06,-5.75958122e-06,-3.65120107e-04,
  3.00750822e-06,-6.47972494e-07,-1.21644056e+00, 1.58273532e-03,
  5.41656777e-04, 3.30527390e-05]


--- Step 1624 ---
qpos:
[-0.01066351, 1.32531225,-0.01820591, 0.94608885, 0.0042727 , 1.32454304,
 -0.03012007, 0.94344504, 0.01690713, 1.33633671,-0.02346155, 0.95524662,
  1.33173163,-0.00255365, 1.09342722, 0.06375889,-0.00166685,-0.09779466,
  0.08162775, 0.53600765,-0.01222056,-0.00490003, 0.84411045]

qacc:
[ 1.56004595e-01,-4.91792536e+00, 7.75300996e+00, 8.77666218e+00,
 -3.19094446e-02,-6.71147717e+00, 2.10800453e+01,-3.91507803e+01,
  9.77830115e-02, 3.59665775e+00,-1.32758352e+01, 2.02166260e+01,
 -4.28415504e-01, 6.08700309e-01, 1.48133388e-01,-1.56985097e+00,
 -7.88812984e-01,-1.26498915e+00,-1.67565697e+00,-6.02244868e+01,
 -5.13548557e+01,-3.14889584e+00]

qfrc_actuator:
[ 3.04700893e-03, 4.25060069e-02, 1.06503820e-02, 1.81382843e-03,
 -1.49844007e-05, 4.26909373e-02, 1.07041281e-02, 1.67531941e-03,
 -3.00692463e-03, 3.62482357e-02, 1.07633352e-02, 1.74577523e-03,
  2.22821820e-03,-1.58970892e-03, 0.00000000e+00,-2.06964035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.19278075,  -4.78023868,  -7.19278075,
        15.79051346, -10.76478279,  -4.78023868, -10.76478279,
        24.83403234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013056128879139067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50346251e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.50346251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03021267, -0.05929967,  0.06188417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46947122e-05,-4.43722397e-04,-5.58268748e-05, 4.32731270e-05,
 -9.27185501e-06,-3.96934162e-04,-1.05491777e-04,-1.15946992e-04,
  2.82256036e-05,-2.26147798e-05,-5.22522580e-05, 3.63762119e-05,
 -4.17405235e-05, 8.58539519e-07,-4.93352640e-05,-2.18127544e-05,
 -1.08749259e-06, 1.68422818e-06,-1.21644078e+00, 1.58016737e-03,
  5.42964838e-04, 3.58779165e-05]


--- Step 1625 ---
qpos:
[-0.01066334, 1.32547084,-0.01820886, 0.94609098, 0.00427219, 1.32470268,
 -0.03012225, 0.94344448, 0.01690741, 1.33636692,-0.02346324, 0.95524587,
  1.33185232,-0.00255281, 1.09362383, 0.06376225,-0.00166528,-0.09781183,
  0.08163863, 0.53604691,-0.01191496,-0.00523427, 0.84408788]

qacc:
[ 1.29847376e-01,-2.88854897e+00, 2.44507984e+00, 8.38630599e+00,
 -1.37812737e-01,-2.75683998e+00, 9.35712310e-01, 1.59135549e+01,
  4.55020154e-02,-3.79123884e+00, 1.27847831e+01,-2.13455468e+01,
  5.79058866e-01,-1.14086824e+00,-1.31384614e+01, 4.41384229e+01,
  4.16874094e-01,-1.24144981e+00, 6.64648361e-01,-5.78434626e+00,
 -6.36513634e+01,-1.62516392e+00]

qfrc_actuator:
[ 3.05799174e-03, 4.23288107e-02, 1.06385683e-02, 1.84813085e-03,
 -4.92098849e-05, 4.25160572e-02, 1.07139928e-02, 1.74157197e-03,
 -3.01054032e-03, 3.61602071e-02, 1.07665958e-02, 1.69544295e-03,
  2.22556238e-03,-1.61964253e-03, 0.00000000e+00,-1.85579664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012768643638206706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.34745873e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.34745873e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00651229, -0.07659652,  0.06188662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72221536e-05,-4.33371009e-04,-1.03795589e-04, 2.06857966e-05,
 -3.97053531e-05,-4.19774169e-04,-8.33980420e-05, 4.87554002e-05,
  1.30652384e-05,-1.09868713e-04,-6.05984235e-06,-5.16431597e-05,
 -2.62456150e-05,-3.91176036e-05,-2.69894193e-05, 2.05865687e-04,
 -1.62729936e-06, 1.13761200e-05,-1.21644336e+00, 1.57740003e-03,
  5.44320282e-04, 4.64556831e-05]


--- Step 1626 ---
qpos:
[-0.01066353, 1.32562627,-0.01821175, 0.94609277, 0.00427146, 1.32485889,
 -0.03012433, 0.94344575, 0.0169076 , 1.33639616,-0.02346457, 0.95524523,
  1.33197302,-0.00255286, 1.09382106, 0.06376138,-0.00166002,-0.09782325,
  0.08165096, 0.53608609,-0.01163861,-0.00539556, 0.84406583]

qacc:
[-1.48585441e-01,-4.90131777e+00, 1.16600616e+01,-1.20494239e+01,
 -8.94337776e-02,-1.61319089e+00,-3.95493837e+00, 2.69099325e+01,
 -4.27673899e-02,-2.10193641e+00, 5.11648067e+00,-2.70376703e+00,
  3.75878953e-01,-1.10635515e+00, 1.36281629e+01,-4.64372409e+01,
  9.21226176e-01, 1.43655841e+00, 3.62260922e-01, 6.51509142e+01,
  5.86938496e+01, 1.27883092e+00]

qfrc_actuator:
[ 2.99332128e-03, 4.21966493e-02, 1.06505065e-02, 1.83192285e-03,
 -5.15908899e-05, 4.23493475e-02, 1.07207002e-02, 1.83405479e-03,
 -3.03064201e-03, 3.61136133e-02, 1.07867705e-02, 1.70161026e-03,
  2.21430133e-03,-1.67316345e-03, 0.00000000e+00,-2.08625345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012518609644740428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10857261e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10857261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02776397, -0.13104751,  0.06188877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28340435e-05,-3.92633349e-04,-8.41427401e-05,-3.14561466e-05,
 -2.58033537e-05,-4.14933425e-04,-8.36702892e-05, 7.87626186e-05,
 -1.23742517e-05,-1.10266193e-04,-3.51167882e-06, 1.57323702e-06,
 -3.50749370e-05,-6.93728904e-05, 9.02512959e-06,-2.22809949e-04,
 -4.06391286e-06, 1.94379582e-05,-1.21644717e+00, 1.57441362e-03,
  5.44758177e-04, 5.10672643e-05]


--- Step 1627 ---
qpos:
[-0.0106638 , 1.32577855,-0.01821336, 0.9460943 , 0.0042706 , 1.32501221,
 -0.03012675, 0.94344672, 0.01690763, 1.33642513,-0.02346599, 0.955246  ,
  1.33209337,-0.00255299, 1.09401859, 0.06375578,-0.0016514 ,-0.09782921,
  0.08166231, 0.53612557,-0.01138938,-0.00539433, 0.84404417]

qacc:
[-3.63902301e-02,-8.03865780e+00, 2.17956960e+01,-2.01951599e+01,
 -5.62185267e-02,-3.40638951e+00, 7.16085867e+00,-7.92710386e+00,
 -6.72017295e-02, 2.34792557e+00,-1.09479141e+01, 2.60502408e+01,
 -5.23181503e-01, 5.57172032e-01, 1.47626968e+01,-5.09439449e+01,
  8.42037004e-01, 1.36468744e+00,-2.44906402e-01, 6.13230163e+01,
  5.50058924e+01, 9.97289385e-01]

qfrc_actuator:
[ 3.00806191e-03, 4.20748300e-02, 1.07297971e-02, 1.82167905e-03,
 -5.26017145e-05, 4.22244006e-02, 1.07077477e-02, 1.81692232e-03,
 -3.04271711e-03, 3.61455544e-02, 1.07991844e-02, 1.77652039e-03,
  2.19787248e-03,-1.66922459e-03, 0.00000000e+00,-2.32816259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.09722335,  6.97173515,  5.09722335, 22.20089449,
       -9.91739388,  6.97173515, -9.91739388, 15.88723743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012514824205468178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54453965e-15,  8.87126344e-14,  1.00000000e+00,  4.91870719e-28,
        1.00000000e+00, -8.87126344e-14, -1.00000000e+00,  0.00000000e+00,
       -5.54453965e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02776861, -0.13104721,  0.06188886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06290529e-05,-3.57452745e-04,-8.12142919e-06,-2.49179118e-05,
 -1.62381605e-05,-3.69614356e-04,-1.01526966e-04,-3.00216337e-05,
 -1.93672670e-05,-2.98717547e-05,-9.50230031e-06, 7.16169190e-05,
 -5.27454903e-05,-2.13002000e-05,-2.61019648e-05,-2.54445039e-04,
 -2.67751401e-06, 4.44098449e-06,-1.21644267e+00, 1.57711540e-03,
  5.44039136e-04, 3.23682865e-05]


--- Step 1628 ---
qpos:
[-0.0106639 , 1.32592792,-0.01821468, 0.94609641, 0.00426951, 1.325163  ,
 -0.03012949, 0.9434471 , 0.01690765, 1.33645391,-0.02346704, 0.95524799,
  1.33221356,-0.00255366, 1.0942153 , 0.06375264,-0.00163966,-0.09782996,
  0.08167064, 0.53616558,-0.01116552,-0.00523921, 0.84402272]

qacc:
[ 7.12669433e-02,-3.62411846e+00, 6.01506054e+00, 3.36732070e+00,
 -9.55240875e-02,-3.44310044e+00, 8.43866253e+00,-1.25411821e+01,
 -2.82403955e-03, 8.22278668e-01,-5.41787251e+00, 1.87124186e+01,
  4.77037105e-01,-1.08958703e+00,-8.70980353e+00, 2.86155274e+01,
  7.77632862e-01, 1.30464227e+00,-7.54446154e-01, 5.81490052e+01,
  5.19576244e+01, 7.79826822e-01]

qfrc_actuator:
[ 3.03482016e-03, 4.19249620e-02, 1.07417527e-02, 1.85058947e-03,
 -7.05369420e-05, 4.21253424e-02, 1.07011441e-02, 1.78868566e-03,
 -3.03212576e-03, 3.61532945e-02, 1.08250089e-02, 1.83805491e-03,
  2.18902787e-03,-1.70226928e-03, 0.00000000e+00,-2.18418267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.18078693,   6.90986423,   5.18078693,
        24.69591911, -12.04092184,   6.90986423, -12.04092184,
        17.66424731,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012378237961964828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24228809e-14,  8.96915238e-14,  1.00000000e+00,  2.01114236e-27,
        1.00000000e+00, -8.96915238e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24228809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02778846, -0.13106737,  0.06189006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03831178e-05,-3.50968456e-04,-5.97292308e-05, 1.76674969e-05,
 -2.75217627e-05,-3.25400536e-04,-9.15327764e-05,-4.28140766e-05,
 -8.27125559e-07,-8.70759570e-06, 2.09787864e-05, 6.20786739e-05,
 -4.39378581e-05,-5.02358356e-05,-4.45723390e-05, 1.25484427e-04,
  2.07748933e-06,-1.54557832e-06,-1.21644113e+00, 1.57956307e-03,
  5.42972862e-04, 2.38041149e-05]


--- Step 1629 ---
qpos:
[-0.01066407, 1.32607402,-0.01821533, 0.94609818, 0.0042685 , 1.32531071,
 -0.03013185, 0.94344785, 0.01690758, 1.33648205,-0.02346702, 0.95525173,
  1.3323335 ,-0.0025545 , 1.09441189, 0.06374984,-0.00162503,-0.09782569,
  0.08167424, 0.53620625,-0.01096558,-0.00493734, 0.84400133]

qacc:
[-2.59022040e-02,-6.68194167e+00, 1.73237320e+01,-1.70666323e+01,
  3.20030944e-02,-4.45470180e+00, 8.88026973e+00,-1.50336090e+00,
 -4.10150615e-02,-6.57637533e-01,-2.40055473e+00, 2.27684085e+01,
 -4.67614673e-02,-1.35761740e-01,-1.15772369e+00, 3.78803596e+00,
  7.25098985e-01, 1.25445361e+00,-1.18167624e+00, 5.55217103e+01,
  4.94407880e+01, 6.13341565e-01]

qfrc_actuator:
[ 3.01531144e-03, 4.17415372e-02, 1.07670229e-02, 1.83123119e-03,
 -4.52230589e-05, 4.19538455e-02, 1.07162252e-02, 1.80744863e-03,
 -3.04352822e-03, 3.61110419e-02, 1.08762064e-02, 1.92671712e-03,
  2.18472824e-03,-1.70374510e-03, 0.00000000e+00,-2.16903525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.22109386,   6.87945897,   5.22109386,
        27.78345891, -14.5314889 ,   6.87945897, -14.5314889 ,
        19.66488607,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012136795377392928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.14757965e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.14757965e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02782019, -0.1311035 ,  0.06189213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.59267859e-06,-3.89734457e-04,-4.97675597e-05,-3.09395631e-05,
  9.07649227e-06,-3.71791829e-04,-6.04338556e-05, 5.50642902e-06,
 -1.18747307e-05,-4.13236447e-05, 5.36711900e-05, 9.05048019e-05,
 -4.08254637e-05,-2.40893442e-05,-7.59845188e-06, 1.61754160e-05,
  9.69324107e-06, 1.73131367e-08,-1.21644208e+00, 1.58185983e-03,
  5.41568869e-04, 2.37494702e-05]


--- Step 1630 ---
qpos:
[-0.01066423, 1.32621696,-0.0182154 , 0.94610005, 0.00426766, 1.32545483,
 -0.03013322, 0.94344952, 0.01690739, 1.33650919,-0.02346646, 0.9552576 ,
  1.33245303,-0.00255489, 1.09460857, 0.06374588,-0.00161468,-0.09782731,
  0.08167788, 0.53624948,-0.01073709,-0.00482569, 0.84397744]

qacc:
[ 5.92278412e-03,-5.56901891e+00, 1.29700889e+01,-8.23070005e+00,
  7.32322160e-02,-5.79780762e+00, 1.13242961e+01, 3.17903226e+00,
 -4.75546678e-02, 8.54404907e-01,-8.65641354e+00, 3.26681908e+01,
 -7.30867985e-01, 1.18880532e+00, 3.67382697e+00,-1.25231229e+01,
 -1.07141463e+00,-1.47465913e+00, 9.29458463e-03,-7.26115550e+01,
 -6.30261649e+01,-2.86047870e+00]

qfrc_actuator:
[ 3.02146293e-03, 4.15927585e-02, 1.07998041e-02, 1.83686625e-03,
 -2.96751485e-05, 4.17582130e-02, 1.07614950e-02, 1.85369253e-03,
 -3.05028116e-03, 3.60215557e-02, 1.08885318e-02, 2.03061826e-03,
  2.17784434e-03,-1.66868748e-03, 0.00000000e+00,-2.23002852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012390996135846072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59994840e-14, -2.23997936e-14,  1.00000000e+00, -1.25437689e-27,
        1.00000000e+00,  2.23997936e-14, -1.00000000e+00,  0.00000000e+00,
       -5.59994840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03032769, -0.0592022 ,  0.06189001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56962553e-06,-3.76007366e-04,-5.01258583e-05,-7.93986857e-06,
  2.08853347e-05,-4.14028149e-04,-3.43592274e-05, 3.36217253e-05,
 -1.37493453e-05,-9.93618008e-05, 1.29788863e-05, 1.06399194e-04,
 -3.53006772e-05, 1.96051368e-05,-5.38997595e-06,-6.19098240e-05,
  1.97982983e-05, 8.05012225e-06,-1.21644519e+00, 1.58407514e-03,
  5.39838287e-04, 3.10053333e-05]


--- Step 1631 ---
qpos:
[-0.01066449, 1.32635723,-0.01821615, 0.94610269, 0.00426686, 1.32559603,
 -0.03013417, 0.94345033, 0.01690754, 1.3365352 ,-0.02346604, 0.95526231,
  1.33257252,-0.00255569, 1.09480497, 0.06374288,-0.00161177,-0.09782485,
  0.08167688, 0.53628309,-0.01071868,-0.0047324 , 0.84395685]

qacc:
[-4.56485028e-02,-3.33471194e-01,-4.69256509e+00, 1.46485557e+01,
  1.47143208e-02,-6.42893094e+00, 1.81284302e+01,-2.39330456e+01,
  1.43202147e-01,-3.07926899e+00, 1.06138935e+01,-2.19657123e+01,
  3.49854846e-01,-7.87270778e-01,-3.34649840e+00, 1.10373379e+01,
 -1.86106422e+00, 1.02308699e+00,-1.15942783e+00,-6.41167863e+01,
  8.36863633e+01, 5.35394941e+00]

qfrc_actuator:
[ 3.00745493e-03, 4.14659654e-02, 1.07658911e-02, 1.87494586e-03,
 -3.78663176e-05, 4.16385943e-02, 1.07886097e-02, 1.80920318e-03,
 -3.00093227e-03, 3.59221045e-02, 1.08598613e-02, 1.96506335e-03,
  2.16943293e-03,-1.70103353e-03, 0.00000000e+00,-2.17558491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.0423218 , -8.39140623,  2.0423218 , 86.32378488,
       18.90776223, -8.39140623, 18.90776223, 13.23818291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012546823076635266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42431928e-14,  8.84863856e-14,  1.00000000e+00,  3.91492022e-27,
        1.00000000e+00, -8.84863856e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42431928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341609, -0.1081359 ,  0.06188872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31839164e-05,-3.45791964e-04,-1.13498205e-04, 2.54334307e-05,
  4.10696310e-06,-3.55404873e-04,-5.69795587e-05,-5.69670452e-05,
  4.12428823e-05,-1.48887634e-04,-4.35065549e-05,-6.55937996e-05,
 -2.35800822e-05,-3.55138804e-05,-1.37796733e-05, 4.93060711e-05,
  7.19093597e-06,-1.09795490e-06,-1.21644141e+00, 1.58033636e-03,
  5.41947282e-04, 2.19270019e-05]


--- Step 1632 ---
qpos:
[-0.01066503, 1.32649501,-0.01821773, 0.9461068 , 0.00426618, 1.32573467,
 -0.03013546, 0.94344923, 0.01690813, 1.33656077,-0.02346682, 0.95526654,
  1.33269179,-0.00255657, 1.09500105, 0.06374219,-0.00161489,-0.09782333,
  0.08167671, 0.53631381,-0.01080426,-0.00474914, 0.84393614]

qacc:
[-1.17611419e-01, 1.54878713e+00,-1.19950309e+01, 2.90179150e+01,
  5.43979106e-02,-5.72801229e+00, 1.85483860e+01,-3.66219052e+01,
  1.86194481e-01, 1.81946813e+00,-5.68432208e+00,-3.09600166e-01,
  5.17503432e-02,-2.00814273e-01,-7.47977735e+00, 2.54591620e+01,
 -1.50756748e+00,-2.36961501e-01, 2.06437828e-01,-7.43334742e+01,
  1.43687667e+01, 8.43982457e-01]

qfrc_actuator:
[ 2.98146703e-03, 4.13531298e-02, 1.07284931e-02, 1.94953431e-03,
 -2.47265981e-05, 4.15120934e-02, 1.07695067e-02, 1.71169525e-03,
 -2.97158569e-03, 3.59237112e-02, 1.08070782e-02, 1.94230137e-03,
  2.16008689e-03,-1.70211402e-03, 0.00000000e+00,-2.05353337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001261471840133788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80101314e-14, -7.57851105e-07,  1.00000000e+00, -6.66985754e-20,
        1.00000000e+00,  7.57851105e-07, -1.00000000e+00,  1.20370622e-35,
       -8.80101314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04145873, -0.08285906,  0.06188814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38621732e-05,-3.26494803e-04,-1.17307839e-04, 6.17493306e-05,
  1.55482560e-05,-3.36988927e-04,-9.69592084e-05,-1.10991463e-04,
  5.37058096e-05,-9.13334849e-05,-8.87430083e-05,-2.99272625e-05,
 -3.10139597e-05,-1.52955409e-05,-3.77576788e-06, 1.22352533e-04,
  1.38921571e-06, 1.17336046e-06,-1.21644045e+00, 1.58479149e-03,
  5.43578114e-04, 3.21847418e-05]


--- Step 1633 ---
qpos:
[-0.01066571, 1.32663043,-0.01821983, 0.94611105, 0.00426564, 1.32587032,
 -0.03013689, 0.94344803, 0.01690912, 1.33658584,-0.02346893, 0.95527116,
  1.33281076,-0.00255721, 1.09519694, 0.06374396,-0.00162159,-0.09782737,
  0.0816723 , 0.53634785,-0.01086555,-0.00493468, 0.84391266]

qacc:
[-6.07346391e-02,-1.44782387e+00, 6.98091299e-01, 2.53297997e+00,
  6.03013855e-02,-3.70666425e+00, 7.55213593e+00,-5.74576443e+00,
  1.69236080e-01, 3.59574767e+00,-1.32978683e+01, 1.63856958e+01,
 -2.66353613e-01, 4.26365300e-01,-7.66473125e+00, 2.64487908e+01,
 -8.93583929e-01,-1.38886966e+00,-1.05938702e+00,-6.47040707e+01,
 -5.54899639e+01,-3.11774465e+00]

qfrc_actuator:
[ 2.98400927e-03, 4.12495679e-02, 1.07071912e-02, 1.95625692e-03,
 -1.66484436e-05, 4.13467719e-02, 1.07587618e-02, 1.70803396e-03,
 -2.95447772e-03, 3.58969683e-02, 1.07409356e-02, 1.96274575e-03,
  2.15019679e-03,-1.68460803e-03, 0.00000000e+00,-1.92816248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.23728821,  4.71258275, -7.23728821, 10.91118918,
        3.49353401,  4.71258275,  3.49353401, 14.00151346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001258400406177848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10281177e-14,  6.61687063e-14,  1.00000000e+00, -7.29716282e-28,
        1.00000000e+00, -6.61687063e-14, -1.00000000e+00,  0.00000000e+00,
        1.10281177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03031191, -0.05924281,  0.0618884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75257264e-05,-3.06190860e-04,-9.67998320e-05,-4.81324455e-06,
  1.72336193e-05,-3.75051454e-04,-9.11323729e-05,-1.90226938e-05,
  4.88269516e-05,-9.56296418e-05,-9.49593155e-05, 1.44870110e-05,
 -3.05660106e-05, 6.43776037e-06, 8.58028450e-06, 1.30947275e-04,
  7.33049783e-07, 1.13238969e-07,-1.21644086e+00, 1.58545701e-03,
  5.45167811e-04, 3.03262732e-05]


--- Step 1634 ---
qpos:
[-0.01066603, 1.32676321,-0.018222  , 0.94611329, 0.00426523, 1.32600301,
 -0.03013821, 0.94344783, 0.01691042, 1.33661008,-0.02347107, 0.95527354,
  1.3329295 ,-0.0025579 , 1.09539306, 0.06374521,-0.0016316 ,-0.09783671,
  0.08166179, 0.53638521,-0.01090409,-0.0052801 , 0.84388632]

qacc:
[ 1.55817754e-01,-6.79998259e+00, 2.21018741e+01,-4.09892033e+01,
  5.29681088e-02,-2.47879558e+00, 1.35123637e+00, 1.21807209e+01,
  1.33575883e-01,-4.84750380e+00, 1.90061685e+01,-4.18301662e+01,
 -1.80746091e-01, 1.46829962e-01, 1.94106015e+00,-6.25491992e+00,
 -8.28677436e-01,-1.32735829e+00,-1.52628658e+00,-6.13479762e+01,
 -5.24483687e+01,-3.08593055e+00]

qfrc_actuator:
[ 3.03915186e-03, 4.10991701e-02, 1.06955591e-02, 1.85198614e-03,
 -1.16722285e-05, 4.12128603e-02, 1.07707200e-02, 1.75962798e-03,
 -2.94484897e-03, 3.58534370e-02, 1.07383868e-02, 1.84865791e-03,
  2.13467133e-03,-1.69174897e-03, 0.00000000e+00,-1.96163448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.41779977,  -6.72563919,  -5.41779977,
        24.20408412, -12.54048724,  -6.72563919, -12.54048724,
        18.73828064,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012424556786725521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11696442e-14, -6.70178649e-14,  1.00000000e+00, -7.48565703e-28,
        1.00000000e+00,  6.70178649e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11696442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03033584, -0.05921822,  0.06188972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47120994e-05,-3.39752833e-04,-8.27811871e-05,-1.16149681e-04,
  1.51238638e-05,-3.60767788e-04,-7.25097028e-05, 3.73870491e-05,
  3.84666441e-05,-1.14686772e-04,-3.16087107e-05,-1.19322505e-04,
 -3.06389099e-05,-1.27612507e-05, 1.44742111e-05,-2.60019397e-05,
  5.00161078e-06, 4.60941006e-06,-1.21644193e+00, 1.58302838e-03,
  5.46600970e-04, 3.45362986e-05]


--- Step 1635 ---
qpos:
[-0.01066586, 1.32689307,-0.01822421, 0.94611463, 0.00426506, 1.32613304,
 -0.03013951, 0.94344823, 0.01691196, 1.33663394,-0.02347369, 0.95527313,
  1.33304784,-0.0025581 , 1.09558923, 0.06374607,-0.00164779,-0.09784276,
  0.08164228, 0.53641463,-0.0111277 ,-0.00564116, 0.84386237]

qacc:
[  0.20642877, -5.28455259, 14.43679523,-21.1297046 ,  0.10375275,
  -2.53825701,  2.82352763,  6.18962547,  0.09642929, -4.00705377,
  18.06427448,-47.5024489 , -0.69057648,  1.14436657,  1.30406877,
  -4.33769779, -1.54280522,  0.82451552, -2.24994546,-56.27199938,
  73.85969339,  4.39101785]

qfrc_actuator:
[ 3.07214364e-03, 4.09396541e-02, 1.06894903e-02, 1.80749293e-03,
  9.15609620e-06, 4.10989671e-02, 1.07783611e-02, 1.79007183e-03,
 -2.93978291e-03, 3.58536262e-02, 1.07199880e-02, 1.70959022e-03,
  2.12109315e-03,-1.66022805e-03, 0.00000000e+00,-1.98190254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012324428472139798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50415623e-14,  4.50415623e-14,  1.00000000e+00, -2.02874233e-27,
        1.00000000e+00, -4.50415623e-14, -1.00000000e+00,  0.00000000e+00,
        4.50415623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346241, -0.10816184,  0.06189051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.92708377e-05,-3.67989967e-04,-8.54563061e-05,-5.95516802e-05,
  2.97325166e-05,-3.27483949e-04,-7.02532439e-05, 1.85175177e-05,
  2.77867851e-05,-7.30940954e-05,-4.78984453e-05,-1.46132166e-04,
 -3.35470312e-05, 2.12189468e-05,-1.27260837e-06,-2.10245668e-05,
  1.25302758e-05, 1.66523730e-05,-1.21644542e+00, 1.58044790e-03,
  5.48063328e-04, 4.67697319e-05]


--- Step 1636 ---
qpos:
[-0.01066538, 1.32701981,-0.01822644, 0.94611614, 0.004265  , 1.32626015,
 -0.03014028, 0.94344829, 0.01691364, 1.33665689,-0.02347699, 0.95527216,
  1.33316577,-0.00255767, 1.09578494, 0.06375001,-0.00165999,-0.0978423 ,
  0.08163015, 0.53644449,-0.01138413,-0.00580406, 0.84383886]

qacc:
[ 1.27427266e-01,-3.76493329e+00, 7.01538580e+00,-2.26849487e+00,
  4.28150026e-02,-5.78925661e+00, 1.49423015e+01,-1.49412822e+01,
  6.49121777e-02,-3.37771405e-01, 8.05742079e-01,-6.69643956e+00,
 -5.70933835e-01, 1.08275265e+00,-9.95419037e+00, 3.39643043e+01,
  9.95278207e-01, 1.62786723e+00, 1.84738345e+00, 7.48129270e+01,
  6.69937274e+01, 1.12868695e+00]

qfrc_actuator:
[ 3.07382605e-03, 4.07760007e-02, 1.06867580e-02, 1.81630209e-03,
  3.82081426e-06, 4.09447123e-02, 1.08012018e-02, 1.77231433e-03,
 -2.93749301e-03, 3.57734130e-02, 1.06747791e-02, 1.68123966e-03,
  2.10870778e-03,-1.62376631e-03, 0.00000000e+00,-1.81664407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012778221834394143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71512500e-14, -8.68839999e-14,  1.00000000e+00,  2.35900920e-27,
        1.00000000e+00,  8.68839999e-14, -1.00000000e+00,  0.00000000e+00,
        2.71512500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02776118, -0.13098696,  0.06188662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65497757e-05,-3.86561253e-04,-8.62755000e-05,-5.85851906e-06,
  1.21843952e-05,-3.49538480e-04,-4.88350540e-05,-2.90574541e-05,
  1.87069555e-05,-1.34472527e-04,-6.92249057e-05,-3.52891320e-05,
 -2.60665972e-05, 3.40455572e-05,-7.34771273e-06, 1.62910538e-04,
  2.62187458e-05, 1.35457499e-05,-1.21644932e+00, 1.58476101e-03,
  5.48960477e-04, 3.28228880e-05]


--- Step 1637 ---
qpos:
[-0.01066488, 1.32714352,-0.0182287 , 0.94611739, 0.00426482, 1.32638464,
 -0.03014117, 0.94344851, 0.01691542, 1.33667846,-0.02348066, 0.95527122,
  1.33328364,-0.00255757, 1.09598079, 0.06375387,-0.00166858,-0.09783575,
  0.08162201, 0.53647502,-0.01167072,-0.00578362, 0.84381568]

qacc:
[ 1.55067439e-02,-4.33287832e+00, 9.85553573e+00,-9.66642099e+00,
 -4.77697022e-02,-2.90048164e+00, 5.00697461e+00,-1.03159992e+00,
  4.05541513e-02,-7.68953384e-01, 2.43828001e-01, 1.08800248e+00,
  1.75316175e-01,-4.91829639e-01, 4.71388427e-01,-1.37707305e+00,
  9.03877640e-01, 1.52250410e+00, 9.94676380e-01, 6.92693609e+01,
  6.18967423e+01, 9.30309584e-01]

qfrc_actuator:
[ 3.05671464e-03, 4.06289801e-02, 1.06860175e-02, 1.80313197e-03,
 -1.71663300e-05, 4.08208158e-02, 1.07971533e-02, 1.77958269e-03,
 -2.93688554e-03, 3.56811467e-02, 1.06493839e-02, 1.68271333e-03,
  2.09172677e-03,-1.65570146e-03, 0.00000000e+00,-1.82743849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.27610071,   5.93273434,   6.27610071,
        24.83330778, -17.13436786,   5.93273434, -17.13436786,
        26.76241009,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001306829341480291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24777356e-14,  1.27433207e-13,  1.00000000e+00,  5.41307406e-27,
        1.00000000e+00, -1.27433207e-13, -1.00000000e+00,  0.00000000e+00,
       -4.24777356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02772818, -0.13093963,  0.06188413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35589192e-06,-3.78738745e-04,-8.64227550e-05,-2.71710418e-05,
 -1.38152041e-05,-3.28602162e-04,-7.89942269e-05,-5.17309021e-06,
  1.16608625e-05,-1.81342694e-04,-6.05765114e-05,-5.32941054e-06,
 -2.31997337e-05,-2.95407502e-05, 1.15845376e-05,-3.38803643e-06,
  1.15199957e-05, 7.16660582e-07,-1.21644570e+00, 1.58818981e-03,
  5.47752161e-04, 2.14456433e-05]


--- Step 1638 ---
qpos:
[-0.01066444, 1.32726439,-0.01823079, 0.94611914, 0.00426491, 1.32650722,
 -0.03014332, 0.94344984, 0.01691726, 1.33669933,-0.02348489, 0.95526957,
  1.33340131,-0.00255755, 1.0961768 , 0.06375658,-0.00167385,-0.09782346,
  0.08161497, 0.53650635,-0.01198526,-0.00559215, 0.84379264]

qacc:
[-2.74967417e-02,-3.31527677e+00, 5.30534981e+00, 2.89773447e+00,
  1.13595227e-01, 2.81154092e+00,-1.45187869e+01, 2.68164826e+01,
  2.25126860e-02,-6.29060346e-01, 2.39867175e+00,-9.90726444e+00,
 -1.73122622e-01, 1.25765350e-01, 3.70639391e+00,-1.26191581e+01,
  8.28799008e-01, 1.43423924e+00, 2.76914877e-01, 6.46661813e+01,
  5.76777786e+01, 7.88308742e-01]

qfrc_actuator:
[ 3.04622360e-03, 4.05108545e-02, 1.07042513e-02, 1.83038652e-03,
  2.36392093e-05, 4.07515146e-02, 1.07418887e-02, 1.83703165e-03,
 -2.93729118e-03, 3.56889992e-02, 1.06358306e-02, 1.64844338e-03,
  2.08262473e-03,-1.65695055e-03, 0.00000000e+00,-1.88866121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.32387133,   5.88178784,   6.32387133,
        27.32588797, -20.0942554 ,   5.88178784, -20.0942554 ,
        30.24093168,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013157815870473433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05471820e-14,  8.43774556e-14,  1.00000000e+00,  8.89944377e-28,
        1.00000000e+00, -8.43774556e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05471820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02771898, -0.13092346,  0.06188334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.01082557e-06,-3.46160486e-04,-6.65602932e-05, 1.29823943e-05,
  3.26471123e-05,-2.67587574e-04,-1.28842469e-04, 4.53027013e-05,
  6.48516988e-06,-1.04556394e-04,-5.60260536e-05,-4.15129904e-05,
 -2.89542411e-05,-1.40065423e-05, 3.67213902e-07,-6.10037254e-05,
  2.38913816e-06,-7.52852604e-07,-1.21644582e+00, 1.59147921e-03,
  5.46094983e-04, 2.26041144e-05]


--- Step 1639 ---
qpos:
[-0.0106638 , 1.32738245,-0.0182327 , 0.9461219 , 0.0042655 , 1.3266276 ,
 -0.03014633, 0.94345082, 0.01691883, 1.33672011,-0.02348877, 0.95526811,
  1.33351846,-0.00255672, 1.09637238, 0.06376187,-0.00167605,-0.09780572,
  0.08160663, 0.53653847,-0.01232597,-0.00523983, 0.84376957]

qacc:
[ 0.0846673 ,-2.45576179, 1.51616592,12.01928404, 0.21331572,-1.16456049,
  1.04575018,-3.60053752,-0.11329186,-0.72648432, 1.8203909 , 0.70271056,
 -0.81301879, 1.49089368,-8.398775  ,28.61432889, 0.76704839, 1.36022087,
 -0.32679783,60.84464275,54.18691295, 0.69146224]

qfrc_actuator:
[ 3.07529712e-03, 4.03755835e-02, 1.07159300e-02, 1.88124435e-03,
  6.56791279e-05, 4.06265475e-02, 1.06925961e-02, 1.81703736e-03,
 -2.97380576e-03, 3.57567856e-02, 1.06829833e-02, 1.66447725e-03,
  2.06761196e-03,-1.60440774e-03, 0.00000000e+00,-1.74826046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.34829469,   5.85541897,   6.34829469,
        30.79502325, -24.02384901,   5.85541897, -24.02384901,
        34.68240303,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013086245800765992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59072984e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59072984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0277287 , -0.13093208,  0.0618839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42618806e-05,-3.40189523e-04,-6.33012223e-05, 3.90689706e-05,
  6.12816300e-05,-2.97714982e-04,-1.15121348e-04,-3.06009990e-05,
 -3.26770873e-05,-2.34000139e-06, 1.91335597e-05, 1.03528416e-05,
 -3.45896996e-05, 4.24356796e-05,-1.10652138e-05, 1.36009378e-04,
 -2.23278804e-06, 6.87678651e-06,-1.21644894e+00, 1.59466697e-03,
  5.44042944e-04, 3.38332249e-05]


--- Step 1640 ---
qpos:
[-0.01066319, 1.32749791,-0.01823479, 0.94612455, 0.0042663 , 1.32674512,
 -0.03014931, 0.94344984, 0.0169202 , 1.33674099,-0.02349231, 0.95526925,
  1.33363538,-0.0025558 , 1.09656784, 0.06376878,-0.0016728 ,-0.09779139,
  0.08160534, 0.53656891,-0.01249525,-0.00487761, 0.84374989]

qacc:
[-1.43462520e-02,-3.09353042e+00, 6.20095432e+00,-4.97162231e+00,
  8.84091312e-02,-7.18087744e+00, 2.29154444e+01,-4.07731839e+01,
 -8.29387824e-02, 3.69545912e+00,-1.71072068e+01, 4.47276627e+01,
 -1.58632597e-01, 2.02600361e-01,-5.00563824e+00, 1.72974591e+01,
  1.36457987e+00,-8.47937725e-01, 1.76363694e+00, 5.01681758e+01,
 -6.96928244e+01, 1.23016521e+00]

qfrc_actuator:
[ 3.05686032e-03, 4.02488895e-02, 1.07058376e-02, 1.87454997e-03,
  5.48595712e-05, 4.04514710e-02, 1.06824917e-02, 1.71609605e-03,
 -2.97842820e-03, 3.57892086e-02, 1.07126232e-02, 1.79883442e-03,
  2.04908890e-03,-1.60919929e-03, 0.00000000e+00,-1.66769576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001298005699804483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13832463e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.13832463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287081, -0.08915277,  0.06188474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20950538e-06,-3.26873786e-04,-8.27623721e-05,-1.76060654e-05,
  2.53073714e-05,-3.64072037e-04,-8.24885993e-05,-1.13815751e-04,
 -2.39033707e-05, 3.50330993e-05, 3.16405787e-05, 1.35110234e-04,
 -2.75193891e-05,-2.27189139e-06, 6.78603258e-06, 8.59744572e-05,
 -3.13145530e-06, 2.19636364e-05,-1.21645454e+00, 1.59777120e-03,
  5.41640476e-04, 5.33493321e-05]


--- Step 1641 ---
qpos:
[-0.0106627 , 1.32761069,-0.01823695, 0.94612711, 0.00426687, 1.32685996,
 -0.0301522 , 0.94344765, 0.01692143, 1.33676214,-0.02349577, 0.95527165,
  1.33375219,-0.00255517, 1.09676354, 0.06377459,-0.0016681 ,-0.0977825 ,
  0.0816143 , 0.53660121,-0.01254331,-0.00460806, 0.84373015]

qacc:
[-4.78216633e-02,-3.49658211e+00, 7.33981681e+00,-5.81996953e+00,
 -9.54025495e-02,-5.87274399e+00, 1.74101003e+01,-2.75444573e+01,
 -6.00725207e-02, 2.29248739e+00,-9.58752425e+00, 2.26224261e+01,
  6.59915280e-02,-3.26295471e-01, 3.65563511e+00,-1.23045351e+01,
  3.62111975e-01,-1.36419130e+00, 2.56358332e+00,-6.56436635e+00,
 -7.59948072e+01,-1.67817669e+00]

qfrc_actuator:
[ 3.04557643e-03, 4.01104870e-02, 1.07007248e-02, 1.86953198e-03,
  1.24182545e-05, 4.03366394e-02, 1.06953565e-02, 1.65709515e-03,
 -2.98163278e-03, 3.58002429e-02, 1.07138631e-02, 1.85967992e-03,
  2.03910521e-03,-1.63025690e-03, 0.00000000e+00,-1.72959932e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013086347604963841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.36286987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.36286987e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00647262, -0.07662276,  0.06188384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38489622e-05,-3.36691637e-04,-7.90609466e-05,-1.74264055e-05,
 -2.75301725e-05,-3.36637973e-04,-7.12267163e-05,-7.48487690e-05,
 -1.73048247e-05, 4.04512718e-05, 1.56137612e-05, 6.59794978e-05,
 -2.56003920e-05,-2.81038346e-05, 8.58680243e-06,-5.72066934e-05,
  3.73466174e-06, 2.12186971e-05,-1.21644932e+00, 1.59281799e-03,
  5.40211340e-04, 5.98981276e-05]


--- Step 1642 ---
qpos:
[-0.01066189, 1.3277207 ,-0.01823909, 0.94612856, 0.00426695, 1.32697224,
 -0.03015449, 0.94344611, 0.01692226, 1.33678279,-0.02349791, 0.95527337,
  1.33386878,-0.0025543 , 1.0969595 , 0.06377761,-0.00166733,-0.09777942,
  0.08162224, 0.53663672,-0.01256474,-0.00452279, 0.84370771]

qacc:
[  0.132811  , -5.62664839, 16.25000492,-25.32990011, -0.2067778 ,
  -3.82339091,  7.06731657,  3.09240648, -0.16637313, -5.35001572,
  18.00653725,-22.99305724, -0.53548857,  0.83192131,  8.83792823,
 -30.2522368 , -0.98494635, -1.44939501, -0.2562739 ,-70.58183544,
 -60.65289967, -3.29269151]

qfrc_actuator:
[ 3.09193495e-03, 3.99661968e-02, 1.06985675e-02, 1.81229504e-03,
 -3.08930907e-05, 4.02411693e-02, 1.07396742e-02, 1.69431333e-03,
 -3.01946762e-03, 3.57449903e-02, 1.07692004e-02, 1.82346478e-03,
  2.03956660e-03,-1.60745669e-03, 0.00000000e+00,-1.87492116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.31582726, -2.33104994, -8.31582726,  9.70626973,
       -3.81680123, -2.33104994, -3.81680123, 22.25248538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013120849125281275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46151811e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.46151811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03026291, -0.05936214,  0.0618836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81083972e-05,-3.47261346e-04,-7.75944107e-05,-6.98283876e-05,
 -5.95583608e-05,-2.98708464e-04,-3.19803307e-05, 2.34236209e-05,
 -4.80388317e-05,-2.80166255e-05, 6.69264340e-05,-3.29965362e-05,
 -2.05118919e-05, 9.89167398e-06,-7.15775426e-06,-1.48529928e-04,
  5.15505152e-06, 1.08072266e-05,-1.21644432e+00, 1.58904016e-03,
  5.40448161e-04, 4.91064590e-05]


--- Step 1643 ---
qpos:
[-0.01066097, 1.32782858,-0.0182418 , 0.94612895, 0.00426668, 1.32708172,
 -0.03015614, 0.9434454 , 0.01692268, 1.3368028 ,-0.02349953, 0.95527575,
  1.33398508,-0.0025527 , 1.09715529, 0.06377987,-0.00167019,-0.09778185,
  0.08162677, 0.53667558,-0.01256156,-0.00461013, 0.84368257]

qacc:
[ 4.95564952e-02,-3.13210963e+00, 8.99938128e+00,-1.88311252e+01,
 -1.49527832e-01,-4.00271119e+00, 6.93605005e+00, 5.29275380e+00,
 -1.77292585e-01,-1.13764822e+00, 1.39601612e+00, 6.62019702e+00,
 -8.02073370e-01, 1.51061042e+00, 2.11916904e+00,-7.63963451e+00,
 -9.03923266e-01,-1.37961679e+00,-8.53222207e-01,-6.61957213e+01,
 -5.66711478e+01,-3.27469631e+00]

qfrc_actuator:
[ 3.08373498e-03, 3.98905297e-02, 1.06803625e-02, 1.76028766e-03,
 -3.88681277e-05, 4.00872529e-02, 1.07668296e-02, 1.73461824e-03,
 -3.04226692e-03, 3.56861201e-02, 1.07847185e-02, 1.85470229e-03,
  2.04098418e-03,-1.55876323e-03, 0.00000000e+00,-1.90839565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.50389474, -5.68208853, -6.50389474, 16.54964034,
       -9.05778191, -5.68208853, -9.05778191, 19.00418169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00131276429601207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.22856955e-14,  4.22856955e-14,  1.00000000e+00, -1.78808004e-27,
        1.00000000e+00, -4.22856955e-14, -1.00000000e+00,  0.00000000e+00,
        4.22856955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03026562, -0.05936542,  0.06188358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42013855e-05,-2.85737807e-04,-9.70809402e-05,-6.60930897e-05,
 -4.31093737e-05,-3.25519893e-04,-3.43699417e-05, 3.10780192e-05,
 -5.11512733e-05,-6.24071393e-05, 1.66702742e-05, 3.16263951e-05,
 -8.14093967e-06, 4.66955913e-05,-2.43632147e-05,-4.37343323e-05,
  7.63080745e-07, 1.26067964e-06,-1.21644066e+00, 1.58626239e-03,
  5.42159216e-04, 3.86001233e-05]


--- Step 1644 ---
qpos:
[-0.01066032, 1.32793427,-0.01824474, 0.94612801, 0.00426646, 1.32718878,
 -0.03015833, 0.94344382, 0.01692274, 1.33682254,-0.02350132, 0.95527814,
  1.334101  ,-0.0025502 , 1.09735104, 0.06378066,-0.00167639,-0.09778957,
  0.08162587, 0.53671781,-0.01253542,-0.00486039, 0.84365469]

qacc:
[-1.12895335e-01,-4.56732448e+00, 1.41290159e+01,-2.63187259e+01,
  1.97168914e-02,-3.18991159e+00, 8.32061088e+00,-1.56529835e+01,
 -1.51868576e-01, 1.06427103e-01,-8.02468477e-01, 1.02660576e+00,
 -1.04356449e+00, 1.92570629e+00, 4.46150861e+00,-1.54718811e+01,
 -8.37467735e-01,-1.32049683e+00,-1.35550720e+00,-6.25533786e+01,
 -5.33771306e+01,-3.23854314e+00]

qfrc_actuator:
[ 3.04287090e-03, 3.97855056e-02, 1.06708604e-02, 1.69406229e-03,
 -7.82835893e-06, 3.99527850e-02, 1.07301363e-02, 1.68758255e-03,
 -3.05586203e-03, 3.56786836e-02, 1.07766135e-02, 1.85435556e-03,
  2.02168608e-03,-1.51287612e-03, 0.00000000e+00,-1.98218094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.51975186,  -5.66388669,  -6.51975186,
        18.22919715, -11.04239854,  -5.66388669, -11.04239854,
        21.34736977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001299047283494649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27322022e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.27322022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03028722, -0.05934446,  0.06188475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25620424e-05,-2.84752054e-04,-7.84617542e-05,-7.89719813e-05,
  5.60439226e-06,-3.21119281e-04,-1.03507098e-04,-5.69631215e-05,
 -4.37865023e-05,-3.78866278e-05,-1.74879937e-05,-9.41679008e-07,
 -1.33344314e-05, 5.60220611e-05,-1.92510016e-05,-8.00921244e-05,
  7.28870550e-07, 1.43594531e-06,-1.21644018e+00, 1.58335506e-03,
  5.43833686e-04, 3.84654512e-05]


--- Step 1645 ---
qpos:
[-0.01065973, 1.32803726,-0.01824764, 0.94612735, 0.00426627, 1.32729335,
 -0.03016096, 0.9434417 , 0.01692252, 1.33684122,-0.02350231, 0.95528121,
  1.33421687,-0.00254765, 1.09754633, 0.06378321,-0.00168083,-0.09780268,
  0.0816305 , 0.53676208,-0.01240148,-0.00519381, 0.84362651]

qacc:
[-2.88687503e-02,-3.15053323e+00, 5.42880715e+00, 2.15666764e-01,
  1.49377961e-02,-3.00931624e+00, 7.02069122e+00,-1.08994696e+01,
 -1.17047959e-01,-2.35397249e+00, 4.59635398e+00, 4.62616157e+00,
  5.33037928e-02,-6.06158520e-02,-5.99363365e+00, 1.99652486e+01,
  4.40657995e-01,-1.34996506e+00, 1.38050050e+00,-6.14049062e+00,
 -6.77872496e+01,-1.71988764e+00]

qfrc_actuator:
[ 3.05375574e-03, 3.96282725e-02, 1.06664721e-02, 1.70875800e-03,
 -6.89588691e-06, 3.98307405e-02, 1.07093241e-02, 1.66050591e-03,
 -3.06382735e-03, 3.55954762e-02, 1.08080664e-02, 1.88868891e-03,
  2.01128027e-03,-1.52238873e-03, 0.00000000e+00,-1.88386982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012898739813981958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30361043e-14,  2.15180522e-14,  1.00000000e+00,  9.26053138e-28,
        1.00000000e+00, -2.15180522e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30361043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00647286, -0.07660261,  0.06188552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39892766e-06,-3.33147567e-04,-7.14126771e-05, 2.22173674e-06,
  4.22623962e-06,-3.22416615e-04,-9.72136209e-05,-4.09457859e-05,
 -3.38076575e-05,-1.07731033e-04, 2.20239714e-05, 3.27064710e-05,
 -5.09075398e-06, 1.71919845e-06,-2.15108960e-05, 9.05146769e-05,
  4.33446324e-06, 9.68849911e-06,-1.21644233e+00, 1.58028902e-03,
  5.45525975e-04, 4.69160179e-05]


--- Step 1646 ---
qpos:
[-0.01065913, 1.32813727,-0.01825025, 0.9461293 , 0.00426611, 1.32739551,
 -0.03016371, 0.94344167, 0.01692196, 1.33685922,-0.02350298, 0.95528398,
  1.3343329 ,-0.00254594, 1.09774113, 0.06378955,-0.00167978,-0.09781923,
  0.08163712, 0.53680439,-0.01211682,-0.00551798, 0.84360167]

qacc:
[ 4.86621651e-03,-1.48725714e-01,-9.54524099e+00, 4.03934894e+01,
  1.09891528e-02, 7.18722376e-01,-1.04950883e+01, 3.48882461e+01,
 -1.46354940e-01,-2.30612828e+00, 7.08917549e+00,-9.34394553e+00,
  1.00082298e+00,-1.90389764e+00,-1.22562640e+01, 4.16148822e+01,
  1.37351564e+00,-8.57589545e-01, 5.00314682e-01, 4.43543455e+01,
 -6.11158408e+01, 1.38642633e+00]

qfrc_actuator:
[ 3.06009319e-03, 3.94766044e-02, 1.06827308e-02, 1.84193693e-03,
 -6.28233910e-06, 3.97349207e-02, 1.07159039e-02, 1.76970671e-03,
 -3.08610576e-03, 3.55742288e-02, 1.08268599e-02, 1.87213854e-03,
  2.00086837e-03,-1.58240384e-03, 0.00000000e+00,-1.68493681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.50833346, -4.2675175 , -7.50833346, 14.06920721,
       -9.5586254 , -4.2675175 , -9.5586254 , 25.45395067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012781484793093073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51463646e-14,  2.17154549e-14,  1.00000000e+00,  1.41468294e-27,
        1.00000000e+00, -2.17154549e-14, -1.00000000e+00,  0.00000000e+00,
       -6.51463646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03289986, -0.08912881,  0.06188653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30785093e-06,-3.50532282e-04,-5.70290537e-05, 1.21355183e-04,
  3.09448237e-06,-2.95178555e-04,-6.88863203e-05, 9.58437744e-05,
 -4.22324293e-05,-7.56737258e-05, 1.20131464e-06,-1.83057326e-05,
 -1.31186549e-05,-6.06021781e-05,-2.14519601e-06, 2.00658668e-04,
  2.79543040e-06, 1.81551342e-05,-1.21644442e+00, 1.57645034e-03,
  5.45777685e-04, 5.58193285e-05]


--- Step 1647 ---
qpos:
[-0.01065864, 1.32823454,-0.01825212, 0.94613245, 0.00426626, 1.32749562,
 -0.0301665 , 0.94344187, 0.01692123, 1.33687722,-0.02350362, 0.95528475,
  1.33444871,-0.00254458, 1.09793627, 0.06379485,-0.00167492,-0.09782993,
  0.08164601, 0.5368466 ,-0.01186188,-0.00566604, 0.84357745]

qacc:
[-4.65017957e-02,-3.53604489e+00, 4.79187196e+00, 1.12809752e+01,
  1.31457278e-01,-2.19259423e+00, 3.42943846e+00, 1.03986223e+00,
 -6.96953303e-02,-3.49942034e+00, 1.54109974e+01,-3.62860531e+01,
  9.92553448e-03,-3.19754084e-01, 3.63970855e+00,-1.19979518e+01,
  9.49606094e-01, 1.46195894e+00, 5.64166227e-01, 6.63030549e+01,
  5.98027881e+01, 1.35743942e+00]

qfrc_actuator:
[ 3.04589741e-03, 3.93651431e-02, 1.07288635e-02, 1.90174204e-03,
  2.96404516e-05, 3.96557759e-02, 1.07210261e-02, 1.78072788e-03,
 -3.08128698e-03, 3.56079392e-02, 1.08382054e-02, 1.77252739e-03,
  1.97978390e-03,-1.60083868e-03, 0.00000000e+00,-1.74791244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001281408837379025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87354569e-14,  1.29961218e-13,  1.00000000e+00,  6.33371935e-27,
        1.00000000e+00, -1.29961218e-13, -1.00000000e+00,  0.00000000e+00,
       -4.87354569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02778965, -0.13095756,  0.06188629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34978642e-05,-3.13556790e-04,-2.54032208e-05, 5.06546520e-05,
  3.77367525e-05,-2.53757865e-04,-5.77728848e-05, 2.48422434e-06,
 -2.01084046e-05,-8.56263320e-06,-3.84558070e-06,-1.02214663e-04,
 -4.24972968e-05,-3.67688769e-05, 1.88398967e-05,-5.26879876e-05,
 -3.45491425e-06, 1.82596046e-05,-1.21644617e+00, 1.57424477e-03,
  5.44920519e-04, 5.09433611e-05]


--- Step 1648 ---
qpos:
[-0.01065859, 1.32832985,-0.01825339, 0.94613554, 0.00426662, 1.32759393,
 -0.03016898, 0.94344079, 0.01692072, 1.33689374,-0.02350278, 0.9552868 ,
  1.3345642 ,-0.00254321, 1.09813174, 0.06379738,-0.00166661,-0.09783509,
  0.08165458, 0.53688909,-0.01163444,-0.00564901, 0.84355369]

qacc:
[ -0.18100384, -4.30131625, 11.03378164, -9.06599586,  0.09000303,
  -5.36626252, 17.31215206,-28.83078209,  0.09373332, -3.74888963,
   7.31401113,  9.25220564, -0.44827644,  0.51988827,  8.8841057 ,
 -30.32169758,  0.86500126,  1.38497739, -0.07869058, 62.25437304,
  55.90602405,  1.06500586]

qfrc_actuator:
[ 3.00174610e-03, 3.93142553e-02, 1.07745951e-02, 1.90014685e-03,
  3.31964834e-05, 3.95872237e-02, 1.07429855e-02, 1.71610785e-03,
 -3.04250007e-03, 3.54789442e-02, 1.08985115e-02, 1.83791267e-03,
  1.96830108e-03,-1.59448230e-03, 0.00000000e+00,-1.89371275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.9296502 ,  7.09121469,  4.9296502 , 22.39145046,
       -9.56222162,  7.09121469, -9.56222162, 15.28380131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001283469821132338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.32508426e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.32508426e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02779134, -0.13095324,  0.06188616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21848696e-05,-2.28437799e-04,-1.70524042e-05,-1.03589920e-05,
  2.58032263e-05,-2.20869623e-04,-3.43039013e-05,-7.37528650e-05,
  2.69250418e-05,-1.37629673e-04, 5.51888367e-05, 6.26655394e-05,
 -4.36203099e-05,-1.28286621e-05,-2.58939476e-06,-1.47579497e-04,
 -2.27258157e-06, 3.75864550e-06,-1.21644191e+00, 1.57732656e-03,
  5.43982059e-04, 3.29735847e-05]


--- Step 1649 ---
qpos:
[-0.01065899, 1.3284237 ,-0.01825459, 0.94613822, 0.00426697, 1.32769055,
 -0.0301716 , 0.94344033, 0.01692039, 1.33690855,-0.0235015 , 0.955289  ,
  1.33467957,-0.00254234, 1.09832712, 0.06379848,-0.00165511,-0.09783496,
  0.08166067, 0.53693209,-0.01143265,-0.00547603, 0.84353022]

qacc:
[-1.98245866e-01,-2.78077637e+00, 7.59869887e+00,-1.04103620e+01,
 -2.19334029e-03,-7.93643883e-01,-1.39668132e+00, 9.60473374e+00,
  7.47957231e-02,-3.16939490e+00, 7.31683071e+00,-3.52648493e+00,
  1.89478518e-01,-6.42652733e-01, 4.18216255e+00,-1.48586129e+01,
  7.96190837e-01, 1.32063083e+00,-6.18390719e-01, 5.88960184e+01,
  5.26846004e+01, 8.39883933e-01]

qfrc_actuator:
[ 2.97548824e-03, 3.92645351e-02, 1.07844315e-02, 1.88023516e-03,
  1.73064854e-05, 3.95078437e-02, 1.07392230e-02, 1.74955306e-03,
 -3.03690967e-03, 3.53425715e-02, 1.08979665e-02, 1.84005513e-03,
  1.95727142e-03,-1.62672915e-03, 0.00000000e+00,-1.96278545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.00285138,   7.03976242,   5.00285138,
        24.91550506, -11.5688741 ,   7.03976242, -11.5688741 ,
        16.85785668,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012713685245848427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27468886e-14,  8.73250362e-14,  1.00000000e+00,  2.85962323e-27,
        1.00000000e+00, -8.73250362e-14, -1.00000000e+00,  0.00000000e+00,
       -3.27468886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02780928, -0.13097068,  0.06188722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71112395e-05,-1.80366344e-04,-3.71546847e-05,-2.73166013e-05,
 -6.79276666e-07,-2.11195461e-04,-5.31574183e-05, 2.42181979e-05,
  2.14918898e-05,-1.99955368e-04,-1.93314305e-05, 1.16734670e-06,
 -3.85602815e-05,-4.54651405e-05,-2.25108437e-05,-7.87658053e-05,
  2.41230558e-06,-1.46438353e-06,-1.21644069e+00, 1.58011630e-03,
  5.42706438e-04, 2.54380122e-05]


--- Step 1650 ---
qpos:
[-0.01065937, 1.32851623,-0.01825599, 0.94613962, 0.00426696, 1.32778494,
 -0.03017407, 0.9434417 , 0.01692004, 1.33692327,-0.02350162, 0.9552891 ,
  1.33479477,-0.0025421 , 1.09852224, 0.0637997 ,-0.00164065,-0.09782977,
  0.08166248, 0.53697574,-0.011255  ,-0.00515465, 0.84350685]

qacc:
[ 1.47241808e-02,-3.46583772e+00, 1.18451726e+01,-2.44542118e+01,
 -1.58256300e-01,-2.03319341e-01,-6.63573673e+00, 2.83109984e+01,
 -5.96310270e-03, 2.23333417e-02, 4.03213525e+00,-2.77518489e+01,
  3.57812541e-01,-9.76314508e-01,-8.35621149e-01, 2.25505713e+00,
  7.40072289e-01, 1.26682026e+00,-1.07107807e+00, 5.61146465e+01,
  5.00240392e+01, 6.68221245e-01]

qfrc_actuator:
[ 3.01343587e-03, 3.91980322e-02, 1.07730261e-02, 1.81419890e-03,
 -2.78712408e-05, 3.93693258e-02, 1.07380897e-02, 1.84043335e-03,
 -3.05128098e-03, 3.53978743e-02, 1.08436083e-02, 1.73385283e-03,
  1.94118145e-03,-1.66387595e-03, 0.00000000e+00,-1.95054929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.03437261,   7.01725511,   5.03437261,
        28.13754169, -13.99068369,   7.01725511, -13.99068369,
        18.67366649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012480626573358328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44778561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.44778561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02783996, -0.13100518,  0.0618892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19006718e-06,-1.74986472e-04,-5.17884683e-05,-7.29984893e-05,
 -4.55860815e-05,-2.65710044e-04,-4.79041016e-05, 8.36609169e-05,
 -1.68044357e-06,-5.91076870e-05,-9.55821934e-05,-1.12636502e-04,
 -4.86754216e-05,-5.72937937e-05,-2.23451081e-05, 4.19647224e-06,
  1.00485153e-05, 1.03226128e-06,-1.21644200e+00, 1.58272483e-03,
  5.41102554e-04, 2.66044563e-05]


--- Step 1651 ---
qpos:
[-0.01065924, 1.32860699,-0.01825738, 0.94614093, 0.00426635, 1.32787745,
 -0.03017692, 0.9434438 , 0.01691947, 1.33693832,-0.02350221, 0.95528852,
  1.33490957,-0.00254202, 1.09871717, 0.06380136,-0.00163059,-0.09783047,
  0.08166469, 0.53702174,-0.01104851,-0.0050255 , 0.84348108]

qacc:
[ 2.11502620e-01,-2.51212920e+00, 5.53447401e+00,-4.62801364e+00,
 -2.48530343e-01,-2.02166521e-01,-3.79833148e+00, 1.29326106e+01,
 -9.44772618e-02, 5.57473452e-01, 6.19727748e-02,-7.97534589e+00,
 -1.53040793e-01,-3.49134826e-02,-1.57596462e+00, 5.12138558e+00,
 -1.09871582e+00,-1.47232580e+00, 9.83551925e-02,-7.33255173e+01,
 -6.37565136e+01,-2.79200618e+00]

qfrc_actuator:
[ 3.07183876e-03, 3.90864022e-02, 1.07668567e-02, 1.81029986e-03,
 -7.24984602e-05, 3.92853094e-02, 1.07205618e-02, 1.87556801e-03,
 -3.07750985e-03, 3.54784798e-02, 1.08473855e-02, 1.70686561e-03,
  1.92206330e-03,-1.66812912e-03, 0.00000000e+00,-1.92602459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012231683334959706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53830840e-14,  6.80746260e-14,  1.00000000e+00,  3.08943647e-27,
        1.00000000e+00, -6.80746260e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53830840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03041802, -0.05923764,  0.06189129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08128570e-05,-2.21348283e-04,-4.85115760e-05,-1.21969559e-05,
 -7.15242230e-05,-2.38532775e-04,-7.26161978e-05, 2.78082451e-05,
 -2.72139060e-05, 2.58188687e-05,-2.19385787e-05,-3.41353766e-05,
 -5.98617831e-05,-2.98511809e-05,-1.26653269e-05, 2.12196869e-05,
  2.02333631e-05, 1.01003734e-05,-1.21644550e+00, 1.58522661e-03,
  5.39181309e-04, 3.51986952e-05]


--- Step 1652 ---
qpos:
[-0.01065869, 1.32869596,-0.01825943, 0.94614326, 0.00426533, 1.32796838,
 -0.03018036, 0.94344595, 0.01691879, 1.33695328,-0.02350277, 0.9552897 ,
  1.33502398,-0.00254204, 1.09891186, 0.06380428,-0.00162452,-0.09783677,
  0.08166469, 0.53707039,-0.01081553,-0.00507573, 0.84345282]

qacc:
[ 1.83373217e-01, 1.22396300e+00,-8.88600803e+00, 2.06303252e+01,
 -1.75907520e-01,-4.05115373e-01,-1.31248383e+00, 2.72526492e+00,
 -4.74791822e-02, 2.83334676e+00,-1.29279152e+01, 3.15789250e+01,
 -1.48600338e-01, 7.95299877e-03,-4.12747094e+00, 1.39707129e+01,
 -9.96512432e-01,-1.40173869e+00,-5.49839273e-01,-6.85273089e+01,
 -5.93148677e+01,-2.84273821e+00]

qfrc_actuator:
[ 3.08877881e-03, 3.89841920e-02, 1.07281966e-02, 1.86073888e-03,
 -8.09278127e-05, 3.92167629e-02, 1.06936521e-02, 1.87761936e-03,
 -3.07513330e-03, 3.54673614e-02, 1.08501698e-02, 1.79782164e-03,
  1.90648106e-03,-1.67061257e-03, 0.00000000e+00,-1.85897392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.05827051, -6.15500895, -6.05827051, 14.77693225,
       -6.04405713, -6.15500895, -6.04405713, 14.58542616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001237231128286706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12168111e-14,  2.24336221e-14,  1.00000000e+00, -2.51633701e-28,
        1.00000000e+00, -2.24336221e-14, -1.00000000e+00,  0.00000000e+00,
        1.12168111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03040328, -0.05926497,  0.06189012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.27563509e-05,-2.35104229e-04,-8.78995429e-05, 4.22678767e-05,
 -5.06243178e-05,-2.14529176e-04,-8.11284661e-05,-6.47951708e-06,
 -1.36812676e-05,-2.23958863e-06, 4.31825251e-06, 9.03037840e-05,
 -5.57864089e-05,-2.39299517e-05,-7.04364209e-06, 6.57855586e-05,
  7.54688816e-06,-3.54995883e-07,-1.21644126e+00, 1.58119941e-03,
  5.41485451e-04, 2.46068311e-05]


--- Step 1653 ---
qpos:
[-0.01065809, 1.32878316,-0.01826164, 0.94614547, 0.00426403, 1.32805685,
 -0.03018289, 0.94344741, 0.01691835, 1.33696837,-0.02350304, 0.95529125,
  1.33513817,-0.00254242, 1.09910665, 0.06380661,-0.00162557,-0.09783906,
  0.08165965, 0.53710948,-0.01079071,-0.00514398, 0.84342783]

qacc:
[ 1.83959108e-02,-2.11984201e+00, 4.38030874e+00,-4.22568534e+00,
 -1.18707899e-01,-6.83701474e+00, 1.98226376e+01,-2.35694142e+01,
  1.01298206e-01, 8.31656911e-03,-5.47836476e-01, 4.51579443e+00,
  5.51303954e-02,-3.94948012e-01, 1.86242834e+00,-6.36557090e+00,
 -1.78359718e+00, 1.00581546e+00,-1.26267508e+00,-6.35466298e+01,
  8.29022136e+01, 5.34088674e+00]

qfrc_actuator:
[ 3.06295504e-03, 3.89061004e-02, 1.07239711e-02, 1.85395344e-03,
 -8.53278890e-05, 3.90692125e-02, 1.07324966e-02, 1.84245568e-03,
 -3.03786258e-03, 3.54902642e-02, 1.08697968e-02, 1.81535815e-03,
  1.89835999e-03,-1.68979224e-03, 0.00000000e+00,-1.89167618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012483348299285185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05340757, -0.10824801,  0.06188919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24039852e-06,-2.24655774e-04,-5.90323309e-05,-1.52608636e-05,
 -3.42673474e-05,-2.82937995e-04,-1.26504134e-05,-4.40204365e-05,
  2.92011712e-05, 2.50822067e-05, 2.23090589e-05, 1.97205242e-05,
 -4.45266394e-05,-3.82552953e-05, 4.40198318e-07,-3.07787518e-05,
  7.72035331e-08,-2.31017469e-07,-1.21644048e+00, 1.57722128e-03,
  5.43604538e-04, 2.52455187e-05]


--- Step 1654 ---
qpos:
[-0.01065759, 1.32886826,-0.01826291, 0.94614755, 0.00426283, 1.32814296,
 -0.03018434, 0.94344843, 0.01691809, 1.3369839 ,-0.02350286, 0.95529157,
  1.33525205,-0.00254259, 1.09930165, 0.06380653,-0.00163336,-0.09783768,
  0.0816474 , 0.53713996,-0.01096103,-0.00522883, 0.8434057 ]

qacc:
[-4.38298860e-02,-5.50903416e+00, 1.49114160e+01,-1.31620794e+01,
  4.67870256e-02,-6.76756212e+00, 1.92601299e+01,-2.04149871e+01,
  7.59773728e-02,-2.75831993e+00, 1.21462603e+01,-2.48587346e+01,
 -5.53676966e-01, 8.09622786e-01, 7.67551669e+00,-2.62848128e+01,
 -1.68181458e+00, 9.13643841e-01,-1.80150972e+00,-5.94414904e+01,
  7.77974702e+01, 4.80539268e+00]

qfrc_actuator:
[ 3.04719478e-03, 3.88076731e-02, 1.07756726e-02, 1.84907868e-03,
 -5.17733201e-05, 3.89645179e-02, 1.07917754e-02, 1.82118067e-03,
 -3.03321965e-03, 3.55334002e-02, 1.08992628e-02, 1.75403807e-03,
  1.90004007e-03,-1.66542534e-03, 0.00000000e+00,-2.01839953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.08511948,  3.03605334, -8.08511948, 10.37200878,
        4.62208556,  3.03605334,  4.62208556, 20.94514408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012531245617952852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42981910e-14,  4.42981910e-14,  1.00000000e+00,  1.96232973e-27,
        1.00000000e+00, -4.42981910e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42981910e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339401, -0.10824992,  0.06188876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27289736e-05,-2.35272806e-04, 5.33695084e-07,-1.35295047e-05,
  1.33322550e-05,-2.65642058e-04, 1.09459955e-06,-3.10536264e-05,
  2.18935537e-05, 6.18476329e-05, 3.74627796e-05,-5.94426464e-05,
 -3.20780996e-05, 4.43322948e-06,-7.52756034e-06,-1.29384428e-04,
  2.65126998e-07, 1.02446999e-06,-1.21643994e+00, 1.58276979e-03,
  5.45281548e-04, 3.19539529e-05]


--- Step 1655 ---
qpos:
[-0.01065723, 1.32895168,-0.01826395, 0.94614921, 0.00426187, 1.32822722,
 -0.03018588, 0.94345093, 0.01691781, 1.33699897,-0.02350222, 0.95529158,
  1.33536565,-0.00254227, 1.099497  , 0.06380157,-0.00164752,-0.09783295,
  0.08162612, 0.53716259,-0.01131563,-0.0053291 , 0.84338598]

qacc:
[-5.93748958e-02,-3.56698113e+00, 9.81746902e+00,-1.23516912e+01,
  9.89018225e-02, 3.40515758e-01,-7.10608670e+00, 2.45303566e+01,
 -6.92331743e-03,-2.35648310e+00, 7.56329223e+00,-9.83551105e+00,
 -8.94476459e-01, 1.46617829e+00, 1.53033904e+01,-5.26236166e+01,
 -1.59526438e+00, 8.38892814e-01,-2.25663711e+00,-5.60301494e+01,
  7.35384277e+01, 4.36104994e+00]

qfrc_actuator:
[ 3.03760269e-03, 3.87335858e-02, 1.07888872e-02, 1.82764447e-03,
 -3.12293144e-05, 3.88864246e-02, 1.07917726e-02, 1.89704012e-03,
 -3.04818920e-03, 3.54462883e-02, 1.08988412e-02, 1.73560133e-03,
  1.89696474e-03,-1.63311534e-03, 0.00000000e+00,-2.27047296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.14816487,  2.86254887, -8.14816487, 10.54209481,
        5.42461021,  2.86254887,  5.42461021, 24.07736408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012429072143160108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46623453e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46623453e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341577, -0.10825826,  0.06188956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71623486e-05,-2.05098076e-04,-3.31926311e-05,-2.86145340e-05,
  2.83982573e-05,-2.26376627e-04,-5.28579865e-05, 6.73019775e-05,
 -2.03153053e-06,-4.74601203e-05, 1.41579101e-05,-1.68703197e-05,
 -2.02053716e-05, 2.61990838e-05,-2.23581002e-05,-2.61287112e-04,
  4.17476280e-06, 9.60378529e-08,-1.21644265e+00, 1.58677022e-03,
  5.46481789e-04, 2.66201347e-05]


--- Step 1656 ---
qpos:
[-0.01065686, 1.32903391,-0.0182658 , 0.94614854, 0.0042613 , 1.32830983,
 -0.03018812, 0.94345537, 0.01691745, 1.33701341,-0.02350119, 0.95529174,
  1.335479  ,-0.00254157, 1.0996921 , 0.06379461,-0.0016581 ,-0.09782203,
  0.08160922, 0.53718604,-0.01170031,-0.00524397, 0.84336633]

qacc:
[ 6.18612514e-03,-3.41753957e+00, 1.40038450e+01,-3.84135176e+01,
  1.63672325e-01, 3.03547699e+00,-1.64930478e+01, 3.78449824e+01,
 -3.47426183e-02,-1.65484258e+00, 4.14296772e+00,-1.59250792e+00,
 -5.86764347e-01, 9.96054551e-01, 5.71277558e+00,-2.04186610e+01,
  8.97695867e-01, 1.54906627e+00, 1.09405855e+00, 7.01033935e+01,
  6.24810772e+01, 8.03566991e-01]

qfrc_actuator:
[ 3.04954219e-03, 3.86745307e-02, 1.07438364e-02, 1.70785408e-03,
 -9.06390949e-07, 3.88069806e-02, 1.07569376e-02, 1.99392448e-03,
 -3.05704941e-03, 3.54060309e-02, 1.09158205e-02, 1.74247246e-03,
  1.88572013e-03,-1.61414287e-03, 0.00000000e+00,-2.36355030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012687075942612244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37540939e-14,  4.37540939e-14,  1.00000000e+00,  1.91442073e-27,
        1.00000000e+00, -4.37540939e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37540939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02783005, -0.13095676,  0.06188729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75553426e-06,-1.80407016e-04,-8.98441799e-05,-1.27417811e-04,
  4.70651711e-05,-2.13585884e-04,-8.32594171e-05, 9.02046012e-05,
 -1.00524062e-05,-6.43397193e-05, 8.81007366e-06, 5.50929933e-06,
 -1.71757754e-05, 2.13707621e-05,-4.37249552e-05,-1.11505114e-04,
  1.11658763e-05,-2.64140310e-06,-1.21644809e+00, 1.58959024e-03,
  5.47303557e-04, 1.13452346e-05]


--- Step 1657 ---
qpos:
[-0.01065628, 1.32911478,-0.01826821, 0.94614679, 0.0042614 , 1.32839099,
 -0.0301908 , 0.94345988, 0.016917  , 1.3370282 ,-0.02350095, 0.95529299,
  1.3355922 ,-0.00254062, 1.09988674, 0.06378819,-0.00166538,-0.09780528,
  0.08159376, 0.53721033,-0.01211293,-0.00498602, 0.8433466 ]

qacc:
[ 8.95230295e-02,-2.17059533e+00, 7.12073312e+00,-1.78572055e+01,
  2.83248649e-01,-6.07302056e-01,-4.77479209e-01, 2.08883039e+00,
 -3.85043946e-02, 4.48300364e+00,-1.62826515e+01, 2.65310793e+01,
 -2.35694249e-01, 4.34130439e-01,-2.31335685e+00, 7.13778114e+00,
  8.24603602e-01, 1.45559144e+00, 3.61739604e-01, 6.53782633e+01,
  5.82024363e+01, 7.04505205e-01]

qfrc_actuator:
[ 3.07430179e-03, 3.86069159e-02, 1.07180345e-02, 1.65539689e-03,
  5.27901702e-05, 3.87450019e-02, 1.07373470e-02, 1.99585762e-03,
 -3.06217168e-03, 3.54652279e-02, 1.08898459e-02, 1.79970719e-03,
  1.88023161e-03,-1.60327878e-03, 0.00000000e+00,-2.32664938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.44917323,   5.74412235,   6.44917323,
        32.26517819, -26.52908645,   5.74412235, -26.52908645,
        38.42171009,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012815557102383301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08288603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.08288603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02781511, -0.13093408,  0.06188613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57395970e-05,-1.89318081e-04,-7.51287401e-05,-6.33175218e-05,
  8.14503456e-05,-1.94287235e-04,-6.82952492e-05,-4.72328477e-06,
 -1.10512528e-05, 2.54025471e-05,-3.73925245e-05, 5.57374254e-05,
 -1.08377063e-05, 1.27301504e-05,-3.49162273e-05, 2.45357848e-05,
  9.39120314e-07, 2.08014824e-07,-1.21644957e+00, 1.59257909e-03,
  5.45658455e-04, 1.81316438e-05]


--- Step 1658 ---
qpos:
[-0.01065546, 1.32919384,-0.01827028, 0.94614615, 0.00426185, 1.3284708 ,
 -0.03019399, 0.94346229, 0.01691632, 1.33704356,-0.02350113, 0.95529349,
  1.33570539,-0.00254003, 1.10008127, 0.0637812 ,-0.00167099,-0.0977945 ,
  0.08159192, 0.53723668,-0.01239656,-0.00482697, 0.84332661]

qacc:
[  0.10315099, -1.3678198 , -0.66565274, 14.50765153,  0.15415943,
  -3.97745964, 15.14980085,-36.53993878, -0.09411983,  0.6046379 ,
   0.42637098, -9.30800706,  0.22393418, -0.54884772,  1.55953913,
  -5.73710325,  0.41510568, -1.4925737 ,  3.40420282, -7.04322943,
 -80.95231618, -1.85579682]

qfrc_actuator:
[ 3.08879836e-03, 3.85170624e-02, 1.07393542e-02, 1.71403285e-03,
  4.90638918e-05, 3.86762336e-02, 1.07091823e-02, 1.88866123e-03,
 -3.08276267e-03, 3.55123790e-02, 1.08746416e-02, 1.76188035e-03,
  1.86754572e-03,-1.63278706e-03, 0.00000000e+00,-2.35552746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013037561763034056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51557250e-14,  2.12889313e-14,  1.00000000e+00, -1.81287438e-27,
        1.00000000e+00, -2.12889313e-14, -1.00000000e+00,  0.00000000e+00,
        8.51557250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00644466, -0.07661359,  0.06188419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96283543e-05,-2.11691072e-04,-2.61866345e-05, 4.94282297e-05,
  4.43115934e-05,-1.90316517e-04,-7.41733263e-05,-1.15037096e-04,
 -2.71066558e-05, 5.54477587e-05,-1.28763191e-05,-3.68483080e-05,
 -1.62202642e-05,-2.85130878e-05,-1.53662644e-05,-3.24508408e-05,
 -4.58510429e-06, 1.20344468e-05,-1.21645405e+00, 1.59551429e-03,
  5.43582820e-04, 3.48324674e-05]


--- Step 1659 ---
qpos:
[-0.01065472, 1.32927098,-0.01827203, 0.94614657, 0.00426251, 1.32854908,
 -0.03019719, 0.9434634 , 0.01691557, 1.33705889,-0.02350075, 0.95529423,
  1.33581851,-0.00253975, 1.10027547, 0.06377556,-0.001675  ,-0.09778929,
  0.08160008, 0.53726509,-0.01256035,-0.00475996, 0.84330647]

qacc:
[-3.39937281e-02,-1.53034180e+00,-1.88949685e-01, 1.36378836e+01,
  8.18688224e-02,-4.19758708e+00, 1.39713178e+01,-2.63557944e+01,
 -3.52761703e-02,-1.14299771e+00, 3.21212596e+00,-5.85427492e-02,
  2.80093424e-01,-6.26732678e-01,-4.59437901e+00, 1.53147441e+01,
  4.02504137e-01,-1.38994874e+00, 2.49777601e+00,-6.60982233e+00,
 -7.52444676e+01,-1.77311131e+00]

qfrc_actuator:
[ 3.06151548e-03, 3.84148683e-02, 1.07527747e-02, 1.76655913e-03,
  4.64265263e-05, 3.86038533e-02, 1.07116124e-02, 1.82463114e-03,
 -3.07696186e-03, 3.54986810e-02, 1.09013510e-02, 1.77493487e-03,
  1.86118542e-03,-1.65051802e-03, 0.00000000e+00,-2.28094877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.57862204,  -8.49086152,  -1.57862204,
        75.31253804, -12.39644272,  -8.49086152, -12.39644272,
        10.94111182,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013200060375308034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73104239e-14,  1.05134275e-14,  1.00000000e+00, -4.97394712e-28,
        1.00000000e+00, -1.05134275e-14, -1.00000000e+00,  0.00000000e+00,
        4.73104239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00643848, -0.07662845,  0.06188282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.85642539e-06,-2.23468893e-04,-2.95649183e-05, 4.67110261e-05,
  2.34944895e-05,-1.96194221e-04,-4.67070998e-05,-7.44864088e-05,
 -1.01928032e-05, 1.32534495e-05, 3.49805509e-05, 1.34842130e-05,
 -2.25072977e-05,-2.84284264e-05,-1.38404999e-05, 7.00742925e-05,
 -1.65049889e-06, 4.70512903e-06,-1.21644694e+00, 1.59195061e-03,
  5.43433048e-04, 3.46944347e-05]


--- Step 1660 ---
qpos:
[-0.0106543 , 1.32934628,-0.01827361, 0.94614797, 0.00426311, 1.32862535,
 -0.03019963, 0.94346442, 0.01691508, 1.337073  ,-0.02349898, 0.95529656,
  1.33593159,-0.00253974, 1.10046963, 0.06377016,-0.00167744,-0.09778929,
  0.08161519, 0.53729553,-0.01261188,-0.00477933, 0.8432862 ]

qacc:
[-1.39563113e-01,-1.19363623e+00,-1.00357582e+00, 1.32985763e+01,
 -2.00208645e-02,-4.86025879e+00, 1.28269262e+01,-1.07986972e+01,
  1.15892652e-01,-2.63219244e+00, 3.43413496e+00, 1.61624522e+01,
  1.77169682e-01,-4.36569532e-01,-7.85297311e-01, 2.61329656e+00,
  3.91297547e-01,-1.30562695e+00, 1.73954072e+00,-6.24948529e+00,
 -7.05385599e+01,-1.70097360e+00]

qfrc_actuator:
[ 3.02714405e-03, 3.83238407e-02, 1.07613342e-02, 1.81502088e-03,
  2.67151856e-05, 3.84945213e-02, 1.07498670e-02, 1.82206223e-03,
 -3.03762310e-03, 3.53778298e-02, 1.09523944e-02, 1.85334131e-03,
  1.86395209e-03,-1.66107519e-03, 0.00000000e+00,-2.27026442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.88222048,  -8.42876165,  -1.88222048,
        82.89901356, -16.58353701,  -8.42876165, -16.58353701,
        12.33962092,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013193603248051744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62964323e-14,  1.05185729e-14,  1.00000000e+00,  2.76600942e-28,
        1.00000000e+00, -1.05185729e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62964323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00643721, -0.07662754,  0.06188292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02421056e-05,-2.19544224e-04,-3.71890349e-05, 4.21329419e-05,
 -5.85918073e-06,-2.29795602e-04,-7.71684545e-06,-1.14601989e-05,
  3.33299106e-05,-1.06395748e-04, 5.79857269e-05, 8.01594551e-05,
 -1.65588229e-05,-2.28425945e-05,-1.36440444e-06, 1.21761191e-05,
 -4.75747216e-08, 9.80094764e-07,-1.21644256e+00, 1.58867232e-03,
  5.43393259e-04, 3.54465606e-05]


--- Step 1661 ---
qpos:
[-0.01065411, 1.32942017,-0.01827521, 0.94614922, 0.00426344, 1.32869996,
 -0.03020195, 0.94346472, 0.01691495, 1.33708672,-0.02349786, 0.95529813,
  1.33604455,-0.00253986, 1.10066382, 0.06376424,-0.00167836,-0.09779424,
  0.08163473, 0.53732795,-0.01255735,-0.00488041, 0.84326578]

qacc:
[-9.23505054e-02,-2.05855177e+00, 4.78696031e+00,-5.00796338e+00,
 -1.15370724e-01,-3.73418126e+00, 1.10416410e+01,-1.69474505e+01,
  1.50202320e-01,-5.90872946e-02, 1.13510008e+00,-9.62999859e+00,
 -3.73671006e-02,-7.79044619e-02, 1.58476060e+00,-5.47714131e+00,
  3.81511092e-01,-1.23660493e+00, 1.10635463e+00,-5.95076776e+00,
 -6.66638396e+01,-1.63835955e+00]

qfrc_actuator:
[ 3.02430612e-03, 3.82757146e-02, 1.07669962e-02, 1.80744815e-03,
 -3.07694700e-06, 3.84173772e-02, 1.07555794e-02, 1.78465479e-03,
 -3.01399001e-03, 3.53536698e-02, 1.09104619e-02, 1.80973130e-03,
  1.85621763e-03,-1.66725620e-03, 0.00000000e+00,-2.29733717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013052886729469151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25278732e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.25278732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00643981, -0.07661416,  0.06188417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66367161e-05,-1.76085334e-04,-4.03192453e-05,-1.41162616e-05,
 -3.32567029e-05,-2.06659685e-04,-4.05445880e-05,-4.47061115e-05,
  4.33163223e-05,-6.93904756e-05,-5.37878560e-05,-4.31728037e-05,
 -2.24587437e-05,-1.56595630e-05,-2.98787162e-06,-2.74200940e-05,
  4.72253059e-07, 1.93702271e-07,-1.21644043e+00, 1.58560912e-03,
  5.43461983e-04, 3.68815031e-05]


--- Step 1662 ---
qpos:
[-0.0106542 , 1.3294926 ,-0.0182767 , 0.94615003, 0.00426361, 1.32877334,
 -0.03020522, 0.94346424, 0.016915  , 1.33710054,-0.02349835, 0.95529917,
  1.33615728,-0.00254001, 1.10085737, 0.06376273,-0.00167778,-0.09780392,
  0.08165658, 0.53736225,-0.01240187,-0.00505937, 0.84324516]

qacc:
[ -0.12195718, -2.96910768,  8.26973597,-11.45125944, -0.06850658,
  -0.35976233,  0.83773067, -8.97176644,  0.07554945,  3.57027016,
 -10.42673056,  2.91696168,  0.15726295, -0.32466829,-14.22758379,
  48.38638738,  0.37310373, -1.18034023,  0.57860467, -5.70412072,
 -63.48098622, -1.58425408]

qfrc_actuator:
[ 3.00490343e-03, 3.82003740e-02, 1.07710420e-02, 1.78473998e-03,
 -3.16840760e-06, 3.83599972e-02, 1.07066066e-02, 1.74477349e-03,
 -3.01772397e-03, 3.53694217e-02, 1.08319919e-02, 1.78340234e-03,
  1.84219171e-03,-1.67084069e-03, 0.00000000e+00,-2.06237263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012806792090781088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33450866e-14,  8.66901732e-14,  1.00000000e+00,  3.75759307e-27,
        1.00000000e+00, -8.66901732e-14, -1.00000000e+00,  0.00000000e+00,
       -4.33450866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00644543, -0.07659105,  0.06188633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51710058e-05,-1.81540210e-04,-3.54515797e-05,-2.93596554e-05,
 -1.97167390e-05,-1.81509257e-04,-9.54141412e-05,-4.82208468e-05,
  2.18474343e-05,-3.44926993e-05,-9.94099587e-05,-3.09396409e-05,
 -3.03754221e-05,-1.26040641e-05,-8.36874374e-06, 2.32155621e-04,
  8.98469082e-08, 1.86241664e-06,-1.21644015e+00, 1.58270843e-03,
  5.43637186e-04, 3.88514305e-05]


--- Step 1663 ---
qpos:
[-0.0106547 , 1.32956321,-0.01827803, 0.94615162, 0.00426354, 1.32884484,
 -0.03020842, 0.94346675, 0.01691514, 1.33711339,-0.02349777, 0.95530052,
  1.33626993,-0.00254073, 1.10105065, 0.06376534,-0.00167237,-0.09781645,
  0.0816765 , 0.53739523,-0.01210906,-0.00523049, 0.84322736]

qacc:
[-1.73400007e-01,-1.46786311e+00, 3.13377806e-01, 9.95685762e+00,
 -1.02063884e-01, 2.43932778e+00,-1.71115165e+01, 5.07043785e+01,
  3.68033746e-02,-3.62468042e+00, 9.64350011e+00,-4.06409197e+00,
  6.18012433e-01,-1.25926591e+00,-1.29312852e+01, 4.45109603e+01,
  1.20721982e+00,-7.13936251e-01,-4.83098874e-01, 4.02065519e+01,
 -5.58129998e+01, 1.01414179e+00]

qfrc_actuator:
[ 2.97571913e-03, 3.80915741e-02, 1.07740089e-02, 1.82431738e-03,
 -2.09467152e-05, 3.82614407e-02, 1.07146081e-02, 1.89902857e-03,
 -3.02009158e-03, 3.53200284e-02, 1.08925880e-02, 1.80301059e-03,
  1.82972994e-03,-1.70840943e-03, 0.00000000e+00,-1.85241708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.52882261, -4.23126542, -7.52882261,  9.11278793,
       -0.84771662, -4.23126542, -0.84771662, 10.14473227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001249319273409169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.44331184e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.44331184e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03293061, -0.0890792 ,  0.06188907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.99879748e-05,-2.17509367e-04,-3.74897836e-05, 3.25500955e-05,
 -2.94155337e-05,-2.19603107e-04,-3.98656761e-05, 1.44976995e-04,
  1.05390020e-05,-8.88871253e-05, 4.16453613e-05, 1.49781179e-05,
 -3.19197023e-05,-4.79488897e-05, 1.95247365e-05, 2.21261192e-04,
 -1.06361160e-06, 5.63644074e-06,-1.21644145e+00, 1.57993026e-03,
  5.43916571e-04, 4.12520229e-05]


--- Step 1664 ---
qpos:
[-0.01065529, 1.32963218,-0.01827935, 0.94615333, 0.00426338, 1.32891483,
 -0.03021074, 0.94346997, 0.01691546, 1.33712507,-0.02349659, 0.95530215,
  1.33638265,-0.00254222, 1.1012447 , 0.06376443,-0.00166371,-0.09782358,
  0.08169408, 0.53742868,-0.01184199,-0.00524477, 0.84320974]

qacc:
[-3.83803991e-02,-1.99678402e+00, 3.70787097e+00,-9.53216404e-01,
 -3.48242641e-02,-3.13616451e+00, 6.38154743e+00, 3.70388348e+00,
  7.80795422e-02,-2.67999539e+00, 6.34359546e+00,-1.68911979e+00,
  3.65754422e-01,-1.00165964e+00, 1.17450950e+01,-3.95142877e+01,
  8.12794773e-01, 1.34954981e+00,-5.83053304e-01, 5.92063961e+01,
  5.29909765e+01, 8.69242369e-01]

qfrc_actuator:
[ 2.99416050e-03, 3.80168936e-02, 1.07762209e-02, 1.82920140e-03,
 -1.36877351e-05, 3.82281032e-02, 1.07739076e-02, 1.93552733e-03,
 -3.00386576e-03, 3.52325732e-02, 1.09103131e-02, 1.81403957e-03,
  1.83417880e-03,-1.74808154e-03, 0.00000000e+00,-2.04951342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012170487133514665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14028203e-14,  9.12225626e-14,  1.00000000e+00, -1.04019449e-27,
        1.00000000e+00, -9.12225626e-14, -1.00000000e+00,  0.00000000e+00,
        1.14028203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02791554, -0.131028  ,  0.06189188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11061089e-05,-2.01824976e-04,-4.36822869e-05,-1.83642497e-06,
 -1.01019757e-05,-1.58761531e-04, 1.59754624e-05, 3.21848458e-05,
  2.24526518e-05,-1.28117320e-04, 5.52589976e-06, 9.98456803e-06,
 -2.39265634e-05,-5.94587303e-05, 2.98013965e-05,-1.83146000e-04,
 -2.93557292e-06, 4.94721319e-06,-1.21644357e+00, 1.57829840e-03,
  5.43588146e-04, 3.37918076e-05]


--- Step 1665 ---
qpos:
[-0.01065556, 1.32969997,-0.01828022, 0.94615432, 0.00426336, 1.32898407,
 -0.0302128 , 0.94347116, 0.01691582, 1.33713521,-0.02349495, 0.95530359,
  1.33649528,-0.00254399, 1.10143852, 0.06376424,-0.00165204,-0.09782554,
  0.08170753, 0.5374628 ,-0.01159916,-0.00510981, 0.8431922 ]

qacc:
[ 1.40046956e-01,-3.97968847e+00, 1.25377746e+01,-1.83667308e+01,
  5.66533560e-02,-5.16630563e+00, 1.98573299e+01,-4.03935854e+01,
  1.75958110e-02,-3.56940821e+00, 9.57718523e+00,-9.48260987e+00,
  1.81580480e-01,-4.63479956e-01,-2.51568826e+00, 8.25484376e+00,
  7.55063481e-01, 1.29151241e+00,-1.03400248e+00, 5.64182514e+01,
  5.03236914e+01, 6.84492528e-01]

qfrc_actuator:
[ 3.04102237e-03, 3.79987319e-02, 1.08135694e-02, 1.79587926e-03,
  8.53169964e-06, 3.82165089e-02, 1.07921306e-02, 1.83143954e-03,
 -3.01212131e-03, 3.51228740e-02, 1.09201217e-02, 1.80209318e-03,
  1.83811242e-03,-1.75306907e-03, 0.00000000e+00,-2.00551890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.27627141,   7.50335123,   4.27627141,
        31.41863034, -12.98395248,   7.50335123, -12.98395248,
        16.03611118,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011983422317869488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05328762e-14,  1.38969861e-13,  1.00000000e+00,  5.63284818e-27,
        1.00000000e+00, -1.38969861e-13, -1.00000000e+00,  0.00000000e+00,
       -4.05328762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02794174, -0.13105696,  0.06189353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02595725e-05,-1.38852602e-04,-7.19534975e-06,-4.05591200e-05,
  1.62541764e-05,-9.58182572e-05,-1.01508259e-05,-1.07549652e-04,
  5.00364645e-06,-1.79248070e-04,-1.43012682e-05,-1.53260693e-05,
 -2.35488434e-05,-2.53837073e-05,-1.29054197e-05, 3.61597829e-05,
  1.69128935e-06,-1.50624458e-06,-1.21644176e+00, 1.58013123e-03,
  5.42855328e-04, 2.45954047e-05]


--- Step 1666 ---
qpos:
[-0.0106554 , 1.32976707,-0.01828088, 0.94615488, 0.00426338, 1.32905197,
 -0.03021473, 0.94347219, 0.01691616, 1.33714417,-0.02349415, 0.95530457,
  1.3366076 ,-0.00254553, 1.10163185, 0.06376755,-0.00164405,-0.09783283,
  0.08171686, 0.53749967,-0.01133154,-0.00514541, 0.84317212]

qacc:
[ 1.79798487e-01,-2.25133405e+00, 7.14793173e+00,-1.08892182e+01,
  1.78782440e-02,-2.38433351e+00, 5.97678434e+00,-6.17509954e+00,
 -7.49026276e-03,-1.17527160e-01,-5.52005100e-01,-4.12828478e+00,
 -1.58405533e-01, 2.52014480e-01,-1.12967330e+01, 3.85188515e+01,
 -9.23440230e-01,-1.33203427e+00,-1.03055509e+00,-6.52406968e+01,
 -5.62592245e+01,-2.88987269e+00]

qfrc_actuator:
[ 3.06904660e-03, 3.79969384e-02, 1.08360649e-02, 1.77591011e-03,
  4.03913820e-06, 3.81112963e-02, 1.07859808e-02, 1.82299263e-03,
 -3.01724375e-03, 3.50539202e-02, 1.08718225e-02, 1.77670703e-03,
  1.82577133e-03,-1.73744296e-03, 0.00000000e+00,-1.81969678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011775691726018112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.35702295e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.35702295e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03052876, -0.05919878,  0.06189534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17354711e-05,-8.16695945e-05,-6.72541112e-06,-2.51609856e-05,
  5.09305087e-06,-1.63927765e-04,-2.92846572e-05,-1.40255272e-05,
 -2.16837048e-06,-1.71389551e-04,-8.53867545e-05,-3.14509600e-05,
 -3.15716946e-05, 3.91952562e-06,-4.98133336e-06, 1.85463430e-04,
  9.04429014e-06,-8.81267922e-07,-1.21644230e+00, 1.58187229e-03,
  5.41777109e-04, 2.33966661e-05]


--- Step 1667 ---
qpos:
[-0.01065543, 1.32983356,-0.01828219, 0.94615558, 0.00426326, 1.32911824,
 -0.03021651, 0.9434721 , 0.01691662, 1.33715295,-0.02349554, 0.95530522,
  1.33671964,-0.00254712, 1.10182577, 0.06376768,-0.00163949,-0.09784527,
  0.08172022, 0.53753941,-0.01104077,-0.00534252, 0.84314942]

qacc:
[-8.34774945e-02, 1.20842888e+00,-5.19664932e+00, 6.55402369e+00,
 -6.05256171e-02,-4.46099211e+00, 1.42587368e+01,-2.43033664e+01,
  4.57508389e-02, 5.13797645e+00,-1.63941245e+01, 1.05610646e+01,
 -4.14209481e-01, 4.57870443e-01, 1.04908655e+01,-3.53994020e+01,
 -8.55025000e-01,-1.28539392e+00,-1.49302898e+00,-6.18556587e+01,
 -5.31482187e+01,-2.89801514e+00]

qfrc_actuator:
[ 3.01453164e-03, 3.79516835e-02, 1.07964394e-02, 1.78172107e-03,
 -1.64424872e-05, 3.80040614e-02, 1.07829843e-02, 1.76435017e-03,
 -3.00269140e-03, 3.50806817e-02, 1.07720052e-02, 1.76136166e-03,
  1.80368855e-03,-1.74532726e-03, 0.00000000e+00,-1.99567753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.62981651, -5.53464632, -6.62981651, 15.32716772,
       -8.01474943, -5.53464632, -8.01474943, 18.23703459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011680420973438493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50499153e-14,  4.75249577e-14,  1.00000000e+00,  4.51724320e-27,
        1.00000000e+00, -4.75249577e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50499153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03054557, -0.05918494,  0.06189619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40291702e-05,-9.29507123e-05,-5.71643698e-05, 2.69098209e-06,
 -1.74829603e-05,-2.04548907e-04,-3.88881135e-05,-6.46636079e-05,
  1.32715249e-05,-8.56798395e-05,-1.43918875e-04,-2.36361068e-05,
 -3.83317058e-05,-1.43358039e-05, 1.53343757e-05,-1.66980958e-04,
  8.44076525e-07,-1.02664153e-06,-1.21644162e+00, 1.57898277e-03,
  5.43267296e-04, 2.38787035e-05]


--- Step 1668 ---
qpos:
[-0.01065629, 1.32989886,-0.01828377, 0.94615707, 0.00426266, 1.32918296,
 -0.0302178 , 0.94347198, 0.01691706, 1.33716129,-0.02349685, 0.95530697,
  1.33683119,-0.00254799, 1.10202029, 0.06376138,-0.00163137,-0.09785214,
  0.08172375, 0.53757929,-0.01077785,-0.00537152, 0.84312721]

qacc:
[-3.47396324e-01, 5.35330876e-01,-5.23780459e+00, 1.44365110e+01,
 -2.01246554e-01,-3.38421214e+00, 8.68237209e+00,-6.98378804e+00,
 -4.91997820e-03, 1.06676079e+00,-6.35688561e+00, 1.83680759e+01,
 -1.32961306e+00, 2.15530865e+00, 2.04102382e+01,-6.98630400e+01,
  8.89615260e-01, 1.39119717e+00, 4.35111886e-02, 6.33851853e+01,
  5.69206435e+01, 1.08481143e+00]

qfrc_actuator:
[ 2.92869721e-03, 3.78627947e-02, 1.07735794e-02, 1.82034783e-03,
 -6.41018161e-05, 3.79497026e-02, 1.08173143e-02, 1.76537605e-03,
 -3.01195877e-03, 3.51110964e-02, 1.08027580e-02, 1.82310028e-03,
  1.79174615e-03,-1.69614575e-03, 0.00000000e+00,-2.33019156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011737068406201187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02798183, -0.13109153,  0.06189573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00057537e-04,-1.51849887e-04,-4.75264092e-05, 3.43334344e-05,
 -5.79802952e-05,-1.77536767e-04,-1.20859031e-05,-7.67558936e-06,
 -1.42898582e-06,-4.58256718e-05,-3.03236594e-06, 5.44514867e-05,
 -3.67279351e-05, 3.67874288e-05,-1.73668494e-05,-3.43197042e-04,
 -3.37149291e-06, 6.77300540e-06,-1.21644349e+00, 1.57596534e-03,
  5.44736454e-04, 3.27415384e-05]


--- Step 1669 ---
qpos:
[-0.01065746, 1.32996255,-0.01828516, 0.94615972, 0.00426156, 1.3292464 ,
 -0.03021908, 0.94347221, 0.0169173 , 1.3371691 ,-0.02349748, 0.95530941,
  1.33694231,-0.00254803, 1.1022145 , 0.06375278,-0.00163047,-0.09785507,
  0.08172181, 0.53760993,-0.0107209 ,-0.0054181 , 0.8431081 ]

qacc:
[ -0.1343668 , -0.60948543, -2.9073251 , 16.91324524, -0.21629293,
  -1.14559748,  0.93537248,  4.21009139, -0.08421992, -1.29097178,
   1.94895238,  6.74800661, -1.06442393,  1.88164946,  6.57166331,
 -23.43176019, -1.8070144 ,  0.98453284, -1.3671533 ,-62.81669497,
  82.06801388,  5.17924151]

qfrc_actuator:
[ 2.94904148e-03, 3.77663048e-02, 1.07784094e-02, 1.87795994e-03,
 -9.21730826e-05, 3.78921167e-02, 1.08203869e-02, 1.78381594e-03,
 -3.03544105e-03, 3.50907612e-02, 1.08394273e-02, 1.85879013e-03,
  1.78059130e-03,-1.64896557e-03, 0.00000000e+00,-2.43575811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011805302225215072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.4044439e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.4044439e-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([ 0.05356432, -0.10835471,  0.06189517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87457397e-05,-1.89192673e-04,-2.93161330e-05, 5.25839602e-05,
 -6.22826668e-05,-1.58854426e-04,-3.33359768e-05, 1.26563242e-05,
 -2.43232575e-05,-4.47079897e-05, 2.89641316e-05, 3.55238182e-05,
 -2.37044458e-05, 4.84174183e-05,-5.14660996e-05,-1.28114550e-04,
  1.05117390e-06,-1.13566697e-06,-1.21644135e+00, 1.57854227e-03,
  5.43698992e-04, 2.19424956e-05]


--- Step 1670 ---
qpos:
[-0.01065857, 1.33002489,-0.01828682, 0.94616269, 0.00426045, 1.32930877,
 -0.0302209 , 0.94347095, 0.01691745, 1.33717712,-0.02349871, 0.9553102 ,
  1.33705361,-0.00254905, 1.10240775, 0.06374826,-0.00163639,-0.09785441,
  0.08171233, 0.53763224,-0.01085743,-0.00548091, 0.84309172]

qacc:
[ 2.68816075e-02,-4.76567591e-01,-1.25268850e+00, 5.72456291e+00,
  1.51876442e-03,-2.46198352e+00, 9.43594377e+00,-2.48872748e+01,
 -3.70824302e-02,-9.84179132e-01, 6.89189010e+00,-2.52737317e+01,
  1.15157839e+00,-2.19402397e+00,-1.38450038e+01, 4.61187638e+01,
 -1.70173341e+00, 8.97585072e-01,-1.88437080e+00,-5.88848871e+01,
  7.71562551e+01, 4.68590079e+00]

qfrc_actuator:
[ 2.97966048e-03, 3.77016522e-02, 1.07639979e-02, 1.89302169e-03,
 -5.50081823e-05, 3.78329705e-02, 1.07872201e-02, 1.70580443e-03,
 -3.03175483e-03, 3.51112624e-02, 1.08080246e-02, 1.77228702e-03,
  1.76459525e-03,-1.72765328e-03, 0.00000000e+00,-2.21024089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35411086,  2.18988781, -8.35411086,  9.71426248,
        4.11203093,  2.18988781,  4.11203093, 24.32317739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001186703267995519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35552345e-14,  4.67776172e-14,  1.00000000e+00,  4.37629095e-27,
        1.00000000e+00, -4.67776172e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35552345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354847, -0.10835556,  0.06189464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.70931650e-06,-1.73890790e-04,-5.32422591e-05, 9.88136247e-06,
  4.15606645e-07,-1.53615696e-04,-6.77405698e-05,-8.33864479e-05,
 -1.06728792e-05, 2.43720872e-06,-3.58063078e-05,-8.61391798e-05,
 -1.86138835e-05,-7.14677850e-05,-4.02248778e-05, 2.11272231e-04,
 -9.05137918e-08, 4.97280760e-07,-1.21643986e+00, 1.58300349e-03,
  5.45029281e-04, 3.08728755e-05]


--- Step 1671 ---
qpos:
[-0.01065949, 1.33008573,-0.0182886 , 0.94616583, 0.00425968, 1.32937   ,
 -0.03022254, 0.94346839, 0.01691772, 1.33718566,-0.02350025, 0.95531059,
  1.33716472,-0.00255039, 1.10260039, 0.06374908,-0.00163897,-0.09784786,
  0.081704  , 0.53765564,-0.01102137,-0.00537184, 0.84307538]

qacc:
[ 8.10064764e-02,-1.36839240e+00, 1.77417255e+00, 1.26667823e+00,
  1.41724129e-01,-4.21914284e+00, 1.46243368e+01,-2.70382402e+01,
  4.72761670e-02, 8.47674094e-01,-1.15238771e+00,-3.85292629e+00,
  4.48036719e-01,-8.96559935e-01,-1.70170744e+01, 5.81603591e+01,
  8.31177869e-01, 1.47228556e+00, 2.85995443e-01, 6.50912893e+01,
  5.77657415e+01, 5.62077405e-01]

qfrc_actuator:
[ 2.99843789e-03, 3.76209841e-02, 1.07561770e-02, 1.90067225e-03,
 -1.45167477e-05, 3.77909202e-02, 1.08038848e-02, 1.64264696e-03,
 -3.01179958e-03, 3.51734850e-02, 1.08077836e-02, 1.75657444e-03,
  1.75630760e-03,-1.73836311e-03, 0.00000000e+00,-1.93354891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011923434857719073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.65563421e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.65563421e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02796586, -0.13105753,  0.06189412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32834571e-05,-1.87378990e-04,-4.76396299e-05, 1.22782185e-06,
  4.07314274e-05,-1.43232619e-04,-2.36169457e-05,-7.16148437e-05,
  1.36584165e-05, 5.39749803e-05,-6.36054299e-06,-1.86824720e-05,
 -3.56933980e-05,-3.29014287e-05, 4.64753132e-06, 2.83207574e-04,
  2.49441664e-06,-3.49088228e-08,-1.21644162e+00, 1.58604392e-03,
  5.45922302e-04, 2.78566854e-05]


--- Step 1672 ---
qpos:
[-0.01065991, 1.33014511,-0.01829046, 0.94616904, 0.00425901, 1.32942992,
 -0.030224  , 0.94346684, 0.016918  , 1.33719411,-0.02350084, 0.95531319,
  1.33727553,-0.00255163, 1.10279362, 0.06374816,-0.00163848,-0.09783574,
  0.08169444, 0.53768012,-0.011211  ,-0.00510099, 0.84305894]

qacc:
[ 2.11012378e-01,-1.57999433e+00, 2.68750733e+00,-6.63398121e-01,
  4.50623284e-02,-4.76324292e-01,-2.59290800e+00, 1.47436338e+01,
  7.43623760e-03, 1.13882030e+00,-8.29346303e+00, 3.27307502e+01,
 -4.47143142e-01, 5.81573439e-01, 6.11271571e+00,-2.00689572e+01,
  7.71187429e-01, 1.39318351e+00,-3.07359433e-01, 6.12952241e+01,
  5.43209889e+01, 4.75650773e-01]

qfrc_actuator:
[ 3.04546260e-03, 3.75491376e-02, 1.07522615e-02, 1.90390929e-03,
 -2.56192996e-05, 3.77241323e-02, 1.08144288e-02, 1.69531865e-03,
 -3.01775248e-03, 3.51715866e-02, 1.08617011e-02, 1.87149462e-03,
  1.74734473e-03,-1.72631160e-03, 0.00000000e+00,-2.03734766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.69674658,   6.49105964,   5.69674658,
        42.6614024 , -29.86138379,   6.49105964, -29.86138379,
        34.84360026,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011924872863876002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65507279e-14,  4.65507279e-14,  1.00000000e+00,  2.16697027e-27,
        1.00000000e+00, -4.65507279e-14, -1.00000000e+00,  0.00000000e+00,
       -4.65507279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02796657, -0.13105555,  0.06189407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07220606e-05,-1.85168630e-04,-4.59850981e-05,-3.62536237e-06,
  1.29223809e-05,-1.53232696e-04,-2.23402201e-05, 4.60901124e-05,
  2.11845723e-06, 2.60985072e-05, 6.31814932e-05, 1.15907872e-04,
 -3.58604629e-05,-4.82788885e-06, 3.08324351e-05,-8.80673831e-05,
 -5.40930966e-07, 2.29403050e-06,-1.21644279e+00, 1.58825803e-03,
  5.44627357e-04, 3.19317552e-05]


--- Step 1673 ---
qpos:
[-0.01065995, 1.33020326,-0.01829243, 0.9461712 , 0.00425836, 1.32948867,
 -0.03022598, 0.94346699, 0.01691826, 1.33720288,-0.02350142, 0.95531682,
  1.33738617,-0.00255302, 1.10298755, 0.06374136,-0.00164209,-0.09782982,
  0.08168532, 0.53770807,-0.01137311,-0.00502235, 0.84303942]

qacc:
[ 1.60319785e-01,-3.14722724e+00, 1.04421744e+01,-2.03978807e+01,
  4.05821891e-03, 2.77570557e+00,-1.44152860e+01, 3.30129879e+01,
 -8.51794712e-03, 2.13415233e+00,-8.53281971e+00, 1.90217317e+01,
 -4.10054367e-01, 4.07725013e-01, 1.88058077e+01,-6.42161069e+01,
 -1.02842676e+00,-1.54934735e+00, 1.10863546e-01,-7.36089508e+01,
 -6.32453597e+01,-3.44055975e+00]

qfrc_actuator:
[ 3.05579453e-03, 3.75009162e-02, 1.07507105e-02, 1.85127199e-03,
 -3.20785917e-05, 3.76608773e-02, 1.07857291e-02, 1.78019740e-03,
 -3.02144788e-03, 3.51848666e-02, 1.08582128e-02, 1.92032573e-03,
  1.73799450e-03,-1.73639795e-03, 0.00000000e+00,-2.34675781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011965092875186947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27885004e-14,  4.63942502e-14,  1.00000000e+00, -4.30485290e-27,
        1.00000000e+00, -4.63942502e-14, -1.00000000e+00,  0.00000000e+00,
        9.27885004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03052145, -0.05925009,  0.06189369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61242909e-05,-1.60130491e-04,-4.31411350e-05,-5.95001568e-05,
  1.15872646e-06,-1.51431985e-04,-5.99397004e-05, 8.07625841e-05,
 -2.43957946e-06, 4.34300930e-05, 1.21749925e-05, 5.41651978e-05,
 -3.01664062e-05,-1.96899063e-05,-1.88797201e-06,-3.11795221e-04,
  1.27306046e-07, 1.24717616e-05,-1.21644658e+00, 1.59049883e-03,
  5.42912412e-04, 4.47664076e-05]


--- Step 1674 ---
qpos:
[-0.01065987, 1.33026007,-0.01829439, 0.94617272, 0.00425768, 1.32954637,
 -0.03022796, 0.94346605, 0.01691864, 1.33721202,-0.02350314, 0.95532037,
  1.33749644,-0.002554  , 1.10318093, 0.06373528,-0.00164948,-0.09782974,
  0.08167405, 0.53773958,-0.01150986,-0.00512309, 0.84301685]

qacc:
[ 5.37068513e-02,-2.88686787e+00, 8.61465294e+00,-1.41204834e+01,
 -1.00781104e-02,-3.23403166e+00, 1.11230554e+01,-2.16445324e+01,
  4.83807381e-02, 3.44254982e+00,-1.04792144e+01, 7.96332067e+00,
 -5.24339222e-01, 8.81596756e-01,-2.91687908e+00, 9.11819002e+00,
 -9.41030578e-01,-1.46253511e+00,-5.38462508e-01,-6.87835176e+01,
 -5.88936237e+01,-3.39939587e+00]

qfrc_actuator:
[ 3.04403132e-03, 3.74317080e-02, 1.07506286e-02, 1.81944951e-03,
 -3.56978937e-05, 3.76178762e-02, 1.07873640e-02, 1.72352610e-03,
 -3.00600573e-03, 3.51713904e-02, 1.07853313e-02, 1.91205257e-03,
  1.72841035e-03,-1.70629079e-03, 0.00000000e+00,-2.29537691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.93342092,  -6.27545162,  -5.93342092,
        20.33531185, -11.06132089,  -6.27545162, -11.06132089,
        19.09480977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001211676780429903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.58134976e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.58134976e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03050262, -0.05927874,  0.06189237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54164595e-05,-1.68370568e-04,-3.80984479e-05,-3.91579188e-05,
 -2.94140560e-06,-1.36483735e-04,-3.25102581e-05,-6.10321412e-05,
  1.40076532e-05, 1.44680938e-05,-6.14355298e-05,-5.35347047e-06,
 -3.16845850e-05, 1.85543584e-05,-4.10696067e-05, 3.25035988e-05,
 -1.97411700e-07, 1.30692272e-06,-1.21644261e+00, 1.58838594e-03,
  5.44422114e-04, 3.19274685e-05]


--- Step 1675 ---
qpos:
[-0.01065992, 1.33031567,-0.01829663, 0.94617282, 0.00425683, 1.32960224,
 -0.03022905, 0.94346481, 0.01691916, 1.33722068,-0.02350453, 0.95532345,
  1.33760655,-0.00255513, 1.10337408, 0.06372945,-0.00166033,-0.09783523,
  0.08165844, 0.53777464,-0.01162302,-0.00539258, 0.84299126]

qacc:
[-5.49340900e-02,-3.29347354e+00, 1.17111190e+01,-2.59162396e+01,
 -7.39389472e-02,-5.33296160e+00, 1.51310412e+01,-1.54919997e+01,
  6.01838098e-02,-2.33717386e+00, 7.82351288e+00,-1.19376614e+01,
  1.83568101e-02,-1.88928681e-01,-1.09938714e+00, 3.34965586e+00,
 -8.68997395e-01,-1.38920358e+00,-1.08563318e+00,-6.47720017e+01,
 -5.52869195e+01,-3.34476853e+00]

qfrc_actuator:
[ 3.01911146e-03, 3.73682568e-02, 1.07336073e-02, 1.74687537e-03,
 -5.53360375e-05, 3.74986196e-02, 1.08246486e-02, 1.70830679e-03,
 -2.99696041e-03, 3.51239206e-02, 1.07962335e-02, 1.88796183e-03,
  1.71338412e-03,-1.72359661e-03, 0.00000000e+00,-2.28029404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.8731631 ,  -6.33188219,  -5.8731631 ,
        22.86866518, -13.20122921,  -6.33188219, -13.20122921,
        20.88121751,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012104793702206462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17176329e-14,  2.29294082e-14,  1.00000000e+00,  2.10303104e-27,
        1.00000000e+00, -2.29294082e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17176329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03050569, -0.05927969,  0.06189242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58617221e-05,-1.65572438e-04,-5.54749671e-05,-7.95364862e-05,
 -2.13782032e-05,-2.03362910e-04, 5.02586448e-06,-2.16164068e-05,
  1.73215285e-05,-5.16791746e-05, 6.58645600e-06,-2.55691178e-05,
 -2.86084359e-05,-1.97199568e-05,-1.72079408e-05, 1.12004202e-05,
  3.93582652e-06, 7.44433922e-07,-1.21644208e+00, 1.58610443e-03,
  5.45905329e-04, 3.04705846e-05]


--- Step 1676 ---
qpos:
[-0.01066031, 1.33037003,-0.01829909, 0.9461717 , 0.00425578, 1.32965642,
 -0.03023034, 0.94346586, 0.01691966, 1.33722919,-0.02350583, 0.95532517,
  1.33771649,-0.00255667, 1.10356715, 0.06372348,-0.00166723,-0.09783454,
  0.081648  , 0.53780979,-0.01176764,-0.00547294, 0.84296631]

qacc:
[-1.45707798e-01,-3.18711197e+00, 1.09151059e+01,-2.28294115e+01,
 -8.31121204e-02, 2.24267175e+00,-1.47208507e+01, 4.04356539e+01,
 -8.22074579e-03,-2.77727492e+00, 1.15391738e+01,-2.56042975e+01,
  1.59044172e-01,-5.44098516e-01, 2.77295463e-01,-1.20888512e+00,
  9.89926822e-01, 1.54241216e+00, 1.29454387e+00, 7.12567841e+01,
  6.41111276e+01, 1.32375111e+00]

qfrc_actuator:
[ 2.98650340e-03, 3.73086759e-02, 1.07244677e-02, 1.68639269e-03,
 -6.66721128e-05, 3.74058107e-02, 1.08114110e-02, 1.82412272e-03,
 -3.00957890e-03, 3.51277613e-02, 1.08031290e-02, 1.81930169e-03,
  1.69508744e-03,-1.75118255e-03, 0.00000000e+00,-2.28681581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001245572330007244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02790982, -0.1309628 ,  0.0618894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20078331e-05,-1.64746900e-04,-5.02131385e-05,-6.88148637e-05,
 -2.39561705e-05,-2.05372723e-04,-5.31507298e-05, 1.09420931e-04,
 -2.38817307e-06,-2.42599071e-05,-3.19936619e-06,-7.05785807e-05,
 -3.90375296e-05,-3.90416564e-05,-9.69461540e-06,-8.79119767e-06,
  1.17529057e-05, 8.89847239e-06,-1.21644437e+00, 1.58363202e-03,
  5.47415099e-04, 3.83393753e-05]


--- Step 1677 ---
qpos:
[-0.01066106, 1.33042297,-0.01830165, 0.94617126, 0.0042547 , 1.32970909,
 -0.03023155, 0.94346826, 0.01691994, 1.33723833,-0.02350801, 0.95532637,
  1.33782605,-0.00255821, 1.10375992, 0.06371913,-0.00167053,-0.09782805,
  0.0816397 , 0.53784531,-0.01194124,-0.00537737, 0.84294182]

qacc:
[-1.52748419e-01,-4.09968158e-01,-2.31055742e+00, 1.07548184e+01,
 -9.05325047e-03, 7.98563185e-02,-5.44232862e+00, 2.13359940e+01,
 -9.35361433e-02, 2.31366375e+00,-5.49094607e+00,-1.54822110e+00,
 -1.81790705e-01, 1.12980215e-01,-5.31805602e+00, 1.80012656e+01,
  8.99091502e-01, 1.45258211e+00, 5.34061783e-01, 6.63631601e+01,
  5.95241931e+01, 1.08170668e+00]

qfrc_actuator:
[ 2.96730132e-03, 3.72341704e-02, 1.07200892e-02, 1.72229122e-03,
 -5.51831234e-05, 3.73472218e-02, 1.08218593e-02, 1.89181722e-03,
 -3.03509098e-03, 3.51977726e-02, 1.07722360e-02, 1.79598927e-03,
  1.67483471e-03,-1.74912804e-03, 0.00000000e+00,-2.19949088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.7632925 ,   6.43204761,   5.7632925 ,
        22.69484422, -12.5967873 ,   6.43204761, -12.5967873 ,
        19.92343334,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012645429158243404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74363717e-14,  4.38981948e-14,  1.00000000e+00,  1.20440719e-27,
        1.00000000e+00, -4.38981948e-14, -1.00000000e+00,  0.00000000e+00,
       -2.74363717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02788937, -0.13093064,  0.06188776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40316188e-05,-1.77860814e-04,-4.43761953e-05, 2.79911014e-05,
 -2.65264684e-06,-1.79688887e-04,-3.26298811e-05, 6.25712755e-05,
 -2.69181526e-05, 5.38275165e-05,-3.80642198e-05,-2.57548556e-05,
 -5.12209150e-05,-1.67704802e-05,-8.96240484e-06, 8.47921770e-05,
  3.42262649e-06, 3.69862332e-07,-1.21644218e+00, 1.58712438e-03,
  5.45922814e-04, 3.04758170e-05]


--- Step 1678 ---
qpos:
[-0.01066211, 1.33047461,-0.01830402, 0.94617088, 0.00425368, 1.32976001,
 -0.03023188, 0.94347005, 0.01691997, 1.33724768,-0.02350924, 0.9553255 ,
  1.3379351 ,-0.00255922, 1.1039523 , 0.06371817,-0.00167053,-0.09781604,
  0.08163098, 0.53788134,-0.0121418 ,-0.0051168 , 0.84291759]

qacc:
[-1.28384348e-01,-2.12047674e+00, 4.76485851e+00,-2.67454079e+00,
  2.03609337e-02,-5.68773540e+00, 1.70487543e+01,-2.07528169e+01,
 -1.07954340e-01,-5.86922230e+00, 2.36250897e+01,-4.44835342e+01,
 -5.43055383e-01, 9.27719036e-01,-1.07754335e+01, 3.69825952e+01,
  8.24728111e-01, 1.37703540e+00,-1.05845411e-01, 6.22984212e+01,
  5.57292033e+01, 9.03989214e-01]

qfrc_actuator:
[ 2.95629708e-03, 3.71869072e-02, 1.07363043e-02, 1.72584649e-03,
 -4.78478811e-05, 3.72564069e-02, 1.08640620e-02, 1.85965413e-03,
 -3.05037779e-03, 3.52179804e-02, 1.08261032e-02, 1.69306492e-03,
  1.66408579e-03,-1.71176974e-03, 0.00000000e+00,-2.02206011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.77858538,   6.41831191,   5.77858538,
        25.36195178, -15.0585139 ,   6.41831191, -15.0585139 ,
        22.19396406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012659551528152596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64434590e-14,  4.38492241e-14,  1.00000000e+00,  7.21032921e-28,
        1.00000000e+00, -4.38492241e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64434590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0278896 , -0.13092574,  0.0618876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70282070e-05,-1.53837511e-04,-2.28305473e-05,-2.32296432e-06,
  5.76345670e-06,-1.95088119e-04, 5.11374611e-06,-3.69985690e-05,
 -3.11736124e-05, 4.17188474e-05, 5.92938705e-05,-1.03032025e-04,
 -4.28721437e-05, 2.11505262e-05, 1.94107376e-06, 1.80254116e-04,
 -2.17198925e-07, 1.97401153e-06,-1.21644332e+00, 1.59040257e-03,
  5.44064930e-04, 3.38846764e-05]


--- Step 1679 ---
qpos:
[-0.0106634 , 1.33052474,-0.01830522, 0.94617051, 0.00425272, 1.32981008,
 -0.03023285, 0.94347075, 0.01691977, 1.33725586,-0.02350845, 0.95532589,
  1.33804394,-0.00256013, 1.10414472, 0.06371867,-0.00166911,-0.09780966,
  0.08163305, 0.53791922,-0.01221976,-0.00495014, 0.84289328]

qacc:
[-9.64774787e-02,-5.10346898e+00, 1.42262230e+01,-1.12981156e+01,
  2.84360910e-02,-1.23153908e+00, 4.90358160e+00,-1.63354576e+01,
 -9.47376045e-02,-4.82676522e+00, 1.13512513e+01, 5.36951698e+00,
 -1.65401378e-01, 2.28416360e-01,-4.31237830e+00, 1.51773939e+01,
  3.56448642e-01,-1.40645122e+00, 2.69720683e+00,-6.59700669e+00,
 -7.69168776e+01,-1.67437801e+00]

qfrc_actuator:
[ 2.95029847e-03, 3.71209088e-02, 1.08001181e-02, 1.72809610e-03,
 -4.30652563e-05, 3.72358511e-02, 1.08357315e-02, 1.80450003e-03,
 -3.05940637e-03, 3.51019749e-02, 1.09116035e-02, 1.75716945e-03,
  1.65906308e-03,-1.70701510e-03, 0.00000000e+00,-1.95276397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012628105504223497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19792079e-14, -4.39584158e-14,  1.00000000e+00,  9.66171159e-28,
        1.00000000e+00,  4.39584158e-14, -1.00000000e+00,  0.00000000e+00,
        2.19792079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00642334, -0.07657374,  0.06188781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78879123e-05,-1.55968460e-04, 3.10264416e-05,-2.98586184e-06,
  8.17604107e-06,-1.28947959e-04,-6.70569268e-05,-6.16560429e-05,
 -2.74279277e-05,-8.44722610e-05, 9.73610745e-05, 6.46867723e-05,
 -2.32581145e-05,-8.13256663e-08, 1.73425506e-05, 7.87846044e-05,
 -3.82503376e-09, 1.18179114e-05,-1.21644717e+00, 1.59353428e-03,
  5.41869695e-04, 4.64901428e-05]


--- Step 1680 ---
qpos:
[-0.01066484, 1.33057352,-0.01830537, 0.94617017, 0.00425183, 1.32985992,
 -0.03023509, 0.94347111, 0.01691954, 1.33726381,-0.02350808, 0.95532916,
  1.33815279,-0.00256151, 1.1043377 , 0.06371565,-0.00166626,-0.09780857,
  0.08164276, 0.53795895,-0.0121831 ,-0.00487146, 0.84286892]

qacc:
[-6.71912323e-02,-4.60047213e+00, 1.28208675e+01,-1.00992981e+01,
  2.77627177e-02, 2.51840509e+00,-7.87840430e+00, 2.99882122e+00,
 -1.27344498e-02, 5.79748223e+00,-2.50646514e+01, 5.50750133e+01,
  1.09235387e-01,-4.64170689e-01, 1.14319952e+01,-3.88022961e+01,
  3.55301100e-01,-1.32086461e+00, 1.91170470e+00,-6.24043000e+00,
 -7.19670030e+01,-1.62179728e+00]

qfrc_actuator:
[ 2.94734967e-03, 3.70621648e-02, 1.08559436e-02, 1.72958183e-03,
 -3.98528911e-05, 3.72572591e-02, 1.07840068e-02, 1.78953176e-03,
 -3.04685602e-03, 3.51008155e-02, 1.08903664e-02, 1.90123875e-03,
  1.65214306e-03,-1.73937401e-03, 0.00000000e+00,-2.14303560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -1.9600971 ,  -8.41099258,  -1.9600971 ,
        55.14028011, -10.83726929,  -8.41099258, -10.83726929,
        11.16188008,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012686643639579082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.28166886e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.28166886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00641937, -0.07657927,  0.06188733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94433232e-05,-1.39376447e-04, 2.87355710e-05,-2.24514249e-06,
  8.03187995e-06,-6.52507057e-05,-8.64486201e-05,-2.21732511e-05,
 -3.64308842e-06,-2.69992270e-05,-2.47848464e-05, 1.45935394e-04,
 -1.95222160e-05,-3.78804323e-05, 1.21624060e-05,-1.84708697e-04,
  1.26770681e-06, 4.65895386e-06,-1.21644252e+00, 1.58914253e-03,
  5.42040843e-04, 4.07559952e-05]


--- Step 1681 ---
qpos:
[-0.01066609, 1.33062143,-0.01830557, 0.94617021, 0.00425085, 1.32990909,
 -0.03023752, 0.94346989, 0.01691964, 1.3372723 ,-0.02350871, 0.95533099,
  1.33826142,-0.00256273, 1.10453049, 0.0637124 ,-0.00166201,-0.09781247,
  0.08165749, 0.53800052,-0.01203837,-0.00487588, 0.84284444]

qacc:
[ 7.95845009e-02,-3.18136385e-01,-1.11802954e+00, 5.93821688e+00,
 -3.73414204e-02,-3.06782820e+00, 1.21907563e+01,-2.84781387e+01,
  1.42010981e-01, 9.63098378e-01, 6.38958888e-01,-1.75443573e+01,
 -2.83544737e-01, 4.18609650e-01, 3.92760520e-01,-1.75692009e+00,
  3.53403622e-01,-1.25056785e+00, 1.25506034e+00,-5.94282324e+00,
 -6.78897013e+01,-1.57442328e+00]

qfrc_actuator:
[ 2.98175820e-03, 3.70259748e-02, 1.08533594e-02, 1.74834942e-03,
 -5.53609379e-05, 3.72148020e-02, 1.07723787e-02, 1.70960248e-03,
 -3.00371062e-03, 3.51503381e-02, 1.08422221e-02, 1.82487018e-03,
  1.64939799e-03,-1.72244653e-03, 0.00000000e+00,-2.14736774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.20026887,  -8.35138275,  -2.20026887,
        61.25155358, -13.86208344,  -8.35138275, -13.86208344,
        12.28849066,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012602709701418219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.80939933e-14,  2.20234983e-14,  1.00000000e+00, -1.94013792e-27,
        1.00000000e+00, -2.20234983e-14, -1.00000000e+00,  0.00000000e+00,
        8.80939933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00641969, -0.07657148,  0.06188808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28990084e-05,-1.08062980e-04,-2.66700101e-05, 1.54798386e-05,
 -1.07713338e-05,-9.64820486e-05,-3.49386210e-05,-8.48749795e-05,
  4.09972308e-05, 3.40245675e-05,-5.19674879e-05,-7.44800105e-05,
 -2.29024515e-05, 3.07676429e-06,-2.03223750e-05,-1.43090624e-05,
  1.43640809e-06, 7.66137268e-07,-1.21644021e+00, 1.58507998e-03,
  5.42305675e-04, 3.61191317e-05]


--- Step 1682 ---
qpos:
[-0.01066721, 1.33066828,-0.01830579, 0.94617187, 0.00424974, 1.32995696,
 -0.03023931, 0.94346842, 0.01692015, 1.33728085,-0.02350952, 0.95533188,
  1.33836968,-0.00256325, 1.10472297, 0.06371044,-0.00166119,-0.09782137,
  0.08166632, 0.53804479,-0.01187043,-0.00504181, 0.84281759]

qacc:
[ 5.82743101e-02, 1.47802885e+00,-9.77366772e+00, 2.79194216e+01,
 -5.26271655e-02,-3.85063152e+00, 1.10270853e+01,-1.16020887e+01,
  1.72897808e-01,-1.08566497e+00, 5.47875976e+00,-1.54651025e+01,
 -7.04485218e-01, 1.32170978e+00,-4.24099777e+00, 1.43154192e+01,
 -8.60596522e-01,-1.24867751e+00,-1.47634340e+00,-6.18051151e+01,
 -5.32077870e+01,-2.80298885e+00]

qfrc_actuator:
[ 2.98503991e-03, 3.69678687e-02, 1.08519274e-02, 1.83037492e-03,
 -6.42208017e-05, 3.71345613e-02, 1.08019949e-02, 1.69858608e-03,
 -2.97806712e-03, 3.51408168e-02, 1.08319503e-02, 1.77918599e-03,
  1.64385206e-03,-1.67638479e-03, 0.00000000e+00,-2.07752720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.09291899, 3.01520135, 8.09291899, 8.41099265,
       0.6049046 , 3.01520135, 0.6049046 , 7.01277591, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001245521898638649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.45685871e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.45685871e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03048021, -0.05936228,  0.06188939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67634968e-05,-1.22953644e-04,-2.51846825e-05, 7.84509675e-05,
 -1.52182082e-05,-1.43349354e-04, 4.21790943e-06,-1.68473939e-05,
  4.98567421e-05,-3.11302136e-06,-1.17180435e-05,-4.79173454e-05,
 -1.78515723e-05, 4.17592585e-05,-1.40106701e-05, 6.57331876e-05,
  6.89953153e-07,-4.13093378e-07,-1.21643985e+00, 1.58126670e-03,
  5.42665359e-04, 3.23564983e-05]


--- Step 1683 ---
qpos:
[-0.01066837, 1.33071399,-0.01830535, 0.94617379, 0.00424867, 1.33000322,
 -0.03024006, 0.94346892, 0.01692074, 1.33728948,-0.02351048, 0.95533187,
  1.33847759,-0.00256294, 1.10491536, 0.06370896,-0.00166358,-0.09783513,
  0.08166765, 0.53809186,-0.01168067,-0.00536158, 0.84278821]

qacc:
[-1.90722408e-02,-2.85107496e+00, 6.96265467e+00,-2.42259032e+00,
  1.40856002e-02,-1.56618427e+00,-1.49483687e+00, 2.50740178e+01,
  3.07632587e-02,-1.04651675e+00, 5.37663957e+00,-1.51462331e+01,
 -8.56639018e-01, 1.61473755e+00,-1.50103936e+00, 5.25977736e+00,
 -8.02811237e-01,-1.21458084e+00,-1.87284504e+00,-5.89544255e+01,
 -5.05575817e+01,-2.82805132e+00]

qfrc_actuator:
[ 2.96962070e-03, 3.69148904e-02, 1.08866682e-02, 1.84244826e-03,
 -5.12673996e-05, 3.70502857e-02, 1.08555969e-02, 1.79922555e-03,
 -2.99863692e-03, 3.51494115e-02, 1.08262107e-02, 1.73422034e-03,
  1.63132050e-03,-1.63121259e-03, 0.00000000e+00,-2.05335325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.9457151 , -5.13262298, -6.9457151 , 14.15498664,
       -7.46806912, -5.13262298, -7.46806912, 18.74251807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012214701772844672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03051676, -0.05932423,  0.06189145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55834576e-06,-1.23887260e-04, 1.01027549e-05, 9.56313939e-06,
  3.96925092e-06,-1.63596729e-04, 2.54873275e-05, 9.61234890e-05,
  8.87323063e-06, 3.11228645e-06,-9.08809483e-06,-4.65041856e-05,
 -1.26575688e-05, 5.17009859e-05,-2.30841903e-06, 2.53207822e-05,
 -1.32940961e-06, 4.98500856e-06,-1.21644096e+00, 1.57800978e-03,
  5.44375218e-04, 3.82647103e-05]


--- Step 1684 ---
qpos:
[-0.01066949, 1.33075899,-0.01830518, 0.94617481, 0.00424783, 1.33004793,
 -0.03024006, 0.94346993, 0.01692127, 1.33729749,-0.02351032, 0.95533064,
  1.33858532,-0.00256207, 1.10510771, 0.06370776,-0.00166199,-0.09784313,
  0.08167171, 0.53813841,-0.01152122,-0.0055026 , 0.84275977]

qacc:
[ 1.97923391e-02,-1.77389556e+00, 6.50204834e+00,-1.56076329e+01,
  9.84839362e-02,-3.14571219e+00, 6.74488850e+00, 1.16302261e+00,
 -2.53254621e-02,-5.92850210e+00, 2.08148126e+01,-3.18443159e+01,
 -5.26220274e-01, 1.03266071e+00,-9.09692061e-01, 3.16931631e+00,
  9.96693498e-01, 1.44061210e+00, 6.80925538e-01, 6.71706492e+01,
  6.08515550e+01, 1.59154739e+00]

qfrc_actuator:
[ 2.97861416e-03, 3.68832655e-02, 1.08714373e-02, 1.79551539e-03,
 -2.53335172e-05, 3.69644364e-02, 1.08874371e-02, 1.82272891e-03,
 -3.01125709e-03, 3.50978021e-02, 1.08764938e-02, 1.67228174e-03,
  1.62526220e-03,-1.60473460e-03, 0.00000000e+00,-2.03854681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001234494978051455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62083607e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.62083607e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02795084, -0.13096253,  0.06189037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.68110258e-06,-9.81971653e-05,-3.80582935e-05,-5.00336957e-05,
  2.82694375e-05,-1.68798896e-04, 5.50200354e-06, 2.16230973e-05,
 -7.37569290e-06,-5.30969138e-05, 4.84893767e-05,-6.31841637e-05,
 -9.39507109e-07, 3.67108232e-05,-2.24719477e-06, 1.50124682e-05,
 -1.73751859e-08, 1.73000005e-05,-1.21644430e+00, 1.57465089e-03,
  5.46084124e-04, 5.14829818e-05]


--- Step 1685 ---
qpos:
[-0.01067053, 1.3308034 ,-0.01830582, 0.94617528, 0.00424726, 1.33009181,
 -0.03024074, 0.94347055, 0.01692184, 1.33730514,-0.02350994, 0.95532938,
  1.33869314,-0.0025614 , 1.10529986, 0.06370775,-0.00165679,-0.09784565,
  0.08167586, 0.53818492,-0.01138969,-0.00547627, 0.84273203]

qacc:
[ 3.16865199e-02, 4.79989717e-01,-1.41094697e+00,-4.71975574e+00,
  1.12676690e-01, 2.19359979e-02,-5.75776022e-01,-3.64697808e+00,
  1.96829575e-02,-1.14470555e+00, 3.20868555e+00,-2.79497967e+00,
  3.02226833e-01,-5.10444076e-01,-3.85518681e+00, 1.30334253e+01,
  9.03573742e-01, 1.36952876e+00, 2.28134649e-02, 6.30077957e+01,
  5.67944863e+01, 1.25322543e+00]

qfrc_actuator:
[ 2.98442869e-03, 3.68467078e-02, 1.08268792e-02, 1.76748606e-03,
 -9.57628961e-06, 3.69314719e-02, 1.08528382e-02, 1.80060668e-03,
 -3.00125087e-03, 3.50817621e-02, 1.08881884e-02, 1.67185811e-03,
  1.62308481e-03,-1.62503169e-03, 0.00000000e+00,-1.97610143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.29766627,  6.82066778,  5.29766627, 18.23780566,
       -7.45751548,  6.82066778, -7.45751548, 14.42867451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012415935925831692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67660995e-14,  4.47095987e-14,  1.00000000e+00,  7.49605580e-28,
        1.00000000e+00, -4.47095987e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67660995e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02794671, -0.13094931,  0.0618898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.13719115e-06,-1.00104315e-04,-6.96023545e-05,-3.31692794e-05,
  3.24306234e-05,-1.24930665e-04,-6.64126468e-05,-2.64725834e-05,
  5.65429258e-06,-3.78598008e-05, 4.97732143e-06,-2.03835095e-06,
  5.75592215e-06,-1.10657364e-05,-3.19000549e-06, 6.21124914e-05,
 -1.16990628e-06, 3.68958017e-06,-1.21644047e+00, 1.57843990e-03,
  5.44750179e-04, 3.53512881e-05]


--- Step 1686 ---
qpos:
[-0.01067164, 1.33084674,-0.01830684, 0.94617508, 0.00424692, 1.33013508,
 -0.03024224, 0.94347019, 0.01692234, 1.33731284,-0.02350954, 0.95532741,
  1.3388009 ,-0.00256086, 1.10549241, 0.06370478,-0.00164827,-0.09784293,
  0.0816779 , 0.53823167,-0.01128414,-0.00529202, 0.84270477]

qacc:
[-2.95227056e-02,-1.53913542e+00, 4.69634349e+00,-1.11433932e+01,
  9.95212502e-02,-2.43938504e-01, 1.83789491e+00,-1.24943354e+01,
 -3.00339259e-02,-1.17780819e+00, 5.34540758e+00,-1.28451204e+01,
 -1.58753874e-01, 1.07893747e-01, 9.49643636e+00,-3.23620345e+01,
  8.27915648e-01, 1.30962028e+00,-5.30071005e-01, 5.95522595e+01,
  5.34421892e+01, 9.94002455e-01]

qfrc_actuator:
[ 2.97053624e-03, 3.67718685e-02, 1.08008961e-02, 1.73305571e-03,
 -5.18992852e-08, 3.69124005e-02, 1.08150011e-02, 1.75182462e-03,
 -3.01325665e-03, 3.51047970e-02, 1.08949077e-02, 1.63661453e-03,
  1.60723945e-03,-1.63736501e-03, 0.00000000e+00,-2.13461445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.34140401,  6.78647037,  5.34140401, 20.27950647,
       -9.16392859,  6.78647037, -9.16392859, 15.84898555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001233933530040296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12467872e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.12467872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02795956, -0.13095899,  0.06189046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.52966289e-06,-1.45099204e-04,-5.44954367e-05,-4.01657151e-05,
  2.86550374e-05,-1.02278608e-04,-7.06627445e-05,-5.50400274e-05,
 -8.66383655e-06, 2.95736659e-06,-1.78179640e-07,-3.62571171e-05,
 -1.55036017e-05,-1.36268450e-05, 2.28113154e-06,-1.56210796e-04,
  1.42581122e-06,-4.46989763e-07,-1.21643973e+00, 1.58185087e-03,
  5.43121310e-04, 2.98547267e-05]


--- Step 1687 ---
qpos:
[-0.01067286, 1.33088892,-0.01830761, 0.94617514, 0.00424647, 1.33017761,
 -0.03024391, 0.94346888, 0.0169226 , 1.33732036,-0.02350879, 0.95532676,
  1.33890845,-0.00256039, 1.105685  , 0.06369961,-0.00163669,-0.09783518,
  0.08167595, 0.53827885,-0.01120299,-0.00495766, 0.84267775]

qacc:
[-4.46654076e-02,-1.77862377e+00, 3.44088395e+00, 6.84440814e-01,
 -4.47062091e-02,-2.13086000e+00, 7.73512539e+00,-1.72508778e+01,
 -1.04779577e-01, 1.06756647e+00,-6.42656753e+00, 2.09117934e+01,
 -2.42774921e-01, 2.18254947e-01, 6.71136742e+00,-2.33753962e+01,
  7.66293516e-01, 1.25910556e+00,-9.94173893e-01, 5.66877154e+01,
  5.06745194e+01, 7.97539836e-01]

qfrc_actuator:
[ 2.96268703e-03, 3.67280165e-02, 1.08214446e-02, 1.74838041e-03,
 -2.98478944e-05, 3.68840125e-02, 1.08111427e-02, 1.70552976e-03,
 -3.03837085e-03, 3.50977564e-02, 1.09165302e-02, 1.70544513e-03,
  1.58853098e-03,-1.64490192e-03, 0.00000000e+00,-2.24451780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.35094316,   6.77895155,   5.35094316,
        22.8887835 , -11.25010084,   6.77895155, -11.25010084,
        17.51659381,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001214550656664419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.14101868e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.14101868e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02798578, -0.13098668,  0.06189209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29144275e-05,-1.36246387e-04,-1.52423410e-05, 8.52928357e-06,
 -1.28919939e-05,-1.00751068e-04,-3.35739485e-05,-5.26619082e-05,
 -3.02248356e-05,-6.56904026e-06, 2.11077415e-05, 6.80775609e-05,
 -3.09719815e-05,-1.43221609e-05,-2.11244503e-05,-1.19424501e-04,
  7.17164576e-06, 3.26902031e-06,-1.21644156e+00, 1.58501897e-03,
  5.41194479e-04, 3.31958022e-05]


--- Step 1688 ---
qpos:
[-0.01067403, 1.3309304 ,-0.01830777, 0.94617568, 0.00424597, 1.3302196 ,
 -0.03024605, 0.94346772, 0.01692258, 1.33732787,-0.02350842, 0.95532766,
  1.33901592,-0.0025605 , 1.10587715, 0.06369548,-0.00162965,-0.09783337,
  0.08167499, 0.53832827,-0.0110927 ,-0.00481838, 0.84264845]

qacc:
[ 2.07799504e-02,-1.72758828e+00, 3.58619490e+00, 2.71489927e+00,
 -2.60384444e-02, 8.19583433e-01,-3.83564015e+00, 5.35629942e+00,
 -1.14059829e-01, 3.67851745e+00,-1.51155030e+01, 3.09000062e+01,
  4.50146379e-01,-1.04250131e+00,-3.80427211e+00, 1.22805603e+01,
 -1.13569762e+00,-1.48584083e+00, 2.47538128e-01,-7.43476794e+01,
 -6.47641820e+01,-2.72297098e+00]

qfrc_actuator:
[ 2.97628024e-03, 3.67387895e-02, 1.08694297e-02, 1.77514909e-03,
 -2.97315815e-05, 3.68681617e-02, 1.07918441e-02, 1.71435027e-03,
 -3.05339250e-03, 3.50906336e-02, 1.08934807e-02, 1.78171500e-03,
  1.57344498e-03,-1.68507396e-03, 0.00000000e+00,-2.18280273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001229382704084736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12884196e-14,  2.25768392e-14,  1.00000000e+00,  2.54856834e-28,
        1.00000000e+00, -2.25768392e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12884196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03052779, -0.05935621,  0.06189083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94082697e-06,-6.75959053e-05, 1.98281511e-05, 2.25215263e-05,
 -7.49384002e-06,-8.00388938e-05,-4.44246827e-05, 3.63980265e-06,
 -3.28641055e-05,-4.67070867e-06,-1.99512437e-05, 7.82883322e-05,
 -3.61469895e-05,-5.07041744e-05,-2.65420471e-05, 5.15422881e-05,
  1.56274790e-05, 1.36454757e-05,-1.21644559e+00, 1.58803436e-03,
  5.38972714e-04, 4.40557215e-05]


--- Step 1689 ---
qpos:
[-0.0106751 , 1.33097162,-0.01830748, 0.94617546, 0.00424557, 1.33026107,
 -0.03024875, 0.94346667, 0.01692248, 1.33733525,-0.02350849, 0.95532809,
  1.33912306,-0.00256079, 1.10606891, 0.06369374,-0.00162671,-0.0978372 ,
  0.08167234, 0.53838027,-0.01095574,-0.00486083, 0.84261678]

qacc:
[ 4.20275194e-02,-2.85920476e+00, 1.04206079e+01,-1.75856039e+01,
  4.73535295e-02, 1.02449023e+00,-4.40478709e+00, 5.50779806e+00,
 -3.64295170e-02, 2.51879504e-01,-8.43685631e-02,-5.15815573e+00,
  2.62755595e-02,-2.60528810e-01,-7.80467829e+00, 2.64597718e+01,
 -1.02688332e+00,-1.41273113e+00,-4.25229751e-01,-6.93726459e+01,
 -6.01307754e+01,-2.80104400e+00]

qfrc_actuator:
[ 2.98487409e-03, 3.67468292e-02, 1.08979235e-02, 1.73745909e-03,
 -1.16698792e-05, 3.68421819e-02, 1.07636559e-02, 1.72002030e-03,
 -3.04448535e-03, 3.50656103e-02, 1.08619778e-02, 1.75518172e-03,
  1.55520324e-03,-1.69102453e-03, 0.00000000e+00,-2.05597764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.93682498, -6.27223135, -5.93682498, 14.41930274,
       -5.47369754, -6.27223135, -5.47369754, 13.81735625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012463956687984584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00209021e-13,  2.22686714e-14,  1.00000000e+00, -2.23152177e-27,
        1.00000000e+00, -2.22686714e-14, -1.00000000e+00,  0.00000000e+00,
        1.00209021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03050904, -0.05938888,  0.0618894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20727287e-05,-2.50846747e-05, 1.81598850e-05,-3.85372874e-05,
  1.36371941e-05,-7.91345622e-05,-4.88445997e-05, 2.09787257e-06,
 -1.04938130e-05,-2.92347705e-05,-3.23985340e-05,-2.54205789e-05,
 -5.04488903e-05,-2.70562464e-05,-8.68559654e-06, 1.25782071e-04,
  5.18725675e-06, 1.51155862e-06,-1.21644075e+00, 1.58361953e-03,
  5.41546605e-04, 3.12282784e-05]


--- Step 1690 ---
qpos:
[-0.01067592, 1.33101279,-0.01830782, 0.94617482, 0.00424519, 1.33030193,
 -0.03025176, 0.94346535, 0.01692237, 1.33734307,-0.02350859, 0.95532745,
  1.33922972,-0.00256065, 1.10626025, 0.06369619,-0.00162753,-0.09784644,
  0.08166571, 0.53843505,-0.01079411,-0.00507389, 0.8425826 ]

qacc:
[ 1.05375090e-01, 8.93793844e-01,-2.13313551e+00,-2.90078984e+00,
  4.26732978e-03,-4.51202700e-01, 1.06716191e+00,-3.71189676e+00,
 -2.65175774e-03,-1.20559016e+00, 6.78804100e+00,-1.86138019e+01,
 -3.88859921e-01, 6.48087605e-01,-1.32219944e+01, 4.54256411e+01,
 -9.38091738e-01,-1.35026849e+00,-9.92023104e-01,-6.52354385e+01,
 -5.62994195e+01,-2.83589958e+00]

qfrc_actuator:
[ 3.00815125e-03, 3.67353316e-02, 1.08613835e-02, 1.71538150e-03,
 -1.84949044e-05, 3.68103158e-02, 1.07481580e-02, 1.70601738e-03,
 -3.03904911e-03, 3.51364761e-02, 1.08788774e-02, 1.70385837e-03,
  1.54574515e-03,-1.65887945e-03, 0.00000000e+00,-1.83860222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.94056755, -6.26868679, -5.94056755, 15.91863833,
       -6.90110164, -6.26868679, -6.90110164, 15.1762438 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012463742546771628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45381081e-14,  2.22690540e-14,  1.00000000e+00, -9.91821535e-28,
        1.00000000e+00, -2.22690540e-14, -1.00000000e+00,  0.00000000e+00,
        4.45381081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03051273, -0.05939242,  0.06188939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03769751e-05,-2.32536001e-05,-4.05527861e-05,-2.31282315e-05,
  1.21872172e-06,-8.54262969e-05,-3.65241487e-05,-1.77146536e-05,
 -7.56535823e-07, 4.75701641e-05, 6.75798076e-06,-5.37177958e-05,
 -4.34771828e-05, 1.34340530e-05, 6.90272130e-06, 2.22570566e-04,
 -2.44427087e-08, 3.40861354e-07,-1.21643952e+00, 1.57933634e-03,
  5.43894929e-04, 3.01036975e-05]


--- Step 1691 ---
qpos:
[-0.01067633, 1.33105335,-0.01830895, 0.94617434, 0.00424478, 1.33034205,
 -0.03025498, 0.94346596, 0.01692229, 1.33735096,-0.02350877, 0.95532795,
  1.3393361 ,-0.00256022, 1.10645168, 0.0637002 ,-0.00163504,-0.09785177,
  0.08165307, 0.53848041,-0.01083526,-0.00530424, 0.84255167]

qacc:
[ 1.72825403e-01, 1.61357683e+00,-6.55213651e+00, 7.83631174e+00,
 -1.12039924e-02, 2.90453306e+00,-1.46246158e+01, 3.54792491e+01,
  9.90286869e-03, 2.24518181e+00,-9.52698411e+00, 2.14667156e+01,
 -3.51375803e-01, 5.84603984e-01,-4.56742659e+00, 1.62527510e+01,
 -1.67024811e+00, 9.77935099e-01,-1.50546087e+00,-6.19210757e+01,
  8.07324930e+01, 5.26088680e+00]

qfrc_actuator:
[ 3.04004879e-03, 3.66587259e-02, 1.08044556e-02, 1.72038895e-03,
 -2.24422659e-05, 3.67752173e-02, 1.07402426e-02, 1.80482272e-03,
 -3.03574076e-03, 3.51223517e-02, 1.08713279e-02, 1.76273469e-03,
  1.54158158e-03,-1.63989290e-03, 0.00000000e+00,-1.76492312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.6731506 , -8.21224955,  2.6731506 , 81.50270447,
       23.71855621, -8.21224955, 23.71855621, 16.3569367 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012498953523269046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336632, -0.10843382,  0.06188906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98010341e-05,-9.83643912e-05,-6.68155558e-05, 2.64101155e-06,
 -3.23123094e-06,-9.03209207e-05,-2.93506647e-05, 9.48048613e-05,
  2.86815015e-06, 1.18562492e-05, 9.27260010e-07, 5.92422812e-05,
 -2.43808753e-05, 1.19662011e-05, 2.43306840e-05, 8.61508217e-05,
 -9.32688898e-07, 8.13119191e-06,-1.21644123e+00, 1.57508731e-03,
  5.46124103e-04, 3.85049481e-05]


--- Step 1692 ---
qpos:
[-0.01067663, 1.33109275,-0.01831027, 0.94617429, 0.00424433, 1.33038085,
 -0.03025722, 0.94346877, 0.01692209, 1.33735813,-0.0235087 , 0.95533025,
  1.33944218,-0.00255954, 1.1066432 , 0.06370509,-0.00164889,-0.09785353,
  0.08163239, 0.53851726,-0.01106705,-0.00555056, 0.84252351]

qacc:
[ 4.49416903e-02,-2.86750982e-01,-1.76902522e+00, 7.19864117e+00,
 -1.39884921e-02,-6.16916212e-01,-4.59635128e+00, 3.03640719e+01,
 -4.86529955e-02, 1.52061143e+00,-9.69490997e+00, 2.94948085e+01,
 -3.64102520e-01, 5.71306673e-01,-2.49979014e+00, 8.99001263e+00,
 -1.58868300e+00, 8.92014184e-01,-2.00648537e+00,-5.80895231e+01,
  7.59719064e+01, 4.75210362e+00]

qfrc_actuator:
[ 3.02360183e-03, 3.65791590e-02, 1.07889856e-02, 1.74124951e-03,
 -2.46305773e-05, 3.67030576e-02, 1.07901755e-02, 1.91596747e-03,
 -3.05148899e-03, 3.50396717e-02, 1.08669055e-02, 1.85042698e-03,
  1.52461787e-03,-1.62885314e-03, 0.00000000e+00,-1.72326310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.35876622,  4.52054605, -7.35876622, 12.120881  ,
        5.67226798,  4.52054605,  5.67226798, 17.86995921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012479549167716958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44816960e-14,  4.44816960e-14,  1.00000000e+00, -1.97862128e-27,
        1.00000000e+00, -4.44816960e-14, -1.00000000e+00,  0.00000000e+00,
        4.44816960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336694, -0.10843875,  0.06188917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29188287e-05,-1.47226651e-04,-4.22683694e-05, 1.60834664e-05,
 -4.09847322e-06,-1.25294280e-04, 3.16604516e-05, 1.09817260e-04,
 -1.40499377e-05,-7.42405044e-05,-2.75849084e-07, 8.94610327e-05,
 -2.72060263e-05, 8.22119667e-06, 1.57785202e-05, 4.84283038e-05,
  6.26194392e-06, 7.62357433e-06,-1.21644247e+00, 1.58160031e-03,
  5.47839971e-04, 3.73947435e-05]


--- Step 1693 ---
qpos:
[-0.0106771 , 1.33113149,-0.01831225, 0.94617446, 0.00424372, 1.33041867,
 -0.03025943, 0.94347222, 0.01692189, 1.33736506,-0.02350819, 0.95533214,
  1.33954813,-0.0025592 , 1.10683467, 0.06371113,-0.00165876,-0.09784912,
  0.08161784, 0.53855421,-0.0113307 ,-0.00560381, 0.84249604]

qacc:
[-6.93339147e-02, 1.36145187e+00,-5.95589877e+00, 8.29677219e+00,
 -7.38499775e-02,-2.97376464e-01,-1.90830682e+00, 9.71528976e+00,
  6.45896367e-04,-2.24496596e+00, 7.74071932e+00,-1.11807543e+01,
  2.19666333e-01,-5.81961988e-01,-3.54690642e+00, 1.22573237e+01,
  9.96594165e-01, 1.54260110e+00, 1.52923617e+00, 7.27533975e+01,
  6.54076188e+01, 1.30073433e+00]

qfrc_actuator:
[ 2.99603977e-03, 3.65696144e-02, 1.07625873e-02, 1.75353228e-03,
 -4.34984403e-05, 3.66450264e-02, 1.07849337e-02, 1.94470471e-03,
 -3.04303680e-03, 3.50586354e-02, 1.08995930e-02, 1.83003853e-03,
  1.50531063e-03,-1.65816207e-03, 0.00000000e+00,-1.66524553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012814106063325365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.33203463e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.33203463e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02792598, -0.13086129,  0.06188626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99659274e-05,-9.90230587e-05,-5.95532699e-05, 7.08473128e-06,
 -2.12911927e-05,-1.18114685e-04,-2.29688225e-05, 2.84980005e-05,
  1.57272759e-07,-1.95403889e-05, 2.07717302e-05,-2.04991692e-05,
 -3.21603122e-05,-3.36573588e-05, 7.89232306e-06, 6.16373151e-05,
  1.65706936e-05, 5.11903371e-06,-1.21644669e+00, 1.58656254e-03,
  5.49107332e-04, 2.52854211e-05]


--- Step 1694 ---
qpos:
[-0.01067766, 1.33116978,-0.01831467, 0.94617406, 0.00424276, 1.33045615,
 -0.03026248, 0.94347563, 0.01692188, 1.33737203,-0.02350803, 0.95533517,
  1.33965404,-0.00255948, 1.10702597, 0.06371915,-0.00166501,-0.0978389 ,
  0.08160619, 0.53859151,-0.01162366,-0.00547793, 0.84246903]

qacc:
[-3.57809726e-02,-4.26512983e-01, 1.85901142e+00,-8.00593852e+00,
 -1.43497776e-01, 1.79661181e+00,-6.31755666e+00, 5.26331876e+00,
  7.96725567e-02, 3.01891722e+00,-1.20568058e+01, 2.35534369e+01,
  5.54122183e-01,-1.19053213e+00,-6.30467005e+00, 2.15739391e+01,
  9.04891252e-01, 1.45258090e+00, 7.27124638e-01, 6.75709020e+01,
  6.05771495e+01, 1.07082640e+00]

qfrc_actuator:
[ 2.99754104e-03, 3.65665383e-02, 1.07479474e-02, 1.72518675e-03,
 -7.22196634e-05, 3.66489271e-02, 1.07471410e-02, 1.94243015e-03,
 -3.02013466e-03, 3.50673892e-02, 1.08832192e-02, 1.88829873e-03,
  1.50057123e-03,-1.69342702e-03, 0.00000000e+00,-1.56252617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.43664848,   5.75815362,   6.43664848,
        20.03217025, -12.7385975 ,   5.75815362, -12.7385975 ,
        22.87597578,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013032063075632538
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72713492e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.72713492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02790162, -0.1308241 ,  0.06188437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03097039e-05,-6.95364481e-05,-4.06052240e-05,-3.28279749e-05,
 -4.12886345e-05,-6.53366889e-05,-6.27153494e-05,-5.78554411e-06,
  2.29982267e-05, 1.35266740e-06,-1.84341397e-05, 5.78252680e-05,
 -3.02916596e-05,-5.13520852e-05, 6.41695555e-06, 1.06205183e-04,
  5.38340345e-06,-1.07279750e-06,-1.21644536e+00, 1.59055282e-03,
  5.47255977e-04, 2.11050382e-05]


--- Step 1695 ---
qpos:
[-0.01067825, 1.331207  ,-0.01831592, 0.94617399, 0.00424176, 1.33049323,
 -0.03026512, 0.94347824, 0.01692224, 1.33737904,-0.02350862, 0.95533821,
  1.33975975,-0.00255973, 1.10721796, 0.06372265,-0.00166794,-0.09782317,
  0.08159475, 0.5386293 ,-0.0119438 ,-0.00518449, 0.84244225]

qacc:
[-1.68501596e-02,-3.99995508e+00, 1.06867835e+01,-4.88586751e+00,
 -1.90079067e-02,-3.02241592e+00, 1.08624205e+01,-1.84855968e+01,
  1.55837863e-01, 2.04242098e+00,-6.62158142e+00, 5.78179799e+00,
 -4.88050040e-01, 6.31723832e-01, 1.47223465e+01,-4.99408422e+01,
  8.29660739e-01, 1.37661830e+00, 5.18779805e-02, 6.32660171e+01,
  5.65807137e+01, 9.04904540e-01]

qfrc_actuator:
[ 2.99871399e-03, 3.65141348e-02, 1.08113981e-02, 1.74419023e-03,
 -5.33612264e-05, 3.66542271e-02, 1.07794564e-02, 1.90421758e-03,
 -2.98875016e-03, 3.50520682e-02, 1.08380483e-02, 1.88585216e-03,
  1.50456853e-03,-1.67859638e-03, 0.00000000e+00,-1.80709251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.45235031,   5.74055331,   6.45235031,
        22.17248908, -15.21453044,   5.74055331, -15.21453044,
        25.73741206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013063930092606021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59344711e-14,  4.24919231e-14,  1.00000000e+00,  6.77086322e-28,
        1.00000000e+00, -4.24919231e-14, -1.00000000e+00,  0.00000000e+00,
       -1.59344711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02789931, -0.1308158 ,  0.06188404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93729348e-06,-1.00037531e-04, 4.42320476e-05, 1.50264644e-05,
 -5.50667283e-06,-4.35449412e-05, 1.21900801e-05,-4.20986243e-05,
  4.49677237e-05,-1.65025185e-05,-4.53129676e-05,-1.58567509e-06,
 -2.46550576e-05,-5.32300220e-06, 1.11282312e-05,-2.38699277e-04,
 -7.10063384e-07, 3.07402364e-06,-1.21644742e+00, 1.59431828e-03,
  5.45040345e-04, 2.83848138e-05]


--- Step 1696 ---
qpos:
[-0.01067857, 1.33124305,-0.01831604, 0.94617485, 0.00424082, 1.33053004,
 -0.03026771, 0.94348003, 0.01692297, 1.33738651,-0.02350963, 0.95534011,
  1.33986527,-0.00255984, 1.10741017, 0.06372188,-0.0016678 ,-0.0978022 ,
  0.08158125, 0.5386676 ,-0.01228942,-0.00473305, 0.84241545]

qacc:
[ 1.16665167e-01,-3.00323696e+00, 6.05923368e+00, 6.17490664e+00,
  2.95506279e-02,-1.88882771e+00, 7.43372153e+00,-1.57763125e+01,
  1.56042667e-01,-1.98303429e-01, 3.68501683e+00,-1.66555924e+01,
 -5.19532139e-01, 7.36786200e-01, 1.32390659e+01,-4.57656257e+01,
  7.67836481e-01, 1.31243852e+00,-5.16121178e-01, 5.96919703e+01,
  5.32764926e+01, 7.90152968e-01]

qfrc_actuator:
[ 3.03518494e-03, 3.64506975e-02, 1.08670220e-02, 1.79093042e-03,
 -4.16182177e-05, 3.66428246e-02, 1.07819035e-02, 1.86297608e-03,
 -2.97028416e-03, 3.51110652e-02, 1.08293754e-02, 1.82990732e-03,
  1.49784568e-03,-1.66961924e-03, 0.00000000e+00,-2.02352584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.43446663,   5.76059164,   6.43446663,
        25.13623764, -18.43003205,   5.76059164, -18.43003205,
        29.22234395,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012946764417779769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14382333e-14,  8.57529332e-14,  1.00000000e+00,  1.83839139e-27,
        1.00000000e+00, -8.57529332e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14382333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02791451, -0.13083045,  0.06188496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35307613e-05,-1.09928138e-04, 4.15131954e-05, 4.54629380e-05,
  8.49225837e-06,-3.46281925e-05,-5.95684389e-06,-4.31186486e-05,
  4.50209713e-05, 4.09349857e-05,-1.70937964e-05,-5.77831394e-05,
 -2.20712601e-05, 2.16409408e-06,-2.72999699e-05,-2.29676081e-04,
 -2.64822637e-06, 1.55555482e-05,-1.21645223e+00, 1.59791873e-03,
  5.42493154e-04, 4.49362377e-05]


--- Step 1697 ---
qpos:
[-0.0106784 , 1.33127836,-0.01831633, 0.94617422, 0.00423999, 1.33056686,
 -0.03027033, 0.94348026, 0.01692371, 1.33739473,-0.02351101, 0.95534267,
  1.33997066,-0.00255988, 1.10760185, 0.06372151,-0.00167248,-0.09778776,
  0.08157209, 0.53870868,-0.01260441,-0.00449166, 0.84238584]

qacc:
[ 2.06152427e-01,-3.05112944e+00, 1.18105596e+01,-2.70379525e+01,
  4.30490556e-02,-2.57468365e+00, 1.16212573e+01,-2.82096498e+01,
  5.57561052e-03, 3.08941460e+00,-1.02443806e+01, 1.61158202e+01,
 -1.15873819e-01, 1.70493066e-01,-1.95668924e+00, 5.72985951e+00,
 -1.20472720e+00,-1.63418992e+00, 1.08747584e+00,-8.02131845e+01,
 -6.94457922e+01,-3.29288725e+00]

qfrc_actuator:
[ 3.07478294e-03, 3.63989188e-02, 1.08465003e-02, 1.71155867e-03,
 -3.42411821e-05, 3.66569191e-02, 1.07843737e-02, 1.78474797e-03,
 -2.99522226e-03, 3.51786989e-02, 1.08248351e-02, 1.86727812e-03,
  1.49534951e-03,-1.66426264e-03, 0.00000000e+00,-1.99074397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001332399642141248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16625384e-14, -4.16625384e-14,  1.00000000e+00,  1.73576710e-27,
        1.00000000e+00,  4.16625384e-14, -1.00000000e+00,  0.00000000e+00,
        4.16625384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03041443, -0.05956471,  0.06188173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93633290e-05,-1.03355542e-04,-3.59785415e-05,-8.03150504e-05,
  1.23869610e-05,-7.77799365e-06,-6.28535600e-06,-8.03944248e-05,
  1.65083266e-06, 8.51760087e-05,-1.83921838e-07, 3.67493176e-05,
 -1.50985688e-05, 1.27644770e-06,-4.18962682e-05, 1.55965260e-05,
 -1.12714568e-06, 3.49199534e-05,-1.21645935e+00, 1.60138734e-03,
  5.39643492e-04, 6.91804979e-05]


--- Step 1698 ---
qpos:
[-0.01067805, 1.33131277,-0.0183171 , 0.94617267, 0.00423912, 1.33060345,
 -0.03027227, 0.94347918, 0.01692463, 1.33740333,-0.02351283, 0.95534432,
  1.34007601,-0.00256011, 1.10779348, 0.06371978,-0.00168149,-0.09777944,
  0.08156402, 0.53875289,-0.01289165,-0.00444413, 0.84235348]

qacc:
[ 7.95793216e-02,-1.52052804e+00, 5.38613138e+00,-1.47071180e+01,
 -1.98121162e-02,-4.36958617e+00, 1.65869351e+01,-2.93549654e+01,
  7.35029522e-02, 1.35092786e-01, 2.02096895e+00,-1.25722302e+01,
  3.52012865e-02,-1.91930045e-01, 3.99568982e+00,-1.41108033e+01,
 -1.08212292e+00,-1.53144677e+00, 2.71123274e-01,-7.41639736e+01,
 -6.38838624e+01,-3.34212373e+00]

qfrc_actuator:
[ 3.06267766e-03, 3.63364151e-02, 1.08166662e-02, 1.66507935e-03,
 -4.72961279e-05, 3.66506470e-02, 1.08224300e-02, 1.72090457e-03,
 -2.97498453e-03, 3.51622912e-02, 1.07873690e-02, 1.81726392e-03,
  1.49006512e-03,-1.67883970e-03, 0.00000000e+00,-2.05992265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5754507 , -6.59553837, -5.5754507 , 16.33419248,
       -6.5072573 , -6.59553837, -6.5072573 , 14.1371871 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013625452728828202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07407756e-14,  8.14815512e-14,  1.00000000e+00,  3.31962160e-27,
        1.00000000e+00, -8.14815512e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07407756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0303769 , -0.0596193 ,  0.06187916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29087015e-05,-1.29330875e-04,-5.65318866e-05,-5.24315607e-05,
 -5.74572443e-06,-1.44784725e-05, 3.34205422e-05,-6.60783462e-05,
  2.12196903e-05, 3.16956285e-05,-1.97821364e-05,-4.66287721e-05,
 -1.39425513e-05,-1.74054685e-05,-1.92033443e-05,-7.40828417e-05,
 -2.34447724e-06, 1.08524297e-05,-1.21645086e+00, 1.59764032e-03,
  5.42255450e-04, 4.17003841e-05]


--- Step 1699 ---
qpos:
[-0.01067779, 1.33134615,-0.01831825, 0.94617197, 0.00423786, 1.33063927,
 -0.03027407, 0.94347812, 0.0169256 , 1.33741023,-0.0235137 , 0.95534754,
  1.34018134,-0.00256097, 1.1079851 , 0.0637162 ,-0.00168886,-0.09777705,
  0.08156705, 0.5387992 ,-0.01305753,-0.00449007, 0.84232105]

qacc:
[-4.08268409e-02, 1.17249412e+00,-7.17756338e+00, 1.66757918e+01,
 -1.60879802e-01,-1.34466794e+00, 3.12498443e+00,-2.05511801e+00,
  2.26735000e-02,-2.09081879e+00, 9.45976300e-01, 1.83831138e+01,
  3.29525962e-01,-8.78400514e-01, 5.54104665e+00,-1.94797515e+01,
  4.09145772e-01,-1.48026659e+00, 2.77470301e+00,-6.65916385e+00,
 -7.62874673e+01,-1.77416298e+00]

qfrc_actuator:
[ 3.03740714e-03, 3.62856915e-02, 1.07993508e-02, 1.70936826e-03,
 -9.02548642e-05, 3.65613668e-02, 1.08101194e-02, 1.71931437e-03,
 -2.98106488e-03, 3.49712463e-02, 1.08013907e-02, 1.89366362e-03,
  1.47245227e-03,-1.72288041e-03, 0.00000000e+00,-2.15318459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.47075704,  -4.33296275,  -7.47075704,
        25.60392174, -29.2549259 ,  -4.33296275, -29.2549259 ,
        59.07677966,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013754611651645154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.07164210e-14,  2.01791052e-14,  1.00000000e+00, -1.62878515e-27,
        1.00000000e+00, -2.01791052e-14, -1.00000000e+00,  0.00000000e+00,
        8.07164210e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00634948, -0.07666987,  0.06187805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17739531e-05,-1.35099624e-04,-5.06097843e-05, 3.76039647e-05,
 -4.63494886e-05,-9.29966245e-05,-1.33208818e-05,-2.53138365e-06,
  6.45505540e-06,-1.78814319e-04, 1.65940869e-05, 7.56857558e-05,
 -2.99945975e-05,-5.13672718e-05,-2.02626988e-05,-1.00601445e-04,
  1.74656506e-06, 2.14166437e-07,-1.21644681e+00, 1.59402617e-03,
  5.44653480e-04, 2.87709301e-05]


--- Step 1700 ---
qpos:
[-0.010678  , 1.33137832,-0.01831926, 0.94617145, 0.00423632, 1.33067414,
 -0.03027622, 0.94347848, 0.01692642, 1.33741561,-0.02351341, 0.95535059,
  1.34028632,-0.00256177, 1.10817613, 0.06371518,-0.00169465,-0.09778016,
  0.08157793, 0.53884757,-0.01310996,-0.00462355, 0.84228858]

qacc:
[-2.00068716e-01,-1.69317858e+00, 3.25581820e+00,-3.93700401e-02,
 -1.20294721e-01, 2.10132912e+00,-1.12810738e+01, 2.67889921e+01,
 -6.21245824e-02,-5.42287690e+00, 1.56372323e+01,-1.46145855e+01,
 -1.28140595e-01, 9.46359107e-02,-8.58851594e+00, 2.88187252e+01,
  3.95604152e-01,-1.37674147e+00, 1.96357477e+00,-6.29823715e+00,
 -7.13603981e+01,-1.70445839e+00]

qfrc_actuator:
[ 2.98669394e-03, 3.62247733e-02, 1.08074110e-02, 1.71796174e-03,
 -9.75463190e-05, 3.64939375e-02, 1.07856247e-02, 1.78978597e-03,
 -3.00288482e-03, 3.49081446e-02, 1.08628412e-02, 1.88401246e-03,
  1.45809377e-03,-1.71307829e-03, 0.00000000e+00,-2.01132089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.53096085, -7.88156662,  3.53096085, 73.66563778,
       29.1332716 , -7.88156662, 29.1332716 , 21.68813955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013763278582113736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01663982e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01663982e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00634781, -0.0766695 ,  0.06187799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.76876485e-05,-1.44639825e-04,-2.30361686e-05, 4.00202876e-06,
 -3.46446344e-05,-1.21810506e-04,-4.43198046e-05, 6.72712137e-05,
 -1.80114431e-05,-1.56541437e-04, 3.06302239e-05,-1.26862279e-05,
 -4.36081263e-05,-9.90131703e-06,-2.37498602e-05, 1.32903362e-04,
  2.90912632e-06, 9.90673352e-08,-1.21644285e+00, 1.58883866e-03,
  5.44637471e-04, 3.43657514e-05]


--- Step 1701 ---
qpos:
[-0.01067918, 1.33140958,-0.01832024, 0.94617033, 0.00423487, 1.33070812,
 -0.03027872, 0.9434807 , 0.01692733, 1.33742129,-0.02351276, 0.955352  ,
  1.34039103,-0.00256251, 1.10836724, 0.06371381,-0.00169501,-0.09778677,
  0.08159187, 0.53889407,-0.01300818,-0.0047478 , 0.84225971]

qacc:
[-4.07321070e-01,-2.29330747e+00, 7.26245589e+00,-1.27316195e+01,
  3.98577460e-02, 2.96006869e+00,-1.49099177e+01, 3.52078985e+01,
  4.00582996e-02,-3.40525770e+00, 1.48761684e+01,-3.19753142e+01,
 -2.82977302e-01, 3.37147328e-01, 1.19375041e+00,-3.98096191e+00,
  1.35611798e+00,-8.74188349e-01, 7.61817756e-01, 4.54330949e+01,
 -6.24806521e+01, 1.46023568e+00]

qfrc_actuator:
[ 2.90337730e-03, 3.61938293e-02, 1.08125546e-02, 1.68771438e-03,
 -6.56287916e-05, 3.64578604e-02, 1.07719981e-02, 1.88433711e-03,
 -2.98071141e-03, 3.50288111e-02, 1.09166508e-02, 1.80609599e-03,
  1.45104410e-03,-1.70691248e-03, 0.00000000e+00,-2.03385033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.37527405, -4.49356313, -7.37527405,  8.86279783,
       -0.37164589, -4.49356313, -0.37164589,  9.24634511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001365661154945061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06478218e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.06478218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03272912, -0.08901535,  0.06187894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17391220e-04,-1.15545885e-04,-2.56641597e-05,-3.50935123e-05,
  1.14697461e-05,-1.10353339e-04,-4.05654646e-05, 9.11935690e-05,
  1.15355548e-05, 3.96750854e-05, 2.63483706e-05,-8.19389994e-05,
 -3.34105869e-05,-6.49533623e-06, 1.58006814e-06,-1.86867840e-05,
  3.00559344e-06, 2.76447069e-06,-1.21644117e+00, 1.58400712e-03,
  5.44736443e-04, 4.03427302e-05]


--- Step 1702 ---
qpos:
[-0.01068074, 1.33144041,-0.01832132, 0.94616744, 0.00423393, 1.33074103,
 -0.03028119, 0.94348197, 0.01692855, 1.3374268 ,-0.02351148, 0.9553556 ,
  1.34049565,-0.00256349, 1.10855865, 0.0637095 ,-0.00169025,-0.09779659,
  0.08160651, 0.53893896,-0.01276037,-0.00486356, 0.84223412]

qacc:
[ -0.16389243, -3.38843435, 13.96179228,-32.38862433,  0.21528349,
  -3.10924375, 10.41934236,-19.47607691,  0.12992565,  1.86809704,
 -10.76974843, 34.68235971, -0.08913259, -0.06726306,  9.31872522,
 -31.95545932,  1.28141998, -0.80282035,  0.17816454, 42.92126421,
 -59.23747053,  1.2699674 ]

qfrc_actuator:
[ 2.92544535e-03, 3.61988111e-02, 1.08160236e-02, 1.59936566e-03,
 -1.04503504e-05, 3.63876458e-02, 1.07650240e-02, 1.83253862e-03,
 -2.95007751e-03, 3.50099945e-02, 1.09484602e-02, 1.91954027e-03,
  1.44838540e-03,-1.72070702e-03, 0.00000000e+00,-2.18862786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63047281, -0.31892948,  8.63047281,  8.68296254,
        1.26100162, -0.31892948,  1.26100162, 42.760021  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013475268381700212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11948391e-14,  4.11948391e-14,  1.00000000e+00,  1.69701477e-27,
        1.00000000e+00, -4.11948391e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11948391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03275634, -0.08900578,  0.06188053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72452112e-05,-6.52028054e-05,-2.31014966e-05,-9.33166408e-05,
  6.19422674e-05,-1.36688068e-04,-3.05387764e-05,-5.41461638e-05,
  3.74500298e-05, 5.80562750e-06, 4.01493803e-05, 1.13493463e-04,
 -2.26815033e-05,-2.31612395e-05,-5.64669584e-06,-1.56598365e-04,
 -3.65997702e-07, 2.94160355e-06,-1.21644007e+00, 1.58020958e-03,
  5.43347785e-04, 4.09773781e-05]


--- Step 1703 ---
qpos:
[-0.01068184, 1.33147098,-0.01832254, 0.94616453, 0.00423341, 1.330773  ,
 -0.03028343, 0.94348121, 0.01692981, 1.33743245,-0.02351065, 0.95535848,
  1.34059992,-0.00256408, 1.10874951, 0.06370738,-0.00168061,-0.0978094 ,
  0.08161991, 0.53898241,-0.01237327,-0.00497144, 0.84221146]

qacc:
[ 1.98542623e-01, 2.06176382e-02,-4.33321981e-01, 3.64641032e-01,
  1.80686871e-01,-5.32527139e+00, 2.00621663e+01,-4.03868942e+01,
  1.49137606e-02, 1.45127027e-01, 1.16927875e+00,-9.30157732e+00,
 -3.90668919e-01, 6.77987938e-01,-7.38960695e+00, 2.47635723e+01,
  1.22004947e+00,-7.45569532e-01,-3.09529145e-01, 4.08516875e+01,
 -5.65593042e+01, 1.10945672e+00]

qfrc_actuator:
[ 3.01055419e-03, 3.62074856e-02, 1.08185980e-02, 1.60183409e-03,
  4.97531056e-06, 3.63507465e-02, 1.07795644e-02, 1.73051636e-03,
 -2.96787530e-03, 3.49966035e-02, 1.09134051e-02, 1.87833771e-03,
  1.43770294e-03,-1.69294084e-03, 0.00000000e+00,-2.06497446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62275588, -0.48462147,  8.62275588,  8.76642507,
        2.31415247, -0.48462147,  2.31415247, 49.81153407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013189002169647565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20889697e-14,  4.20889697e-14,  1.00000000e+00,  1.77148137e-27,
        1.00000000e+00, -4.20889697e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20889697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03279853, -0.08899314,  0.06188299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.72014134e-05,-3.48957801e-05,-1.55798090e-05,-2.28208908e-06,
  5.19723383e-05,-1.20342526e-04,-1.72979076e-05,-1.08239961e-04,
  4.31783741e-06, 9.89342790e-07,-2.60401770e-05,-3.71998567e-05,
 -2.92005940e-05, 1.69195282e-05,-2.43978590e-05, 1.13193783e-04,
 -1.59818812e-06, 2.09561079e-06,-1.21644131e+00, 1.57724010e-03,
  5.42540653e-04, 3.44405640e-05]


--- Step 1704 ---
qpos:
[-0.01068223, 1.33150136,-0.0183241 , 0.94616237, 0.00423308, 1.33080384,
 -0.03028468, 0.94348162, 0.01693056, 1.33743807,-0.02351126, 0.95535919,
  1.34070386,-0.00256432, 1.10893982, 0.06370972,-0.00166953,-0.09782675,
  0.08163487, 0.53902765,-0.01188698,-0.00515619, 0.84218841]

qacc:
[  0.29484474,  1.96513184, -8.23401806, 15.95372043,  0.07706196,
  -2.1443569 ,  2.77871338, 11.96653217, -0.21483297,  0.09503939,
   4.03983022,-28.56229611, -0.2079308 ,  0.40322024,-14.25160802,
  48.72060626,  0.3590812 , -1.13774868,  0.38762887, -5.63329119,
 -62.47317474, -1.58298179]

qfrc_actuator:
[ 3.06177593e-03, 3.62006107e-02, 1.08029616e-02, 1.63999248e-03,
 -3.57210520e-06, 3.63163849e-02, 1.08423061e-02, 1.79509627e-03,
 -3.03233604e-03, 3.49507267e-02, 1.08212958e-02, 1.76412575e-03,
  1.42223254e-03,-1.67627942e-03, 0.00000000e+00,-1.83147783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001285418942771288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.318526e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.318526e-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([-0.0063671 , -0.07658477,  0.06188586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.49655564e-05,-2.94984275e-05,-2.43331299e-05, 3.66450385e-05,
  2.21170561e-05,-1.07795918e-04, 3.40195052e-05, 5.79842433e-05,
 -6.19080235e-05,-5.15505069e-05,-9.59662965e-05,-1.15797493e-04,
 -2.76682254e-05, 1.42468812e-05,-9.66194723e-07, 2.36147964e-04,
 -1.01821113e-06, 3.71487040e-07,-1.21644453e+00, 1.57492749e-03,
  5.42226743e-04, 2.17014142e-05]


--- Step 1705 ---
qpos:
[-0.01068197, 1.33153082,-0.01832555, 0.94616107, 0.00423296, 1.33083397,
 -0.03028531, 0.94348313, 0.01693099, 1.33744372,-0.02351335, 0.95535853,
  1.34080772,-0.00256465, 1.10913027, 0.06371314,-0.00165491,-0.09783864,
  0.08164847, 0.5390729 ,-0.0114272 ,-0.00518019, 0.84216566]

qacc:
[ 2.79861650e-01,-1.15568829e-02,-3.17124621e+00, 1.33031822e+01,
  8.93891235e-02,-7.16751237e-01,-1.04235233e+00, 1.40762317e+01,
 -1.37918459e-01, 1.67520554e+00,-2.67041032e+00,-1.35195617e+01,
  6.32461663e-02,-1.77127703e-01,-3.07032551e+00, 1.10142194e+01,
  8.85811359e-01, 1.36782795e+00,-3.38746215e-01, 6.05503027e+01,
  5.44822795e+01, 1.10157034e+00]

qfrc_actuator:
[ 3.09225039e-03, 3.61134362e-02, 1.07944058e-02, 1.68105567e-03,
  9.07618822e-06, 3.63018641e-02, 1.08798567e-02, 1.85072476e-03,
 -3.03550313e-03, 3.49564660e-02, 1.07493780e-02, 1.69661945e-03,
  1.41987775e-03,-1.68414821e-03, 0.00000000e+00,-1.78375391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012519874344200516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21692126e-14,  8.86768504e-14,  1.00000000e+00, -1.96589595e-27,
        1.00000000e+00, -8.86768504e-14, -1.00000000e+00,  0.00000000e+00,
        2.21692126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800441, -0.13087676,  0.06188874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06068162e-05,-1.07361691e-04,-1.60480083e-05, 4.03576603e-05,
  2.56952610e-05,-6.59685531e-05, 2.19999874e-05, 5.47700093e-05,
 -3.97199186e-05,-4.49748430e-05,-9.62824204e-05,-7.45278805e-05,
 -1.38053616e-05,-1.08810423e-05, 2.29057329e-05, 6.00903575e-05,
 -4.09142529e-06, 4.22623505e-06,-1.21644877e+00, 1.57151324e-03,
  5.42939491e-04, 1.70183705e-05]


--- Step 1706 ---
qpos:
[-0.01068161, 1.33155925,-0.018327  , 0.94616063, 0.00423288, 1.33086398,
 -0.03028649, 0.94348392, 0.0169315 , 1.33744954,-0.02351543, 0.9553587 ,
  1.3409115 ,-0.00256508, 1.10932141, 0.06371211,-0.00163703,-0.0978453 ,
  0.08165874, 0.53911847,-0.01099217,-0.00505176, 0.84214306]

qacc:
[ 4.20328741e-02, 1.42586076e-01,-3.86833647e+00, 1.40280432e+01,
  1.70336182e-02, 1.00873162e-01, 9.57241699e-01,-9.07489959e+00,
  3.52598738e-02, 1.64298965e+00,-6.74156267e+00, 1.52879681e+01,
 -3.07609409e-01, 3.38049142e-01, 1.44838063e+01,-4.91336161e+01,
  8.13758625e-01, 1.30528487e+00,-8.33428242e-01, 5.75163930e+01,
  5.15070574e+01, 8.40069995e-01]

qfrc_actuator:
[ 3.05677573e-03, 3.60498993e-02, 1.07897843e-02, 1.72344865e-03,
 -1.16521769e-06, 3.62992776e-02, 1.08490132e-02, 1.81182906e-03,
 -3.00187296e-03, 3.50286516e-02, 1.07789663e-02, 1.74596739e-03,
  1.41473035e-03,-1.68868041e-03, 0.00000000e+00,-2.02342567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.82539243,  7.74294192,  3.82539243, 24.73121335,
       -7.95164382,  7.74294192, -7.95164382, 12.56486503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012362968558814469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12252876e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12252876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02802775, -0.13090041,  0.06189012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20829457e-05,-1.25050841e-04,-2.62765206e-05, 3.97003742e-05,
  4.91866866e-06,-3.33376578e-05,-3.96720819e-05,-3.89221295e-05,
  1.01788622e-05, 2.62682965e-05, 7.67905101e-06, 4.34684351e-05,
 -1.51086550e-05,-1.05806287e-05, 1.24523527e-05,-2.34498064e-04,
  5.09616642e-06,-4.46854917e-06,-1.21644635e+00, 1.57399901e-03,
  5.42028184e-04, 3.82455136e-06]


--- Step 1707 ---
qpos:
[-0.01068151, 1.33158714,-0.01832833, 0.94615894, 0.00423248, 1.3308936 ,
 -0.03028795, 0.94348391, 0.01693193, 1.33745507,-0.02351669, 0.95535911,
  1.34101499,-0.00256523, 1.10951248, 0.06370925,-0.00162308,-0.09785728,
  0.08166606, 0.53916633,-0.01053129,-0.00509956, 0.84211802]

qacc:
[-1.11398912e-01,-3.22736828e+00, 1.22571143e+01,-2.50027630e+01,
 -1.34524468e-01,-1.14085266e+00, 4.77661224e+00,-1.32633434e+01,
 -3.30335083e-02,-2.17044215e+00, 6.12532102e+00,-2.33739692e+00,
 -5.38051774e-01, 8.19287531e-01, 5.46225124e+00,-1.91595243e+01,
 -9.81189241e-01,-1.32900622e+00,-7.35439815e-01,-6.72267148e+01,
 -5.83669661e+01,-2.65916417e+00]

qfrc_actuator:
[ 3.01753414e-03, 3.60542889e-02, 1.08053432e-02, 1.65977531e-03,
 -4.28069974e-05, 3.62680406e-02, 1.08313106e-02, 1.77085188e-03,
 -3.01745349e-03, 3.49985157e-02, 1.08152999e-02, 1.75725926e-03,
  1.39725860e-03,-1.67342383e-03, 0.00000000e+00,-2.11088767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012384681110306217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12056077e-14,  2.24112154e-14,  1.00000000e+00,  2.51131288e-28,
        1.00000000e+00, -2.24112154e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12056077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03058491, -0.05943895,  0.06188999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21309870e-05,-6.89203306e-05,-1.07349724e-05,-6.72084716e-05,
 -3.87402711e-05,-5.88197863e-05,-2.99143039e-05,-4.40048703e-05,
 -9.56628993e-06,-1.28594367e-05, 4.36040305e-05, 1.33116239e-05,
 -2.88323130e-05, 9.36107393e-06,-2.60919657e-05,-1.00261750e-04,
  1.68966223e-05,-5.65919804e-06,-1.21644641e+00, 1.57624921e-03,
  5.40784122e-04,-8.53876044e-07]


--- Step 1708 ---
qpos:
[-0.01068132, 1.3316147 ,-0.01832932, 0.9461568 , 0.00423155, 1.3309228 ,
 -0.03028989, 0.94348308, 0.01693238, 1.33746029,-0.02351712, 0.95535896,
  1.34111819,-0.00256517, 1.10970297, 0.06370868,-0.0016168 ,-0.09786491,
  0.08167066, 0.53920401,-0.01029217,-0.00516606, 0.84209644]

qacc:
[ 3.77427137e-02,-2.08453870e+00, 7.17454605e+00,-1.10862732e+01,
 -2.26613858e-01,-6.82493502e-01, 3.23464449e+00,-1.20547774e+01,
  9.29653724e-03,-3.64102980e+00, 1.24971578e+01,-1.70641031e+01,
 -2.01966143e-01, 3.19357389e-01,-7.72421747e+00, 2.58183118e+01,
 -1.91786166e+00, 1.08768177e+00,-6.82757623e-01,-6.77070010e+01,
  8.82880613e+01, 5.69306869e+00]

qfrc_actuator:
[ 3.04736563e-03, 3.60638400e-02, 1.08328916e-02, 1.64076284e-03,
 -8.51946164e-05, 3.62376765e-02, 1.08036842e-02, 1.72900236e-03,
 -3.00917419e-03, 3.49783980e-02, 1.08548701e-02, 1.72822017e-03,
  1.38306620e-03,-1.66437159e-03, 0.00000000e+00,-1.98359739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001277464011279636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327831, -0.10851868,  0.06188676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08465076e-05,-3.28593474e-05, 1.08486549e-05,-2.29059949e-05,
 -6.52502631e-05,-7.02871233e-05,-4.38618675e-05,-4.54769540e-05,
  2.63317354e-06,-1.83550461e-05, 4.23997964e-05,-2.78277297e-05,
 -2.84595271e-05, 5.04370693e-06,-2.64422052e-05, 1.17604412e-04,
  3.44475312e-06,-3.62206858e-06,-1.21644619e+00, 1.57235644e-03,
  5.42780320e-04, 2.52162783e-06]


--- Step 1709 ---
qpos:
[-0.01068094, 1.33164186,-0.01832998, 0.94615516, 0.00423038, 1.33095135,
 -0.03029223, 0.94348522, 0.01693317, 1.33746583,-0.0235174 , 0.95536086,
  1.34122131,-0.00256551, 1.10989319, 0.06371024,-0.00161769,-0.09786861,
  0.08166999, 0.53923262,-0.01025942,-0.00524966, 0.84207801]

qacc:
[  0.08391492, -0.59540302,  0.30095969,  5.62484768, -0.09637438,
   5.33702402,-24.57404273, 56.25553514,  0.14501581,  3.5683526 ,
 -15.238162  , 36.62925469,  0.37440623, -0.80860309, -6.90908938,
  23.49951036, -1.79266887,  0.9813058 , -1.31433867,-62.87671037,
  82.24251097,  5.10917767]

qfrc_actuator:
[ 3.06513621e-03, 3.60409848e-02, 1.08496179e-02, 1.66597447e-03,
 -7.44275112e-05, 3.62080358e-02, 1.07881673e-02, 1.88224476e-03,
 -2.96889495e-03, 3.50354392e-02, 1.08782792e-02, 1.83545901e-03,
  1.37085078e-03,-1.69459428e-03, 0.00000000e+00,-1.87285520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.21146825,  2.67554968, -8.21146825, 10.1040034 ,
        4.50429958,  2.67554968,  4.50429958, 22.4604063 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001296320735716859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28220808e-14,  4.28220808e-14,  1.00000000e+00,  1.83373060e-27,
        1.00000000e+00, -4.28220808e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28220808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323282, -0.10851397,  0.0618852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41551213e-05,-3.97817883e-05, 1.08347144e-05, 2.40545473e-05,
 -2.77397083e-05,-7.86785214e-05,-3.56260575e-05, 1.48824744e-04,
  4.18364331e-05, 5.43122298e-05, 2.38237059e-05, 1.07294527e-04,
 -2.68353898e-05,-3.54785120e-05,-1.20208430e-06, 1.13416630e-04,
 -3.96250868e-07, 1.51083732e-07,-1.21644117e+00, 1.57847611e-03,
  5.44517597e-04, 2.38174395e-05]


--- Step 1710 ---
qpos:
[-0.01068064, 1.33166808,-0.01832985, 0.94615281, 0.00422929, 1.33097916,
 -0.03029446, 0.9434902 , 0.01693422, 1.33747163,-0.02351851, 0.95536443,
  1.34132445,-0.0025665 , 1.11008343, 0.06371243,-0.00162533,-0.09786873,
  0.08166194, 0.53925302,-0.01042023,-0.00534904, 0.84206234]

qacc:
[-3.75001405e-02,-4.57868877e+00, 1.48890142e+01,-2.04987416e+01,
  2.93631897e-02, 3.57708432e+00,-1.86714025e+01, 4.95536797e+01,
  1.05928634e-01, 5.46470664e+00,-2.07802097e+01, 3.71335693e+01,
  5.25749358e-01,-1.14286841e+00,-1.91241004e+00, 6.62844730e+00,
 -1.68732598e+00, 8.95095648e-01,-1.84755689e+00,-5.88633803e+01,
  7.71997475e+01, 4.62645276e+00]

qfrc_actuator:
[ 3.04002037e-03, 3.59633993e-02, 1.08774709e-02, 1.62820959e-03,
 -4.96137834e-05, 3.61792250e-02, 1.07977943e-02, 2.02480593e-03,
 -2.96300333e-03, 3.50139903e-02, 1.08213375e-02, 1.91556447e-03,
  1.37046516e-03,-1.73010405e-03, 0.00000000e+00,-1.84382612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.22363609,  2.63791325, -8.22363609, 10.36210466,
        5.3799594 ,  2.63791325,  5.3799594 , 25.40826784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012969528324634147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28012105e-14,  4.28012105e-14,  1.00000000e+00,  1.83194362e-27,
        1.00000000e+00, -4.28012105e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28012105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323034, -0.10851745,  0.06188515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08756882e-05,-9.69419953e-05, 2.19887904e-05,-3.80368590e-05,
  8.44096200e-06,-7.50254476e-05,-5.48259503e-06, 1.42639548e-04,
  3.05992440e-05, 1.63819560e-05,-4.04919048e-05, 8.49181431e-05,
 -2.34420901e-05,-5.08162501e-05, 8.85401578e-06, 3.44426504e-05,
  2.17370013e-07, 1.27128806e-06,-1.21644009e+00, 1.58276459e-03,
  5.45725025e-04, 3.04919571e-05]


--- Step 1711 ---
qpos:
[-0.01068081, 1.33169342,-0.01832911, 0.94615142, 0.00422822, 1.33100602,
 -0.03029605, 0.94349476, 0.01693514, 1.33747735,-0.02352002, 0.95536619,
  1.34142751,-0.00256793, 1.11027343, 0.06371697,-0.00163936,-0.09786555,
  0.0816447 , 0.53926589,-0.01076389,-0.00546313, 0.84204904]

qacc:
[-1.97925513e-01,-1.16308093e+00, 4.48047652e-01, 1.11922527e+01,
  8.91894258e-03,-3.69133074e+00, 1.13840441e+01,-1.40371858e+01,
 -5.01735717e-02,-2.16989517e+00, 1.06107371e+01,-3.01398389e+01,
  4.11440811e-01,-8.87389989e-01,-7.47397226e+00, 2.55409937e+01,
 -1.59819565e+00, 8.25078445e-01,-2.29771599e+00,-5.55283931e+01,
  7.29945616e+01, 4.22415694e+00]

qfrc_actuator:
[ 2.98938050e-03, 3.59246687e-02, 1.09114089e-02, 1.67791786e-03,
 -5.20830079e-05, 3.61157498e-02, 1.08221483e-02, 2.00013508e-03,
 -2.99554194e-03, 3.49808957e-02, 1.07881158e-02, 1.81917327e-03,
  1.36651933e-03,-1.75062833e-03, 0.00000000e+00,-1.72114735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.27969929,  2.45628918, -8.27969929, 10.45446093,
        6.12847174,  2.45628918,  6.12847174, 29.29431525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00128296403920216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326191, -0.10852743,  0.06188628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.70789723e-05,-8.93652119e-05, 1.63455221e-05, 4.66197244e-05,
  2.50862713e-06,-1.01947882e-04, 1.32126876e-05,-2.37391040e-05,
 -1.44674720e-05,-2.94594099e-05,-3.21394635e-05,-9.51027603e-05,
 -2.88450640e-05,-3.88868277e-05, 3.89077045e-06, 1.24787956e-04,
  4.43450083e-06, 2.41492972e-07,-1.21644227e+00, 1.58566463e-03,
  5.46514599e-04, 2.53389270e-05]


--- Step 1712 ---
qpos:
[-0.01068151, 1.3317184 ,-0.01832883, 0.94615306, 0.0042273 , 1.3310321 ,
 -0.03029758, 0.94349798, 0.01693584, 1.33748326,-0.02352171, 0.95536501,
  1.34153041,-0.00256962, 1.1104634 , 0.06372293,-0.00164992,-0.09785601,
  0.08163133, 0.53928022,-0.01113598,-0.00539433, 0.84203547]

qacc:
[-2.21339889e-01, 6.05556536e+00,-2.64787491e+01, 5.83943513e+01,
  6.32040934e-02,-3.48866996e+00, 1.29036789e+01,-2.63350247e+01,
 -9.83340481e-02,-4.32742211e+00, 2.03098472e+01,-5.14916454e+01,
  1.65332943e-01,-4.59753749e-01,-4.36360625e+00, 1.51614547e+01,
  8.67763520e-01, 1.59048654e+00, 9.69669008e-01, 6.93408411e+01,
  6.12845563e+01, 3.76999216e-01]

qfrc_actuator:
[ 2.95934570e-03, 3.59273361e-02, 1.08956030e-02, 1.83199462e-03,
 -3.53958211e-05, 3.60674886e-02, 1.08192540e-02, 1.93049414e-03,
 -3.01536458e-03, 3.50120584e-02, 1.07867788e-02, 1.67296722e-03,
  1.36044630e-03,-1.76210843e-03, 0.00000000e+00,-1.65076220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001259295382292941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20405601e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.20405601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02801448, -0.13085712,  0.06188818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37461568e-05,-4.23543699e-05,-3.00683757e-05, 1.53015484e-04,
  1.81639184e-05,-1.02968502e-04,-2.20547603e-05,-7.28284600e-05,
 -2.83629660e-05, 5.74504483e-06,-1.35264882e-05,-1.50224188e-04,
 -3.09442435e-05,-2.81571193e-05, 1.22373753e-05, 7.70256949e-05,
  1.16433440e-05,-2.57265073e-06,-1.21644718e+00, 1.58749823e-03,
  5.46968011e-04, 1.04052502e-05]


--- Step 1713 ---
qpos:
[-0.01068222, 1.33174335,-0.01832966, 0.94615517, 0.0042267 , 1.33105776,
 -0.03029922, 0.94349824, 0.01693644, 1.33748892,-0.02352252, 0.95536414,
  1.3416331 ,-0.00257124, 1.11065372, 0.06372702,-0.00165727,-0.09784052,
  0.081619  , 0.53929591,-0.0115346 ,-0.00515476, 0.84202156]

qacc:
[-6.47860122e-03, 3.78375660e+00,-1.33385912e+01, 1.69836440e+01,
  1.34691679e-01,-5.29460517e+00, 2.27172937e+01,-5.37531628e+01,
 -3.80824639e-02,-2.13607051e+00, 5.94157182e+00,-1.38988082e+00,
 -3.61124153e-01, 4.75111937e-01, 6.20238843e+00,-2.08819821e+01,
  8.01985834e-01, 1.48762530e+00, 2.58696300e-01, 6.47539690e+01,
  5.72242879e+01, 3.53604776e-01]

qfrc_actuator:
[ 2.99517356e-03, 3.59191549e-02, 1.08330224e-02, 1.85095402e-03,
 -7.35137381e-06, 3.60640822e-02, 1.08180967e-02, 1.78171506e-03,
 -3.00964377e-03, 3.50105228e-02, 1.08400129e-02, 1.69398830e-03,
  1.35843209e-03,-1.75040352e-03, 0.00000000e+00,-1.75379233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012700397012347028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.37082015e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.37082015e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800157, -0.13083923,  0.06188721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81710528e-06,-3.31000334e-05,-6.98061187e-05, 2.04068629e-05,
  3.87598235e-05,-6.70498013e-05,-2.59715856e-05,-1.54172457e-04,
 -1.10225706e-05,-5.48920291e-06, 4.84175511e-05, 1.73029328e-05,
 -2.54838076e-05,-2.73952782e-06, 9.97977388e-06,-9.81602965e-05,
  1.33443659e-06,-5.91091299e-07,-1.21644819e+00, 1.58971784e-03,
  5.45878022e-04, 1.60633012e-05]


--- Step 1714 ---
qpos:
[-0.01068275, 1.33176821,-0.01833092, 0.94615572, 0.00422642, 1.33108268,
 -0.03029991, 0.94349635, 0.01693687, 1.33749461,-0.0235228 , 0.95536422,
  1.34173547,-0.00257246, 1.11084403, 0.0637302 ,-0.00166163,-0.09781942,
  0.08160531, 0.53931282,-0.01195819,-0.00475444, 0.84200717]

qacc:
[  0.07183173, -1.66617376,  8.45147259,-25.21017182,  0.13829544,
  -7.21194325, 26.78061501,-47.75948309, -0.07281863,  0.20034251,
  -2.51489338, 13.01534755, -0.59029041,  0.96819521,  2.79170728,
  -9.67908061,  0.74744686,  1.40201509, -0.33952364, 60.9453211 ,
  53.85980328,  0.35169789]

qfrc_actuator:
[ 3.01696260e-03, 3.59220411e-02, 1.08142329e-02, 1.77245020e-03,
  9.52640730e-06, 3.60342616e-02, 1.08713799e-02, 1.67636389e-03,
 -3.02415128e-03, 3.50252377e-02, 1.08717575e-02, 1.74226421e-03,
  1.34821283e-03,-1.72502866e-03, 0.00000000e+00,-1.79836927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012647611673479997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09726549e-14,  4.38906196e-14,  1.00000000e+00,  4.81596621e-28,
        1.00000000e+00, -4.38906196e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09726549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800795, -0.13084565,  0.06188759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07007165e-05,-2.86237475e-05,-3.26303755e-05,-8.10315703e-05,
  3.97488140e-05,-7.68068292e-05, 3.26606759e-05,-1.11669932e-04,
 -2.10130410e-05, 2.16082715e-05, 3.66748544e-05, 4.99382689e-05,
 -2.50931667e-05, 1.88919545e-05,-1.14161001e-05,-4.99532071e-05,
 -4.29475348e-06, 1.01633612e-05,-1.21645216e+00, 1.59201747e-03,
  5.44276074e-04, 3.14260604e-05]


--- Step 1715 ---
qpos:
[-0.01068323, 1.33179308,-0.01833192, 0.94615529, 0.00422627, 1.33110697,
 -0.03029947, 0.94349423, 0.01693684, 1.33750059,-0.02352327, 0.95536316,
  1.34183769,-0.00257363, 1.11103433, 0.06373212,-0.00167032,-0.09780493,
  0.08159496, 0.5393336 ,-0.01235319,-0.00455928, 0.84198924]

qacc:
[ 2.65734883e-02,-2.40728940e+00, 9.86264461e+00,-2.00258964e+01,
  5.49097676e-02,-4.28752770e+00, 1.34533463e+01,-1.39594094e+01,
 -1.96598234e-01,-1.03790099e+00, 6.14793015e+00,-1.86023533e+01,
 -2.29984780e-01, 2.91308920e-01, 3.77317044e+00,-1.31862998e+01,
 -1.08058369e+00,-1.65180871e+00, 8.33575947e-01,-7.86433597e+01,
 -6.73259354e+01,-3.88263610e+00]

qfrc_actuator:
[ 3.01239715e-03, 3.59493793e-02, 1.08392175e-02, 1.72605402e-03,
  1.81633056e-06, 3.60246018e-02, 1.09385654e-02, 1.66846075e-03,
 -3.06843045e-03, 3.50317810e-02, 1.08550883e-02, 1.68187108e-03,
  1.33841282e-03,-1.72730792e-03, 0.00000000e+00,-1.86134226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013096900571204495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23849528e-14,  4.23849528e-14,  1.00000000e+00,  1.79648422e-27,
        1.00000000e+00, -4.23849528e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23849528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0305018 , -0.0595827 ,  0.06188375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.63851270e-06, 2.54995010e-06, 1.32667803e-05,-5.00568294e-05,
  1.57440492e-05,-4.92938805e-05, 5.25701281e-05,-1.18132084e-05,
 -5.66829954e-05, 2.70945170e-05,-6.82613748e-06,-5.75100920e-05,
 -1.94795637e-05,-3.09778476e-06,-1.46435017e-05,-6.81137202e-05,
 -6.06368610e-06, 2.81291776e-05,-1.21645858e+00, 1.59435420e-03,
  5.42240857e-04, 5.48028044e-05]


--- Step 1716 ---
qpos:
[-0.01068369, 1.33181814,-0.01833273, 0.94615429, 0.00422586, 1.33113083,
 -0.03029919, 0.94349345, 0.01693632, 1.33750622,-0.02352335, 0.95536073,
  1.34193988,-0.00257509, 1.11122464, 0.06373225,-0.00168294,-0.09779662,
  0.08158484, 0.53935834,-0.01272207,-0.00455398, 0.84196793]

qacc:
[ 6.64291176e-03,-1.25316309e+00, 5.54591740e+00,-1.15165912e+01,
 -1.07165677e-01, 2.18417481e+00,-1.05747951e+01, 2.51155468e+01,
 -2.07040321e-01,-3.89999817e+00, 1.49193762e+01,-2.85778335e+01,
  7.21347757e-02,-2.93893149e-01, 5.44206502e+00,-1.90296870e+01,
 -9.83777941e-01,-1.54423417e+00, 5.94401810e-02,-7.28719272e+01,
 -6.21657726e+01,-3.80772096e+00]

qfrc_actuator:
[ 3.00981085e-03, 3.59735874e-02, 1.08544555e-02, 1.69898157e-03,
 -3.83326568e-05, 3.59917241e-02, 1.09247645e-02, 1.73571827e-03,
 -3.09470634e-03, 3.49798726e-02, 1.08631439e-02, 1.61123467e-03,
  1.33418731e-03,-1.74598363e-03, 0.00000000e+00,-1.95240410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.11008222,  -6.10357863,  -6.11008222,
        21.08083915, -12.45773558,  -6.10357863, -12.45773558,
        21.1073734 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013350962234529584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24735169e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24735169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03046845, -0.05962818,  0.06188157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90799199e-06, 2.65509791e-05, 1.57488866e-05,-2.77368568e-05,
 -3.08599097e-05,-5.03917974e-05,-1.78405019e-05, 6.70739615e-05,
 -5.97409027e-05,-4.00051011e-05, 1.08810870e-05,-7.13660292e-05,
 -1.61468182e-05,-2.37140666e-05,-1.78607288e-05,-9.75696028e-05,
 -3.03205895e-06, 6.61282037e-06,-1.21645150e+00, 1.59312853e-03,
  5.43719797e-04, 2.97513743e-05]


--- Step 1717 ---
qpos:
[-0.01068401, 1.33184294,-0.01833343, 0.94615267, 0.00422526, 1.33115405,
 -0.03029896, 0.94349351, 0.01693567, 1.3375111 ,-0.02352202, 0.95535814,
  1.34204192,-0.00257672, 1.11141476, 0.06373193,-0.00169374,-0.09779417,
  0.08158612, 0.53938541,-0.01296887,-0.00464328, 0.84194634]

qacc:
[ 6.07516036e-02,-1.69726998e+00, 6.38179302e+00,-1.25416535e+01,
 -8.41168579e-02, 7.09686933e-01,-5.02194990e+00, 1.43439566e+01,
 -5.18394202e-02,-5.05764643e+00, 1.56117848e+01,-1.48519492e+01,
 -2.18579281e-03,-1.60459393e-01, 1.05696971e+00,-4.13639845e+00,
  4.55568948e-01,-1.46594234e+00, 2.84970045e+00,-6.88922794e+00,
 -7.69013707e+01,-1.93537947e+00]

qfrc_actuator:
[ 3.02618659e-03, 3.59247150e-02, 1.08460541e-02, 1.66572532e-03,
 -4.43567056e-05, 3.59449531e-02, 1.09164670e-02, 1.77557132e-03,
 -3.07446428e-03, 3.49466908e-02, 1.09387855e-02, 1.60615829e-03,
  1.32264882e-03,-1.75643752e-03, 0.00000000e+00,-1.97050745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001345152034698635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00633183, -0.07664444,  0.06188068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74879679e-05,-3.21084183e-05,-2.26184245e-06,-3.26150832e-05,
 -2.42372646e-05,-7.62910316e-05,-1.82485899e-05, 3.94016233e-05,
 -1.50309122e-05,-5.53362436e-05, 6.69687414e-05,-7.59924385e-06,
 -2.66407036e-05,-1.98885490e-05,-2.24222871e-05,-2.66242001e-05,
  4.82423626e-06,-2.23601114e-06,-1.21644854e+00, 1.59164271e-03,
  5.45183161e-04, 1.84531440e-05]


--- Step 1718 ---
qpos:
[-0.01068401, 1.33186717,-0.01833492, 0.94615075, 0.00422466, 1.33117681,
 -0.03029829, 0.94349365, 0.01693506, 1.33751583,-0.02351938, 0.95535477,
  1.3421436 ,-0.00257814, 1.11160489, 0.06373001,-0.00170121,-0.09779664,
  0.08159619, 0.53941342,-0.01307872,-0.00478703, 0.84192588]

qacc:
[ 1.31574924e-01, 8.29524753e-01,-2.98387201e+00,-6.16740621e-01,
  7.79597076e-04,-1.64101249e+00, 4.41440202e+00,-2.45650510e+00,
  1.27120887e-02,-5.09714045e+00, 1.79531936e+01,-2.44690796e+01,
 -5.42295851e-01, 7.56347624e-01, 4.87627041e+00,-1.69237555e+01,
  8.31793581e-01,-1.23018867e+00, 2.19796220e+00, 1.40235243e+01,
 -7.23385746e+01,-7.63828571e-01]

qfrc_actuator:
[ 3.05380562e-03, 3.58501210e-02, 1.07879741e-02, 1.64678798e-03,
 -2.98589252e-05, 3.59434854e-02, 1.09469297e-02, 1.78121342e-03,
 -3.06198723e-03, 3.49785398e-02, 1.10183002e-02, 1.56873621e-03,
  1.30140814e-03,-1.74420111e-03, 0.00000000e+00,-2.05198134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.66105006,  -5.49701637,  -6.66105006,
        20.14506832, -13.94575765,  -5.49701637, -13.94575765,
        25.53523817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013488492728876732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40168342e-07,  3.21519148e-14,  1.00000000e+00, -1.73674465e-20,
        1.00000000e+00, -3.21519148e-14, -1.00000000e+00, -3.00926554e-36,
        5.40168342e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01565191, -0.08099919,  0.06188038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79260105e-05,-9.39363404e-05,-6.56000519e-05,-2.06860220e-05,
  1.91851522e-07,-4.62211143e-05, 1.45890593e-05, 3.75858373e-06,
  3.60297164e-06, 1.40627709e-05, 7.60864938e-05,-3.72730642e-05,
 -4.10399435e-05, 1.23395578e-06,-1.61674557e-05,-8.65105846e-05,
  6.61693849e-06,-8.73939939e-07,-1.21644455e+00, 1.58847875e-03,
  5.44972585e-04, 2.80461214e-05]


--- Step 1719 ---
qpos:
[-0.01068414, 1.33189095,-0.01833692, 0.94614962, 0.00422414, 1.33119935,
 -0.03029796, 0.94349457, 0.01693438, 1.33752003,-0.02351564, 0.95535205,
  1.34224476,-0.00257887, 1.11179492, 0.06372711,-0.00170319,-0.09780237,
  0.08160991, 0.53944007,-0.01303144,-0.00492216, 0.84190876]

qacc:
[-5.03660762e-02, 2.19828820e+00,-9.51323714e+00, 1.78423129e+01,
  3.13873748e-02, 1.95839764e+00,-8.32643209e+00, 1.63542071e+01,
 -2.72207495e-02,-2.53279844e+00, 6.09845297e+00, 2.62648395e+00,
 -9.57760961e-01, 1.59884445e+00, 2.89568791e+00,-1.01766120e+01,
  1.37347535e+00,-8.14830067e-01, 9.09755889e-01, 4.60017185e+01,
 -6.38438779e+01, 1.15308730e+00]

qfrc_actuator:
[ 3.01693526e-03, 3.58492730e-02, 1.07719434e-02, 1.68963946e-03,
 -2.09214607e-05, 3.59337865e-02, 1.09291721e-02, 1.81998996e-03,
 -3.07202515e-03, 3.49248372e-02, 1.10641624e-02, 1.60135790e-03,
  1.28502362e-03,-1.70091127e-03, 0.00000000e+00,-2.09914432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.1222996 , -4.88463154, -7.1222996 , 14.54268507,
       -8.61202948, -4.88463154, -8.61202948, 21.19359619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013485895595921477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.11623765e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.11623765e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274733, -0.08897745,  0.06188046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45006306e-05,-6.64042499e-05,-4.24952986e-05, 3.76747465e-05,
  9.04896780e-06,-3.24619582e-05,-2.50570760e-05, 3.79339186e-05,
 -7.90652944e-06,-3.22114192e-05, 5.61518155e-05, 3.44023062e-05,
 -3.90516837e-05, 3.42633186e-05,-2.08854046e-05,-5.49287175e-05,
  4.86794121e-06, 2.16433060e-06,-1.21644196e+00, 1.58542802e-03,
  5.44380797e-04, 3.79961634e-05]


--- Step 1720 ---
qpos:
[-0.01068422, 1.33191423,-0.01833835, 0.94615069, 0.00422385, 1.33122153,
 -0.03029808, 0.94349597, 0.01693361, 1.33752394,-0.02351226, 0.95535085,
  1.34234552,-0.00257885, 1.11198485, 0.0637233 ,-0.00169998,-0.09781112,
  0.08162484, 0.53946551,-0.01283571,-0.00504931, 0.84189472]

qacc:
[ 1.71813602e-02, 1.62142517e+00,-1.05393391e+01, 3.48903909e+01,
  9.93546243e-02, 1.55083263e+00,-6.60592598e+00, 1.14860048e+01,
 -3.60433793e-02, 3.19650464e+00,-1.39112856e+01, 2.95775891e+01,
 -9.05778536e-01, 1.60243754e+00, 2.68288239e+00,-9.42370658e+00,
  1.29628628e+00,-7.56600388e-01, 3.04301012e-01, 4.34056105e+01,
 -6.03642933e+01, 1.02752006e+00]

qfrc_actuator:
[ 3.03043968e-03, 3.58572747e-02, 1.08166935e-02, 1.80408322e-03,
  2.35920804e-06, 3.59013277e-02, 1.09008365e-02, 1.84242221e-03,
 -3.07773699e-03, 3.48912522e-02, 1.10362636e-02, 1.67487904e-03,
  1.27690452e-03,-1.65730877e-03, 0.00000000e+00,-2.14344375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.59671456, -0.82660493,  8.59671456,  9.30717813,
        6.97648967, -0.82660493,  6.97648967, 81.19205309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013344677111197245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.31959451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.31959451e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03276879, -0.08897059,  0.06188171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92813122e-06,-3.60718871e-05, 2.80162048e-05, 1.12121665e-04,
  2.86194773e-05,-5.43351973e-05,-3.64511753e-05, 2.16332102e-05,
 -1.03786444e-05,-3.94499977e-05,-2.68135433e-05, 7.50183891e-05,
 -2.18536606e-05, 4.34374261e-05,-1.93072062e-05,-5.08441729e-05,
  5.95665774e-07, 3.02381609e-06,-1.21644058e+00, 1.58314285e-03,
  5.43415633e-04, 4.16841497e-05]


--- Step 1721 ---
qpos:
[-0.01068407, 1.33193676,-0.01833908, 0.94615314, 0.00422381, 1.33124297,
 -0.03029831, 0.94349626, 0.01693292, 1.33752767,-0.0235098 , 0.95534986,
  1.342446  ,-0.00257807, 1.11217435, 0.0637213 ,-0.00169184,-0.09782272,
  0.08163896, 0.53948983,-0.01249866,-0.00516898, 0.84188348]

qacc:
[ 9.99494573e-02,-4.83683261e-01,-2.42496549e+00, 1.85327607e+01,
  1.07152601e-01,-2.53871712e+00, 9.38397914e+00,-2.04924497e+01,
  2.95549936e-02, 2.63510177e+00,-9.31443729e+00, 1.07162046e+01,
 -6.44353664e-01, 1.29352524e+00,-6.03040540e+00, 2.03231776e+01,
  1.23284631e+00,-7.09611038e-01,-2.01884650e-01, 4.12643662e+01,
 -5.74920154e+01, 9.18082195e-01]

qfrc_actuator:
[ 3.05630466e-03, 3.57998043e-02, 1.08437730e-02, 1.87100418e-03,
  1.63030486e-05, 3.58376873e-02, 1.08841494e-02, 1.78402584e-03,
 -3.06305441e-03, 3.48697136e-02, 1.09828866e-02, 1.68306713e-03,
  1.27375296e-03,-1.61385095e-03, 0.00000000e+00,-2.04368285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001309199859846684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280619, -0.08896013,  0.0618839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87586164e-05,-6.87646683e-05, 2.64962033e-05, 6.93079762e-05,
  3.08311631e-05,-1.00331769e-04,-3.08549040e-05,-6.05656602e-05,
  8.55542399e-06,-4.64007480e-05,-6.19423085e-05, 7.99025207e-06,
 -5.33214380e-06, 4.96881609e-05,-1.80358380e-05, 9.36634050e-05,
 -1.44991017e-06, 2.77743311e-06,-1.21644159e+00, 1.58156944e-03,
  5.42993091e-04, 3.78142366e-05]


--- Step 1722 ---
qpos:
[-0.01068395, 1.33195853,-0.01833961, 0.94615468, 0.00422384, 1.33126412,
 -0.03029888, 0.94349445, 0.01693248, 1.33753087,-0.02350817, 0.955349  ,
  1.34254623,-0.00257669, 1.1123635 , 0.06372214,-0.00167898,-0.097837  ,
  0.08165059, 0.53951309,-0.01202617,-0.0052816 , 0.84187476]

qacc:
[-1.10562566e-02,-3.15292975e+00, 1.09629942e+01,-1.97091277e+01,
  3.01289949e-02,-3.11354320e+00, 1.40212773e+01,-3.64556004e+01,
  1.10391202e-01, 1.78710433e+00,-6.92343399e+00, 7.85798355e+00,
 -4.28741525e-01, 8.91446492e-01,-9.06011414e+00, 3.10387880e+01,
  1.18073470e+00,-6.71739918e-01,-6.24429904e-01, 3.95027233e+01,
 -5.51288447e+01, 8.20723945e-01]

qfrc_actuator:
[ 3.03611664e-03, 3.57390163e-02, 1.08421430e-02, 1.82058617e-03,
  6.78014812e-06, 3.58446269e-02, 1.08743024e-02, 1.67852311e-03,
 -3.03625627e-03, 3.48198998e-02, 1.09326778e-02, 1.68824355e-03,
  1.25760858e-03,-1.58854966e-03, 0.00000000e+00,-1.89534823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012752842223342706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17642272e-14,  2.17642272e-14,  1.00000000e+00,  4.73681588e-28,
        1.00000000e+00, -2.17642272e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17642272e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285587, -0.08894689,  0.06188681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22768593e-06,-9.17278168e-05,-1.00333444e-05,-5.00414876e-05,
  8.66829872e-06,-5.65701030e-05,-3.47872526e-05,-1.10799233e-04,
  3.18509336e-05,-8.73613422e-05,-6.60832637e-05, 2.18341407e-06,
 -7.53379182e-06, 3.68711576e-05,-5.45964967e-07, 1.50633990e-04,
 -1.61309763e-06, 1.58998892e-06,-1.21644463e+00, 1.58056813e-03,
  5.43035705e-04, 2.74517522e-05]


--- Step 1723 ---
qpos:
[-0.01068379, 1.3319796 ,-0.01834041, 0.94615527, 0.00422358, 1.33128542,
 -0.03030043, 0.94349206, 0.01693219, 1.33753405,-0.02350765, 0.95534715,
  1.34264643,-0.00257548, 1.11255243, 0.06372607,-0.00166299,-0.09784575,
  0.08166042, 0.53953728,-0.0115788 ,-0.0052353 , 0.84186581]

qacc:
[ 1.28542866e-02,-1.80610442e+00, 6.68862002e+00,-1.62498032e+01,
 -1.25715248e-01, 1.91989869e+00,-4.84634732e+00,-2.46379197e+00,
  5.93446003e-02, 1.22008358e+00,-2.02216338e+00,-9.71142384e+00,
  2.98491521e-01,-5.22710355e-01,-9.69260556e+00, 3.33657752e+01,
  7.81116373e-01, 1.38178687e+00,-4.47952398e-01, 6.01221035e+01,
  5.34465254e+01, 5.68219573e-01]

qfrc_actuator:
[ 3.04172252e-03, 3.56942855e-02, 1.08234956e-02, 1.77251999e-03,
 -3.44948382e-05, 3.58760212e-02, 1.08333132e-02, 1.65271966e-03,
 -3.03791293e-03, 3.48423016e-02, 1.08846485e-02, 1.63835389e-03,
  1.24432726e-03,-1.60977666e-03, 0.00000000e+00,-1.73737965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012493364447107164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66621904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.66621904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02804902, -0.13086053,  0.06188904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68465622e-06,-9.90600416e-05,-3.92096062e-05,-5.22220336e-05,
 -3.61610901e-05,-1.01878948e-05,-5.92913776e-05,-3.10676020e-05,
  1.71497686e-05,-3.87711858e-05,-7.25413929e-05,-5.43537690e-05,
 -8.57481461e-06,-1.36234447e-05, 1.32518922e-05, 1.65545049e-04,
 -1.50925531e-07,-4.16470381e-07,-1.21644945e+00, 1.58003203e-03,
  5.43484573e-04, 1.13749833e-05]


--- Step 1724 ---
qpos:
[-0.0106836 , 1.33199994,-0.01834144, 0.94615528, 0.00422309, 1.3313066 ,
 -0.03030304, 0.94348976, 0.01693197, 1.33753765,-0.02350859, 0.95534469,
  1.34274668,-0.00257474, 1.11274161, 0.06372986,-0.00164408,-0.09784924,
  0.08166655, 0.5395625 ,-0.01115507,-0.00503809, 0.84185657]

qacc:
[ 1.89541343e-02,-1.33213503e+00, 4.37900850e+00,-1.00804293e+01,
 -9.76028262e-02, 2.79954787e+00,-9.49784103e+00, 9.27355616e+00,
  3.15505403e-02, 3.47165617e+00,-9.41857617e+00, 9.15985728e-01,
  3.55360274e-01,-7.87737360e-01, 7.84625054e-01,-2.26859150e+00,
  7.30724306e-01, 1.31576178e+00,-9.25453442e-01, 5.71491899e+01,
  5.06688105e+01, 4.23731967e-01]

qfrc_actuator:
[ 3.04500601e-03, 3.56594397e-02, 1.08127935e-02, 1.74400543e-03,
 -4.12241140e-05, 3.58507363e-02, 1.07744334e-02, 1.65628309e-03,
 -3.03887377e-03, 3.48899969e-02, 1.08207780e-02, 1.60975868e-03,
  1.23807821e-03,-1.64065793e-03, 0.00000000e+00,-1.75254249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.46013795,   7.39553557,   4.46013795,
        46.72816554, -22.97260144,   7.39553557, -22.97260144,
        22.49079925,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012312193203424665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63579030e-15,  4.50863224e-14,  1.00000000e+00, -2.54097059e-28,
        1.00000000e+00, -4.50863224e-14, -1.00000000e+00,  0.00000000e+00,
        5.63579030e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02807316, -0.13088821,  0.06189061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44280124e-06,-9.89934237e-05,-3.60842584e-05,-3.38000607e-05,
 -2.80694928e-05,-4.36067514e-05,-6.85584170e-05, 8.21939166e-07,
  9.16682650e-06, 1.04558322e-05,-8.12821238e-05,-3.31283865e-05,
 -1.38925836e-05,-3.64859226e-05, 2.08980071e-05,-5.09014233e-06,
  1.01827408e-05,-5.59832535e-06,-1.21644787e+00, 1.58058612e-03,
  5.43201131e-04, 2.01156316e-06]


--- Step 1725 ---
qpos:
[-0.01068321, 1.33201969,-0.0183424 , 0.94615493, 0.00422287, 1.33132758,
 -0.03030582, 0.94348818, 0.01693194, 1.33754145,-0.02351013, 0.95534396,
  1.34284667,-0.00257403, 1.11293104, 0.06373213,-0.00162898,-0.09785863,
  0.08167124, 0.5395913 ,-0.01070587,-0.00502381, 0.84184403]

qacc:
[  0.07925705, -1.6401872 ,  5.15607497, -8.40058941,  0.11453875,
   1.43914165, -6.4700668 , 13.99993897,  0.07834309,  4.85178966,
 -18.97430426, 36.18396853, -0.27236645,  0.26489609,  4.97369361,
 -16.83725936, -0.95066301, -1.47280969, -0.36082359,-70.11571017,
 -60.04572417, -3.4843147 ]

qfrc_actuator:
[ 3.06462219e-03, 3.56485804e-02, 1.08246777e-02, 1.72723910e-03,
  8.33151070e-06, 3.58626721e-02, 1.07762789e-02, 1.69479716e-03,
 -3.02165525e-03, 3.49169136e-02, 1.08014615e-02, 1.70046388e-03,
  1.22006612e-03,-1.64144547e-03, 0.00000000e+00,-1.83407909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012292966100871383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38676305e-14,  4.51568407e-14,  1.00000000e+00, -1.52935520e-27,
        1.00000000e+00, -4.51568407e-14, -1.00000000e+00,  0.00000000e+00,
        3.38676305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03063704, -0.0594647 ,  0.0618908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28136630e-05,-7.38063054e-05,-1.25869786e-05,-2.15320913e-05,
  3.29892148e-05,-2.57244993e-05,-1.44884343e-05, 3.52336818e-05,
  2.26343013e-05, 1.58182650e-05,-2.74871870e-05, 8.78658182e-05,
 -3.42480292e-05,-1.33339712e-05, 4.23109932e-06,-8.02745710e-05,
  2.30784963e-05,-3.63019836e-06,-1.21644871e+00, 1.58116566e-03,
  5.42507688e-04, 7.90767471e-07]


--- Step 1726 ---
qpos:
[-0.01068247, 1.33203912,-0.01834335, 0.94615435, 0.00422319, 1.331348  ,
 -0.03030817, 0.94348775, 0.01693224, 1.3375447 ,-0.02351044, 0.95534359,
  1.34294637,-0.0025731 , 1.11312055, 0.06373273,-0.00162174,-0.09786399,
  0.08167353, 0.53961099,-0.01048128,-0.00502736, 0.84183422]

qacc:
[  0.14824481, -0.81342057,  2.59687096, -4.60754387,  0.23233973,
   0.09952261, -3.61649239, 17.01432794,  0.14362586, -3.41185366,
   9.50561883, -3.62157884, -0.51223932,  0.75065177,  5.16002268,
 -17.79482349, -1.96605127,  1.00511382, -0.59874475,-68.14462576,
  89.69411171,  5.04280226]

qfrc_actuator:
[ 3.09387781e-03, 3.56522767e-02, 1.08321434e-02, 1.71754292e-03,
  5.57443417e-05, 3.58260512e-02, 1.07963570e-02, 1.75361879e-03,
 -2.99366945e-03, 3.48781670e-02, 1.08618583e-02, 1.71864169e-03,
  1.21099806e-03,-1.62442464e-03, 0.00000000e+00,-1.91849883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012563963309458054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331688, -0.10859281,  0.06188854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27083824e-05,-4.03591420e-05,-9.04631578e-06,-1.27375536e-05,
  6.68801472e-05,-5.27716932e-05, 1.44061114e-05, 5.84626245e-05,
  4.13533263e-05,-3.27894124e-05, 6.29294959e-05, 1.98893465e-05,
 -3.12300635e-05, 5.72163074e-06,-1.16873660e-05,-8.94411112e-05,
  7.68306851e-06,-5.15191182e-06,-1.21644744e+00, 1.57856124e-03,
  5.43575503e-04, 6.86002718e-07]


--- Step 1727 ---
qpos:
[-0.01068168, 1.33205809,-0.01834386, 0.94615331, 0.00422392, 1.3313671 ,
 -0.03030988, 0.9434881 , 0.01693288, 1.33754737,-0.02351046, 0.95534316,
  1.34304596,-0.00257228, 1.11331037, 0.06372896,-0.00162182,-0.09786568,
  0.08167085, 0.53962245,-0.01046544,-0.0050473 , 0.84182695]

qacc:
[ 2.35252702e-02,-2.60435507e+00, 8.71347666e+00,-1.27180417e+01,
  1.72815796e-01,-2.16053630e+00, 3.37208181e+00, 6.79919347e+00,
  1.41883443e-01,-1.65354936e+00, 4.61194114e+00,-4.46100173e+00,
 -2.82828690e-01, 2.76986564e-01, 1.37228095e+01,-4.72824592e+01,
 -1.83176599e+00, 9.16702472e-01,-1.24264066e+00,-6.32606868e+01,
  8.34118754e+01, 4.58815395e+00]

qfrc_actuator:
[ 3.07542141e-03, 3.56291602e-02, 1.08547524e-02, 1.69433410e-03,
  6.59802335e-05, 3.57074847e-02, 1.08090882e-02, 1.78838165e-03,
 -2.97720343e-03, 3.48184437e-02, 1.08619751e-02, 1.71171844e-03,
  1.20731062e-03,-1.63247654e-03, 0.00000000e+00,-2.14592484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.07514659,  3.06248011, -8.07514659, 12.98672445,
       11.47103003,  3.06248011, 11.47103003, 38.88317204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012787025695256554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.34120902e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.34120902e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326327, -0.10858404,  0.06188669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74177611e-06,-4.77173004e-05, 1.32958699e-05,-2.49471099e-05,
  4.97027252e-05,-1.43322120e-04, 5.73944704e-06, 3.49777076e-05,
  4.08848147e-05,-6.49978836e-05, 1.44327479e-06,-5.58662417e-06,
 -1.98975115e-05,-1.36735867e-05,-1.93119051e-05,-2.34829364e-04,
  1.51103072e-06,-1.18394569e-06,-1.21644162e+00, 1.58195671e-03,
  5.44494280e-04, 2.28970610e-05]


--- Step 1728 ---
qpos:
[-0.01068153, 1.33207634,-0.01834433, 0.94615377, 0.00422465, 1.3313846 ,
 -0.03031098, 0.94349026, 0.01693351, 1.33754925,-0.0235104 , 0.95534406,
  1.34314538,-0.00257153, 1.11349979, 0.06372481,-0.00162878,-0.097864  ,
  0.08166103, 0.53962637,-0.01064516,-0.00508246, 0.84182197]

qacc:
[-2.72234708e-01, 1.53733398e+00,-9.20678022e+00, 2.58347578e+01,
 -1.76044588e-03,-6.32760543e-01,-4.21859499e+00, 2.58165590e+01,
 -6.66299653e-03, 1.01668241e+00,-7.25138426e+00, 2.21255234e+01,
 -8.18632467e-02, 7.71348332e-03, 5.31681210e-01,-2.71395963e+00,
 -1.71908521e+00, 8.44520096e-01,-1.78641814e+00,-5.91994467e+01,
  7.81765033e+01, 4.20528613e+00]

qfrc_actuator:
[ 2.99298725e-03, 3.55724764e-02, 1.08505084e-02, 1.76986857e-03,
  3.60787677e-05, 3.56117479e-02, 1.08347786e-02, 1.87965286e-03,
 -3.00328620e-03, 3.47641402e-02, 1.08618855e-02, 1.77879187e-03,
  1.19619264e-03,-1.63756455e-03, 0.00000000e+00,-2.15397115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.11002317,  2.96888887, -8.11002317, 13.3737924 ,
       12.94108965,  2.96888887, 12.94108965, 43.9871435 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012822590402078449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32916825e-14, -4.32916825e-14,  1.00000000e+00,  1.87416977e-27,
        1.00000000e+00,  4.32916825e-14, -1.00000000e+00,  0.00000000e+00,
        4.32916825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325393, -0.10858426,  0.06188638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84675270e-05,-8.13502107e-05,-1.28106847e-05, 7.39500992e-05,
 -5.74845051e-07,-1.72977351e-04,-6.88659914e-07, 8.79648136e-05,
 -1.94185294e-06,-9.01466542e-05,-1.27851464e-05, 6.50637227e-05,
 -2.61806316e-05,-1.27544571e-05,-3.90635833e-05,-2.45495158e-05,
 -1.13141479e-09, 8.77988953e-08,-1.21643999e+00, 1.58395443e-03,
  5.45024989e-04, 3.01413561e-05]


--- Step 1729 ---
qpos:
[-0.01068188, 1.33209408,-0.01834517, 0.94615514, 0.00422537, 1.33140132,
 -0.03031225, 0.94349209, 0.01693399, 1.33755111,-0.02351094, 0.95534606,
  1.34324457,-0.0025706 , 1.11368914, 0.06371919,-0.00164224,-0.09785917,
  0.08164222, 0.53962327,-0.01100944,-0.00513185, 0.84181897]

qacc:
[-2.08095724e-01, 1.95750123e+00,-9.01951223e+00, 1.86518861e+01,
 -2.78488779e-03,-1.11725522e+00, 3.09718699e+00,-6.08602690e+00,
 -5.91955816e-02, 3.53950291e+00,-1.37787697e+01, 2.47194874e+01,
 -3.98083941e-01, 5.90935304e-01, 4.35725254e+00,-1.53345408e+01,
 -1.62402559e+00, 7.85417467e-01,-2.24564070e+00,-5.58216333e+01,
  7.38140627e+01, 3.87979068e+00]

qfrc_actuator:
[ 2.97935826e-03, 3.55493529e-02, 1.08303672e-02, 1.81410520e-03,
  3.56018751e-05, 3.56015207e-02, 1.08325114e-02, 1.86144479e-03,
 -3.01917621e-03, 3.48022960e-02, 1.08440018e-02, 1.83563067e-03,
  1.19127755e-03,-1.62312064e-03, 0.00000000e+00,-2.22792752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.22961825,  2.61919078, -8.22961825, 12.90534329,
       13.41333099,  2.61919078, 13.41333099, 50.78166832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012707476787004249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73677004e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.73677004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327969, -0.10859161,  0.06188729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.99634183e-05,-6.85454143e-05,-3.53421556e-05, 4.31824065e-05,
 -8.22643287e-07,-1.03525651e-04,-3.36213813e-05,-2.13650392e-05,
 -1.70389987e-05,-1.22747567e-05,-3.50374498e-05, 5.53136287e-05,
 -2.29513363e-05, 5.41051234e-06,-2.27087874e-05,-8.07978613e-05,
  2.25733100e-06,-8.24340659e-07,-1.21644177e+00, 1.58487968e-03,
  5.45237973e-04, 2.53115420e-05]


--- Step 1730 ---
qpos:
[-0.01068199, 1.33211146,-0.01834655, 0.94615564, 0.00422609, 1.33141812,
 -0.03031393, 0.94349294, 0.01693461, 1.33755371,-0.02351266, 0.95534904,
  1.34334367,-0.00256978, 1.11387814, 0.06371437,-0.00166187,-0.0978514 ,
  0.08161288, 0.53961356,-0.01154913,-0.00519467, 0.84181758]

qacc:
[ 9.66458074e-02,-5.69098981e-01, 3.02874438e+00,-1.24141228e+01,
 -3.72626317e-03,-5.14362263e-01, 3.83484746e+00,-1.48413503e+01,
  5.45212119e-02, 5.80720322e+00,-1.97327751e+01, 2.78802011e+01,
  6.97556190e-02,-2.04578858e-01,-2.93781321e+00, 9.49272294e+00,
 -1.54327547e+00, 7.36849540e-01,-2.63345945e+00,-5.30137933e+01,
  7.01824512e+01, 3.59997274e+00]

qfrc_actuator:
[ 3.04262317e-03, 3.55286805e-02, 1.08011000e-02, 1.76854778e-03,
  3.50310170e-05, 3.56601752e-02, 1.08317684e-02, 1.81448358e-03,
 -2.99331525e-03, 3.48777038e-02, 1.07983470e-02, 1.88601951e-03,
  1.18476972e-03,-1.63269046e-03, 0.00000000e+00,-2.18040901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.43064409,  1.87377083, -8.43064409, 11.14725178,
       11.2972216 ,  1.87377083, 11.2972216 , 59.46587439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001247250746414727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.45068094e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.45068094e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05333305, -0.10860458,  0.06188917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78546793e-05,-6.43256852e-05,-4.54341951e-05,-4.76081198e-05,
 -1.05992452e-06,-5.94894936e-06,-2.54641907e-05,-5.15318504e-05,
  1.58000263e-05, 6.34064611e-05,-5.04136443e-05, 5.02924354e-05,
 -1.84033315e-05,-1.32458385e-05,-2.26627574e-05, 3.93710687e-05,
  7.64346735e-06,-3.54771313e-06,-1.21644642e+00, 1.58497244e-03,
  5.45186360e-04, 1.05254868e-05]


--- Step 1731 ---
qpos:
[-0.0106821 , 1.33212806,-0.01834818, 0.94615664, 0.0042265 , 1.3314351 ,
 -0.03031577, 0.94349388, 0.01693513, 1.33755678,-0.02351351, 0.95535355,
  1.34344275,-0.00256956, 1.11406667, 0.06371245,-0.00167809,-0.09783661,
  0.08158906, 0.5396062 ,-0.01211719,-0.00506848, 0.84181508]

qacc:
[ 3.64967134e-03, 5.61260273e-01,-4.08917782e+00, 9.93528062e+00,
 -1.27665247e-01, 8.57221882e-01,-2.71211098e+00, 3.38730198e+00,
 -3.80418089e-02, 9.19227593e-01,-5.35087450e+00, 2.20248345e+01,
  6.30300199e-01,-1.26707049e+00,-9.49856662e+00, 3.21216047e+01,
  8.51124014e-01, 1.75394241e+00, 1.37792233e+00, 7.19177630e+01,
  6.29522162e+01,-1.28497620e-01]

qfrc_actuator:
[ 3.02723298e-03, 3.54740426e-02, 1.07844052e-02, 1.79479048e-03,
 -1.09679834e-06, 3.56886021e-02, 1.08322307e-02, 1.82206802e-03,
 -3.01362732e-03, 3.49392202e-02, 1.08611053e-02, 1.96773424e-03,
  1.17197735e-03,-1.67419834e-03, 0.00000000e+00,-2.02617815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001274942576907384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72125742e-14,  8.70802376e-14,  1.00000000e+00,  2.36967743e-27,
        1.00000000e+00, -8.70802376e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72125742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02802325, -0.13081955,  0.0618867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04065150e-06,-1.00627368e-04,-3.58571332e-05, 2.19088373e-05,
 -3.67533248e-05, 1.84897731e-05,-5.12763295e-06, 5.48599371e-06,
 -1.09793737e-05, 8.82129247e-05, 7.08860103e-05, 8.32933239e-05,
 -2.63831514e-05,-4.89928381e-05,-8.48765858e-06, 1.52958644e-04,
  1.56942714e-05,-7.81198200e-06,-1.21645350e+00, 1.58441221e-03,
  5.44911279e-04,-1.26683162e-05]


--- Step 1732 ---
qpos:
[-0.01068256, 1.33214423,-0.01834956, 0.94615756, 0.00422656, 1.33145209,
 -0.03031753, 0.94349456, 0.01693536, 1.33756065,-0.02351312, 0.95535827,
  1.34354174,-0.00256984, 1.11425548, 0.06370935,-0.00169215,-0.09782775,
  0.08158051, 0.53960158,-0.01255296,-0.00504554, 0.8418118 ]

qacc:
[ -0.15293858, -1.40693867,  4.09439454, -4.40550286, -0.15051003,
  -0.64301867,  2.64104801, -5.30144958, -0.1267549 , -1.94670439,
   7.22680445, -4.4476077 ,  0.2042008 , -0.63516738,  3.94232198,
 -13.2665235 ,  0.54315626, -1.48196277,  3.82148388, -7.75782165,
 -83.53345046, -2.32701657]

qfrc_actuator:
[ 2.98253072e-03, 3.54883393e-02, 1.08106988e-02, 1.79207473e-03,
 -2.27574624e-05, 3.56810045e-02, 1.08333439e-02, 1.80842993e-03,
 -3.04372299e-03, 3.50101322e-02, 1.09340878e-02, 1.97853260e-03,
  1.16606154e-03,-1.69882888e-03, 0.00000000e+00,-2.09438930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013043500048810497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25584782e-14, -2.12792391e-14,  1.00000000e+00, -9.05612033e-28,
        1.00000000e+00,  2.12792391e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25584782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00633446, -0.07661479,  0.06188412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41012093e-05,-4.78236180e-05, 3.17352104e-06,-6.23394688e-06,
 -4.33501079e-05, 1.67542899e-06, 4.29094111e-06,-1.30831699e-05,
 -3.65749571e-05, 1.35987959e-04, 1.00705338e-04, 1.74328305e-05,
 -3.19043323e-05,-4.33351483e-05, 1.06237106e-05,-6.13554251e-05,
  8.40871739e-07,-8.63416118e-07,-1.21645597e+00, 1.58567460e-03,
  5.44474563e-04, 3.88825618e-07]


--- Step 1733 ---
qpos:
[-0.01068317, 1.33216049,-0.01835086, 0.94615805, 0.00422659, 1.33146862,
 -0.03031873, 0.94349405, 0.01693526, 1.33756458,-0.02351167, 0.95536177,
  1.34364049,-0.00257018, 1.11444435, 0.06370514,-0.00169998,-0.09782202,
  0.08158147, 0.53959639,-0.01280859,-0.00501417, 0.84181146]

qacc:
[-5.88263227e-02,-8.64941749e-01, 3.82735166e+00,-8.30183814e+00,
 -9.86248212e-03,-4.12892984e+00, 1.52097891e+01,-2.67043425e+01,
 -1.37006787e-01,-4.85389286e+00, 1.83371308e+01,-2.98692837e+01,
 -2.19036351e-01, 1.76969808e-01, 3.47084908e+00,-1.19679597e+01,
  1.55363554e+00,-7.81430417e-01, 2.37447199e+00, 5.21572565e+01,
 -7.35614244e+01, 6.31662038e-01]

qfrc_actuator:
[ 2.99161821e-03, 3.55262170e-02, 1.08268802e-02, 1.77238448e-03,
 -5.80013608e-08, 3.56341425e-02, 1.08524234e-02, 1.74687164e-03,
 -3.06169052e-03, 3.49441258e-02, 1.09592210e-02, 1.91199482e-03,
  1.15895290e-03,-1.69544773e-03, 0.00000000e+00,-2.15112015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.53978576,  1.28795808,  8.53978576,  8.83689506,
       -1.32962045,  1.28795808, -1.32962045, 17.45239113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001334829270753804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15867051e-14,  8.31734102e-14,  1.00000000e+00,  3.45890808e-27,
        1.00000000e+00, -8.31734102e-14, -1.00000000e+00,  0.00000000e+00,
       -4.15867051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03276459, -0.08897092,  0.06188153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69574703e-05, 1.17530230e-05, 6.99854438e-06,-2.11431197e-05,
 -2.88371402e-06,-4.56071066e-05, 1.94946062e-05,-6.16634653e-05,
 -3.95580645e-05, 2.93535736e-05, 6.36453891e-05,-5.91458854e-05,
 -3.49860050e-05,-1.50678585e-05,-6.63445514e-06,-5.98664237e-05,
  4.92178529e-06,-3.52350584e-06,-1.21644903e+00, 1.58579930e-03,
  5.43937713e-04, 1.07188791e-05]


--- Step 1734 ---
qpos:
[-0.01068366, 1.33217683,-0.01835226, 0.94615831, 0.00422657, 1.33148465,
 -0.03031964, 0.94349318, 0.01693459, 1.33756784,-0.02350895, 0.95536485,
  1.34373905,-0.00257053, 1.11463266, 0.06370429,-0.00170204,-0.09781922,
  0.08158855, 0.53959067,-0.01289678,-0.00497487, 0.84181402]

qacc:
[ 4.68654261e-02,-1.11600580e-02, 6.21061746e-01,-3.22824524e+00,
 -2.01548174e-02,-2.09478672e+00, 6.77081587e+00,-9.80622097e+00,
 -2.40417408e-01,-5.07555557e+00, 1.63451401e+01,-1.86581177e+01,
  1.02752259e-01,-2.20846412e-01,-1.09801501e+01, 3.71765166e+01,
  1.44489793e+00,-7.33027290e-01, 1.53131204e+00, 4.85129565e+01,
 -6.83577727e+01, 6.40713184e-01]

qfrc_actuator:
[ 3.01514909e-03, 3.55246333e-02, 1.08192994e-02, 1.76062921e-03,
 -4.18995415e-06, 3.55996776e-02, 1.08640161e-02, 1.72860496e-03,
 -3.10774220e-03, 3.48674174e-02, 1.10086007e-02, 1.88914918e-03,
  1.15647169e-03,-1.69324816e-03, 0.00000000e+00,-1.96977499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013500706424294587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.22344394e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.22344394e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274308, -0.08897714,  0.06188026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35114609e-05, 5.54501593e-06,-5.12384839e-06,-1.16694142e-05,
 -5.83525521e-06,-5.78509311e-05, 3.06176918e-06,-2.04755802e-05,
 -6.94067884e-05,-4.98237991e-05, 6.06133661e-05,-2.14784425e-05,
 -2.55258994e-05,-9.66188254e-06,-1.36975190e-05, 1.76252434e-04,
  1.00520654e-06,-8.71557457e-07,-1.21644303e+00, 1.58504102e-03,
  5.43125632e-04, 2.94290812e-05]


--- Step 1735 ---
qpos:
[-0.01068398, 1.33219294,-0.01835327, 0.94615704, 0.00422622, 1.33150066,
 -0.03032097, 0.94349381, 0.01693366, 1.33757128,-0.0235073 , 0.95536699,
  1.34383727,-0.00257036, 1.11482067, 0.06370691,-0.00169868,-0.09781919,
  0.08159893, 0.5395844 ,-0.01282804,-0.00492809, 0.84181936]

qacc:
[  0.07721495, -3.98612561, 15.75468138,-31.22945919, -0.14381913,
   3.68438721,-15.13688048, 30.61511194, -0.11285143,  1.53214849,
  -2.79941269, -8.53078793, -0.41957771,  0.80808641,-10.89275485,
  37.56897335,  1.3552073 , -0.6929905 ,  0.82436085, 45.49790095,
 -64.05611398,  0.63817031]

qfrc_actuator:
[ 3.02939929e-03, 3.54993505e-02, 1.08331263e-02, 1.68259816e-03,
 -4.21397619e-05, 3.56261574e-02, 1.08534075e-02, 1.80697758e-03,
 -3.09925983e-03, 3.48737497e-02, 1.09476071e-02, 1.83896045e-03,
  1.15144523e-03,-1.65626810e-03, 0.00000000e+00,-1.79162994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001348008108062071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11801316e-14,  4.11801316e-14,  1.00000000e+00,  1.69580324e-27,
        1.00000000e+00, -4.11801316e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11801316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274671, -0.08897697,  0.06188047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22169798e-05,-2.36745207e-05, 1.39684739e-05,-7.82668408e-05,
 -4.13955463e-05,-5.65283237e-06,-2.21970566e-05, 7.62676680e-05,
 -3.25008896e-05,-1.00422574e-05,-6.44653011e-05,-5.03776486e-05,
 -2.12245771e-05, 2.85317799e-05, 1.09755990e-05, 1.85674277e-04,
 -1.73199764e-07, 2.28483513e-07,-1.21644036e+00, 1.58490857e-03,
  5.42880715e-04, 3.75763278e-05]


--- Step 1736 ---
qpos:
[-0.01068397, 1.33220843,-0.01835341, 0.94615625, 0.00422563, 1.33151675,
 -0.03032242, 0.94349398, 0.01693276, 1.33757459,-0.02350691, 0.95536889,
  1.34393513,-0.0025697 , 1.11500926, 0.06370696,-0.00169019,-0.0978218 ,
  0.08161024, 0.53957757,-0.01261102,-0.00487417, 0.84182733]

qacc:
[ 1.36982291e-01,-2.37866046e+00, 5.81588936e+00, 7.17236057e-01,
 -1.01067988e-01,-3.59633125e-01, 2.26826615e+00,-7.47946417e+00,
  1.43634368e-02, 2.80176299e+00,-8.88673671e+00, 5.10656399e+00,
 -8.21985418e-01, 1.32314855e+00, 8.69647637e+00,-2.90246533e+01,
  1.28130974e+00,-6.59971788e-01, 2.32376184e-01, 4.30061745e+01,
 -6.05037229e+01, 6.26650215e-01]

qfrc_actuator:
[ 3.05571810e-03, 3.54601138e-02, 1.08771010e-02, 1.70820884e-03,
 -4.68117610e-05, 3.56356457e-02, 1.08478225e-02, 1.78183347e-03,
 -3.07588451e-03, 3.48405497e-02, 1.08754906e-02, 1.82630887e-03,
  1.12893453e-03,-1.63446837e-03, 0.00000000e+00,-1.93641615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001332172387357139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03277019, -0.08897175,  0.06188185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94237284e-05,-5.20403089e-05, 3.86186489e-05, 2.35177615e-05,
 -2.91023980e-05, 4.20081453e-06,-6.99684890e-06,-2.41758847e-05,
  4.18610328e-06,-5.28575173e-05,-8.28798043e-05,-1.59973429e-05,
 -2.69921228e-05, 2.39557448e-05, 2.19191702e-05,-1.33897704e-04,
  8.85807452e-07, 6.37531540e-08,-1.21644040e+00, 1.58529730e-03,
  5.43121684e-04, 3.70562267e-05]


--- Step 1737 ---
qpos:
[-0.01068349, 1.33222337,-0.01835392, 0.94615755, 0.00422502, 1.33153271,
 -0.03032384, 0.9434935 , 0.01693185, 1.33757755,-0.02350589, 0.95536952,
  1.34403286,-0.00256927, 1.1151979 , 0.06370565,-0.00167994,-0.09782935,
  0.08162559, 0.53957295,-0.01228972,-0.00490165, 0.84183488]

qacc:
[ 1.96368872e-01, 3.94673571e+00,-1.79972562e+01, 4.02988125e+01,
 -6.37574832e-03,-1.34485363e+00, 5.48915940e+00,-1.20618513e+01,
 -3.02207399e-03,-4.33972464e+00, 1.61843303e+01,-2.85939835e+01,
 -2.34131003e-02,-1.56843035e-01, 4.17844178e+00,-1.45269312e+01,
  4.42751195e-01,-1.23693740e+00, 1.01036121e+00,-6.11220581e+00,
 -6.58424268e+01,-1.81247881e+00]

qfrc_actuator:
[ 3.08906425e-03, 3.54130031e-02, 1.08497589e-02, 1.81237563e-03,
 -3.14821058e-05, 3.56171013e-02, 1.08451282e-02, 1.74921181e-03,
 -3.07927273e-03, 3.48548953e-02, 1.09215776e-02, 1.76483750e-03,
  1.11192470e-03,-1.65744806e-03, 0.00000000e+00,-2.00400996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001305611652296472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25173528e-14,  4.25173528e-14,  1.00000000e+00,  1.80772529e-27,
        1.00000000e+00, -4.25173528e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25173528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00633541, -0.07661716,  0.06188412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66075964e-05,-6.77507237e-05,-3.24408294e-05, 1.04320268e-04,
 -1.84518275e-06,-1.84285960e-05,-3.39502927e-06,-3.32406390e-05,
 -9.16269495e-07,-3.15625231e-05, 2.58772376e-05,-6.58258880e-05,
 -2.62684766e-05,-2.30888337e-05,-1.08490174e-05,-7.36230689e-05,
  3.81356116e-06,-1.15476374e-06,-1.21644272e+00, 1.58612494e-03,
  5.43786287e-04, 2.92553027e-05]


--- Step 1738 ---
qpos:
[-0.01068288, 1.3322377 ,-0.01835488, 0.94615803, 0.00422463, 1.33154822,
 -0.03032525, 0.94349509, 0.01693078, 1.33758058,-0.02350503, 0.95536802,
  1.34413036,-0.00256881, 1.11538604, 0.06370686,-0.001668  ,-0.09784163,
  0.08164292, 0.53957039,-0.01186891,-0.00500674, 0.84184194]

qacc:
[ 6.05425665e-02,-1.00568286e+00, 3.97961786e+00,-1.25938252e+01,
  9.06873297e-02, 2.87437184e+00,-1.43501614e+01, 3.66513008e+01,
 -6.91874783e-02,-3.16027235e+00, 1.46584478e+01,-3.71591408e+01,
 -7.99429359e-03,-5.43258272e-02,-8.37479240e+00, 2.82236622e+01,
  4.20624142e-01,-1.18042198e+00, 4.96046521e-01,-5.81082975e+00,
 -6.28224973e+01,-1.71998512e+00]

qfrc_actuator:
[ 3.07309887e-03, 3.53613308e-02, 1.08160279e-02, 1.76658042e-03,
 -4.27947386e-06, 3.55819163e-02, 1.08440611e-02, 1.85447855e-03,
 -3.09869100e-03, 3.48625238e-02, 1.09129458e-02, 1.65746432e-03,
  1.10353296e-03,-1.65352478e-03, 0.00000000e+00,-1.86569677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001278886099754073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17029301e-14,  4.34058602e-14,  1.00000000e+00, -9.42034349e-28,
        1.00000000e+00, -4.34058602e-14, -1.00000000e+00,  0.00000000e+00,
        2.17029301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0063426 , -0.07659218,  0.06188644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74401667e-05,-9.24767964e-05,-4.76118643e-05,-4.63204224e-05,
  2.61131353e-05,-4.71546282e-05,-6.05142847e-06, 1.03861684e-04,
 -1.99584407e-05,-6.74185628e-06,-1.37839323e-05,-1.09076379e-04,
 -2.86848540e-05,-7.89332106e-06,-1.68676695e-05, 1.31963076e-04,
  2.27267322e-06,-1.53465420e-06,-1.21644546e+00, 1.58688242e-03,
  5.44142687e-04, 2.24487954e-05]


--- Step 1739 ---
qpos:
[-0.01068255, 1.33225162,-0.01835603, 0.94615724, 0.00422449, 1.33156254,
 -0.03032548, 0.94349862, 0.01692952, 1.33758332,-0.02350509, 0.9553667 ,
  1.34422758,-0.00256806, 1.11557429, 0.06370767,-0.00165889,-0.09785938,
  0.08165314, 0.53957243,-0.01142833,-0.00526637, 0.84184515]

qacc:
[ -0.12184729, -2.25663669,  9.29048752,-22.57216197,  0.11053625,
  -1.38200721, -1.35167065, 24.45643403, -0.07953514,  2.41496045,
  -8.67730413,  9.73635478, -0.47008921,  0.73562021,  1.41732905,
  -4.63627022, -0.70773832, -1.36564355, -1.77732826,-59.70010583,
 -49.97603807, -3.94583677]

qfrc_actuator:
[ 3.02768193e-03, 3.53604679e-02, 1.08142010e-02, 1.70389877e-03,
  1.20711624e-05, 3.55016231e-02, 1.08972309e-02, 1.95127239e-03,
 -3.10981568e-03, 3.48125992e-02, 1.08542566e-02, 1.66592041e-03,
  1.09499996e-03,-1.63361250e-03, 0.00000000e+00,-1.89122848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.11447435,  2.95670134,  8.11447435, 11.07660805,
       -6.69709194,  2.95670134, -6.69709194, 27.01609646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001246438984486696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33607385e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.33607385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03061193, -0.05950529,  0.06188924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51329861e-05,-6.27892558e-05,-2.66985442e-05,-6.78910227e-05,
  3.17595874e-05,-1.04543503e-04, 4.62876726e-05, 9.76275368e-05,
 -2.29074879e-05,-5.95991487e-05,-6.47697854e-05, 5.31769748e-06,
 -2.61552586e-05, 1.12150857e-05, 4.47750156e-06,-2.09096691e-05,
  3.44783397e-08, 2.63813590e-07,-1.21644959e+00, 1.58753529e-03,
  5.44603655e-04, 1.64527948e-05]


--- Step 1740 ---
qpos:
[-0.01068261, 1.33226541,-0.0183577 , 0.94615639, 0.00422445, 1.33157572,
 -0.03032456, 0.94350087, 0.01692839, 1.33758607,-0.02350545, 0.95536578,
  1.34432452,-0.00256707, 1.11576269, 0.06370684,-0.00164686,-0.09787121,
  0.08166365, 0.53957627,-0.01101323,-0.00535817, 0.84184764]

qacc:
[-1.66466114e-01, 1.10233206e+00,-3.67068247e+00, 2.55231228e+00,
  3.74454446e-02,-6.79870768e+00, 2.30080071e+01,-3.41444847e+01,
  5.51504297e-02, 1.53781482e+00,-5.79899843e+00, 9.61552448e+00,
 -4.96904139e-01, 7.48506003e-01, 5.24417750e+00,-1.79221156e+01,
  7.29612701e-01, 1.47704427e+00, 6.95905904e-02, 6.37817030e+01,
  5.60159303e+01, 7.73621181e-02]

qfrc_actuator:
[ 3.00047293e-03, 3.53723866e-02, 1.07959260e-02, 1.70287588e-03,
  4.02601271e-06, 3.54306681e-02, 1.09462750e-02, 1.88250238e-03,
 -3.08036945e-03, 3.48527292e-02, 1.08551220e-02, 1.68916787e-03,
  1.08107051e-03,-1.62213895e-03, 0.00000000e+00,-1.97764083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001239893491738371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.9541806e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.9541806e-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([-0.02806494, -0.13088174,  0.06188984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79593387e-05,-3.01435092e-05,-3.55983123e-05,-5.23722758e-06,
  1.06940468e-05,-1.16891283e-04, 3.67114704e-05,-6.82689774e-05,
  1.59196344e-05,-5.33976884e-06,-1.79825561e-05, 1.97135082e-05,
 -2.57181949e-05, 8.29164370e-06,-4.71003685e-06,-8.80243903e-05,
 -5.71607739e-06, 1.15919323e-05,-1.21645281e+00, 1.58666356e-03,
  5.44396786e-04, 2.97542385e-05]


--- Step 1741 ---
qpos:
[-0.01068289, 1.33227923,-0.0183597 , 0.9461555 , 0.00422427, 1.3315889 ,
 -0.03032456, 0.9435009 , 0.01692764, 1.33758872,-0.02350556, 0.95536582,
  1.34442131,-0.00256619, 1.11595083, 0.06370664,-0.00163206,-0.09787746,
  0.08167219, 0.53958188,-0.01062212,-0.00529163, 0.84184949]

qacc:
[-9.24614331e-02, 9.14598519e-01,-2.85983418e+00, 2.12441549e+00,
 -5.67052333e-02,-1.32216060e+00, 8.87006802e+00,-3.33965174e+01,
  1.56745450e-01, 8.18264792e-01,-4.74511623e+00, 1.51822068e+01,
  1.75499285e-02,-1.47928385e-01,-2.31514264e+00, 7.52695924e+00,
  6.91806817e-01, 1.39428351e+00,-4.89720660e-01, 6.01820376e+01,
  5.28156753e+01, 2.39450507e-02]

qfrc_actuator:
[ 3.00216154e-03, 3.53918516e-02, 1.07859321e-02, 1.70264250e-03,
 -1.85881007e-05, 3.54545219e-02, 1.09036360e-02, 1.77010272e-03,
 -3.04457625e-03, 3.48579482e-02, 1.08737261e-02, 1.73875026e-03,
  1.06923747e-03,-1.63354955e-03, 0.00000000e+00,-1.93940193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012336744721640064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49965955e-14,  4.49965955e-14,  1.00000000e+00,  2.02469361e-27,
        1.00000000e+00, -4.49965955e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49965955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.028073  , -0.13089204,  0.06189042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66324540e-05,-4.41547309e-06,-2.01069244e-05,-2.28333465e-06,
 -1.63068817e-05,-3.57715170e-05,-6.33442314e-05,-1.16398288e-04,
  4.51949675e-05,-6.81231162e-07, 1.60905990e-05, 4.93591524e-05,
 -2.43337008e-05,-1.51103122e-05,-1.62315412e-05, 3.17480195e-05,
  4.80176929e-07,-4.43560100e-07,-1.21644864e+00, 1.58543465e-03,
  5.45222865e-04, 1.28844220e-05]


--- Step 1742 ---
qpos:
[-0.01068315, 1.33229271,-0.01836139, 0.94615462, 0.0042239 , 1.3316024 ,
 -0.03032621, 0.94350028, 0.01692713, 1.33759135,-0.023506  , 0.95536578,
  1.3445179 ,-0.00256519, 1.11613876, 0.06370754,-0.0016251 ,-0.09788022,
  0.08167733, 0.53957991,-0.01044995,-0.00524146, 0.84185322]

qacc:
[ 1.14651999e-02,-1.29852377e+00, 3.66004470e+00,-2.91139143e+00,
 -8.02530048e-02, 3.74547212e+00,-1.03887222e+01, 1.31554933e+00,
  1.05694636e-01, 7.45532038e-01,-2.30832817e+00, 1.16513237e+00,
 -1.76959699e-01, 2.51768719e-01,-3.59869816e+00, 1.21755285e+01,
 -1.95810762e+00, 8.76117431e-01,-8.50147664e-01,-6.59920442e+01,
  8.77167312e+01, 4.18666035e+00]

qfrc_actuator:
[ 3.02117117e-03, 3.53624697e-02, 1.07986913e-02, 1.70287492e-03,
 -3.20046737e-05, 3.54813166e-02, 1.08253429e-02, 1.73948542e-03,
 -3.04077205e-03, 3.48423253e-02, 1.08492706e-02, 1.73240715e-03,
  1.06398686e-03,-1.62292896e-03, 0.00000000e+00,-1.88125629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012530176659068942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43019701e-14,  8.86039403e-14,  1.00000000e+00,  3.92532912e-27,
        1.00000000e+00, -8.86039403e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43019701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332535, -0.10860118,  0.06188884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27934410e-06,-3.59165916e-05, 9.52566869e-06,-5.28158148e-07,
 -2.30411304e-05,-8.97942941e-06,-9.59290428e-05,-3.62308357e-05,
  3.04923176e-05,-1.14124479e-05,-2.13185505e-05,-4.73999367e-06,
 -2.24314627e-05, 1.20763087e-06,-6.82062635e-06, 5.71604017e-05,
  9.78191985e-06,-4.20074371e-06,-1.21644731e+00, 1.58449426e-03,
  5.45496484e-04, 5.42629550e-06]


--- Step 1743 ---
qpos:
[-0.01068329, 1.33230587,-0.0183632 , 0.94615377, 0.00422365, 1.33161523,
 -0.03032792, 0.94349931, 0.01692679, 1.33759409,-0.02350724, 0.95536326,
  1.34461426,-0.00256405, 1.11632683, 0.06370743,-0.00162543,-0.09787971,
  0.08167666, 0.53957092,-0.01048183,-0.00520652, 0.8418588 ]

qacc:
[ 4.65761340e-02,-3.87869093e-02,-4.12449245e-01, 8.69941309e-01,
  4.90906896e-02,-1.28411597e+00, 3.88164219e+00,-7.10147328e+00,
  7.04738514e-02,-1.94955354e+00, 1.15010075e+01,-3.85808211e+01,
 -3.35590226e-01, 4.67670803e-01, 3.24916920e+00,-1.10323859e+01,
 -1.82367509e+00, 8.13962563e-01,-1.45352701e+00,-6.14938714e+01,
  8.17570823e+01, 3.90464574e+00]

qfrc_actuator:
[ 3.03266297e-03, 3.53396672e-02, 1.07890848e-02, 1.70336327e-03,
 -4.28878828e-06, 3.54207948e-02, 1.08155157e-02, 1.72174923e-03,
 -3.03843628e-03, 3.48319069e-02, 1.07994655e-02, 1.60439205e-03,
  1.05204517e-03,-1.61703359e-03, 0.00000000e+00,-1.93614763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012690310840598393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328798, -0.10859335,  0.06188752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34183971e-05,-4.09124814e-05,-1.55704613e-05,-2.97595140e-07,
  1.41177080e-05,-8.54396967e-05,-2.35782615e-05,-2.16438956e-05,
  2.03421095e-05,-2.10493506e-05,-5.45975419e-05,-1.29084125e-04,
 -2.40482130e-05, 1.01897666e-06,-1.12971024e-07,-5.33531721e-05,
  2.64084190e-06,-7.38640491e-07,-1.21644163e+00, 1.58467093e-03,
  5.45401310e-04, 2.48170274e-05]


--- Step 1744 ---
qpos:
[-0.01068332, 1.33231904,-0.01836521, 0.94615221, 0.00422374, 1.33162734,
 -0.03032917, 0.9434988 , 0.01692656, 1.33759636,-0.02350807, 0.95535957,
  1.34471057,-0.00256358, 1.11651493, 0.06370599,-0.00163261,-0.09787616,
  0.08166814, 0.53955536,-0.01070538,-0.00518586, 0.84186609]

qacc:
[ 5.13396361e-02,-6.66621219e-01, 3.59510148e+00,-1.12310873e+01,
  1.48545793e-01,-1.42646853e+00, 2.53880124e+00, 3.64185422e+00,
  4.67823807e-02,-3.77696554e+00, 1.39625973e+01,-2.54471491e+01,
  3.60152376e-01,-9.46451686e-01, 4.04331618e+00,-1.41345734e+01,
 -1.71131027e+00, 7.62592414e-01,-1.96296317e+00,-5.77503296e+01,
  7.67958908e+01, 3.65729991e+00]

qfrc_actuator:
[ 3.03955024e-03, 3.53564075e-02, 1.07841132e-02, 1.66847549e-03,
  3.01248501e-05, 3.53974945e-02, 1.08458527e-02, 1.74721691e-03,
 -3.03699833e-03, 3.48067475e-02, 1.08238254e-02, 1.54782797e-03,
  1.03077166e-03,-1.66728448e-03, 0.00000000e+00,-2.00394127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012677078703782069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.37885987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.37885987e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329124, -0.10859426,  0.06188763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47993735e-05,-9.02817594e-06,-1.47626663e-05,-3.65557272e-05,
  4.27425210e-05,-7.59175617e-05, 1.02900575e-05, 2.17191154e-05,
  1.34512257e-05,-5.13037610e-05, 1.02630920e-05,-6.17910101e-05,
 -3.44598657e-05,-5.54826647e-05,-1.02572571e-05,-7.17657827e-05,
 -4.59158772e-08, 2.19824014e-07,-1.21644004e+00, 1.58400644e-03,
  5.45093770e-04, 3.01862697e-05]


--- Step 1745 ---
qpos:
[-0.01068309, 1.33233206,-0.01836722, 0.94614957, 0.00422393, 1.33163958,
 -0.03033071, 0.94349925, 0.01692625, 1.33759888,-0.02350893, 0.95535553,
  1.34480679,-0.00256371, 1.11670288, 0.0637044 ,-0.00164625,-0.09786972,
  0.08165004, 0.53953353,-0.01111028,-0.0051787 , 0.84187488]

qacc:
[ 1.06048154e-01,-2.09555058e+00, 8.84584481e+00,-2.03008042e+01,
  3.50488450e-02, 2.63259055e+00,-1.03512291e+01, 2.00483047e+01,
 -3.09561909e-02,-2.16304497e-01, 1.77045058e+00,-5.64245670e+00,
  3.55465787e-01,-9.11698601e-01, 1.66166669e-01,-1.02660890e+00,
 -1.61686757e+00, 7.19968853e-01,-2.39309584e+00,-5.46350178e+01,
  7.26671507e+01, 3.43802085e+00]

qfrc_actuator:
[ 3.06137214e-03, 3.53434339e-02, 1.07820579e-02, 1.61307872e-03,
  1.50183134e-05, 3.54501220e-02, 1.08465211e-02, 1.79792839e-03,
 -3.05386193e-03, 3.48620297e-02, 1.08385221e-02, 1.53383088e-03,
  1.02519436e-03,-1.69722357e-03, 0.00000000e+00,-2.00773929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001252491843287129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86411381e-14,  8.86411381e-14,  1.00000000e+00, -7.85725137e-27,
        1.00000000e+00, -8.86411381e-14, -1.00000000e+00,  0.00000000e+00,
        8.86411381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332661, -0.10860207,  0.06188886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05504582e-05,-2.20299242e-05,-6.59014586e-06,-5.69356215e-05,
  1.01160360e-05, 1.32135751e-05,-1.23888684e-05, 4.92478959e-05,
 -8.92078396e-06, 2.70672120e-05, 4.02973387e-06,-1.66575466e-05,
 -3.79800742e-05,-5.20076951e-05,-1.62953106e-05,-9.95169670e-06,
  9.14180806e-07,-8.72388183e-07,-1.21644180e+00, 1.58266799e-03,
  5.44592953e-04, 2.41477969e-05]


--- Step 1746 ---
qpos:
[-0.01068261, 1.33234485,-0.01836925, 0.94614732, 0.00422408, 1.33165202,
 -0.03033202, 0.94349992, 0.01692611, 1.33760151,-0.02351042, 0.9553507 ,
  1.34490284,-0.00256402, 1.11689069, 0.06370275,-0.00166034,-0.09786381,
  0.08164742, 0.53951186,-0.01151341,-0.00520046, 0.84188321]

qacc:
[ 1.07152400e-01, 4.70487626e-01,-2.72773527e+00, 7.19182109e+00,
 -1.11578636e-02,-1.60149069e-02,-8.81739047e-02, 2.54425136e+00,
  7.02669351e-02, 5.37698007e-01, 2.13910526e-02,-9.14644077e+00,
  8.95186531e-03,-1.90951900e-01, 9.97640466e-03,-3.08238604e-01,
 -1.11754179e-01,-1.31173634e-01, 3.86838254e+00,-1.17002123e+01,
 -8.53737935e+00,-3.56660835e-01]

qfrc_actuator:
[ 3.07422463e-03, 3.53305213e-02, 1.07816265e-02, 1.63481494e-03,
  5.83226375e-06, 3.54767194e-02, 1.08654737e-02, 1.80984517e-03,
 -3.02830937e-03, 3.48407950e-02, 1.07944384e-02, 1.49175026e-03,
  1.02904097e-03,-1.69702616e-03, 0.00000000e+00,-2.00929358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012318959417487183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -5.2996462e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  5.2996462e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00306568, -0.09301885,  0.0618905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08790344e-05,-2.81693150e-05,-7.17738462e-06, 1.95755946e-05,
 -3.21552042e-06, 3.28814345e-05, 2.15598084e-05, 1.31076871e-05,
  2.02879045e-05,-5.99551630e-06,-3.88348764e-05,-4.15522120e-05,
 -2.95765895e-05,-2.18408404e-05,-1.16217648e-05,-4.90174509e-06,
  4.93318846e-06,-3.68484675e-06,-1.21644635e+00, 1.58078498e-03,
  5.43916358e-04, 8.61829135e-06]


--- Step 1747 ---
qpos:
[-0.01068192, 1.33235744,-0.01837107, 0.94614672, 0.00422417, 1.33166463,
 -0.03033313, 0.94350247, 0.01692605, 1.3376035 ,-0.02351186, 0.95534578,
  1.34499878,-0.00256465, 1.1170785 , 0.0637004 ,-0.00167159,-0.09785145,
  0.08164518, 0.53949299,-0.01194091,-0.00505501, 0.84189024]

qacc:
[ 8.87918097e-02, 2.00625601e+00,-1.02032039e+01, 2.80263799e+01,
 -2.59084868e-02, 2.91186357e+00,-1.30993782e+01, 3.29746411e+01,
  3.30813765e-02,-1.15648209e+00, 2.92448906e+00,-3.15742022e+00,
  9.49933823e-02,-3.73087003e-01, 2.07374954e+00,-7.32261286e+00,
  7.10683953e-01, 1.61251534e+00, 9.56093540e-02, 6.38268477e+01,
  5.53734897e+01,-5.00165498e-01]

qfrc_actuator:
[ 3.08159264e-03, 3.53355509e-02, 1.07999525e-02, 1.71952301e-03,
  2.74630030e-07, 3.54875796e-02, 1.08772184e-02, 1.90535414e-03,
 -3.03077502e-03, 3.47736693e-02, 1.07867230e-02, 1.48665657e-03,
  1.02257412e-03,-1.71442351e-03, 0.00000000e+00,-2.04503186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.75151207,   7.77900598,   3.75151207,
        38.58528354, -14.44319938,   7.77900598, -14.44319938,
        15.60175701,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012404654628647566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47502594e-14,  4.47502594e-14,  1.00000000e+00,  2.00258572e-27,
        1.00000000e+00, -4.47502594e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47502594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02805922, -0.13089256,  0.06188977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55882710e-05,-1.14580275e-05, 1.25643573e-05, 8.41251552e-05,
 -7.45424946e-06, 3.35768272e-05, 2.10027507e-05, 9.74500317e-05,
  9.51601753e-06,-7.92776193e-05,-1.45231168e-05,-7.37991180e-06,
 -2.81053716e-05,-2.97500230e-05,-9.21811201e-06,-3.82697250e-05,
  6.83789135e-06,-4.26098495e-06,-1.21644633e+00, 1.58121727e-03,
  5.43495798e-04, 8.63604258e-06]


--- Step 1748 ---
qpos:
[-0.01068122, 1.33236977,-0.0183726 , 0.94614679, 0.00422406, 1.33167682,
 -0.03033352, 0.94350582, 0.01692574, 1.33760508,-0.02351349, 0.95534153,
  1.34509456,-0.00256549, 1.11726601, 0.06369929,-0.00168073,-0.0978444 ,
  0.08165299, 0.53947678,-0.01224861,-0.00500337, 0.84189652]

qacc:
[ 4.78876454e-03, 2.92616125e-02,-1.87998460e+00, 9.60984668e+00,
 -8.83560499e-02,-1.14060400e+00, 1.43047334e+00, 8.31155757e+00,
 -1.08844680e-01, 1.13735802e+00,-5.66788963e+00, 1.27559307e+01,
  1.21517847e-01,-3.62711273e-01,-4.20170064e+00, 1.40487159e+01,
  5.27924680e-01,-1.32730523e+00, 2.51155431e+00,-7.16089367e+00,
 -7.57223164e+01,-2.18958578e+00]

qfrc_actuator:
[ 3.06785948e-03, 3.53159010e-02, 1.08115451e-02, 1.75185024e-03,
 -2.08132977e-05, 3.54357010e-02, 1.09023547e-02, 1.94276551e-03,
 -3.06778252e-03, 3.47684933e-02, 1.07826351e-02, 1.52112514e-03,
  1.01524623e-03,-1.72442560e-03, 0.00000000e+00,-1.97635107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012429717299629744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93200543e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.93200543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00635622, -0.07656928,  0.06188955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36442264e-06,-2.11124048e-05, 1.32459859e-05, 3.43242154e-05,
 -2.54864057e-05,-2.63485870e-05, 3.69426997e-05, 4.13153003e-05,
 -3.13895400e-05,-5.20882112e-05,-2.14430163e-05, 3.15180765e-05,
 -3.00882404e-05,-2.40038898e-05,-1.20519662e-05, 6.45446153e-05,
 -2.16504699e-06, 2.24473702e-06,-1.21644844e+00, 1.58115881e-03,
  5.43660442e-04, 1.95844762e-05]


--- Step 1749 ---
qpos:
[-0.01068073, 1.33238163,-0.01837408, 0.94614625, 0.00422386, 1.33168815,
 -0.03033231, 0.94350648, 0.01692538, 1.33760654,-0.02351478, 0.9553387 ,
  1.34519019,-0.00256648, 1.11745312, 0.06370133,-0.00168791,-0.09784239,
  0.08166784, 0.53946309,-0.01244398,-0.00503966, 0.84190221]

qacc:
[-8.83345183e-02,-1.80794331e+00, 6.40458412e+00,-1.24198406e+01,
 -3.35560239e-02,-1.00440451e+01, 3.69120135e+01,-6.26446210e+01,
 -1.71482849e-02, 1.34803417e+00,-7.47687199e+00, 2.30287495e+01,
  2.15550889e-01,-4.47608011e-01,-1.01016195e+01, 3.44403135e+01,
  4.89984849e-01,-1.25836031e+00, 1.75991629e+00,-6.69512979e+00,
 -7.09901858e+01,-2.03651431e+00]

qfrc_actuator:
[ 3.04158022e-03, 3.52638306e-02, 1.08011788e-02, 1.71755410e-03,
 -1.55419326e-05, 3.53644323e-02, 1.09704078e-02, 1.80361873e-03,
 -3.05420075e-03, 3.48004991e-02, 1.08164579e-02, 1.59637137e-03,
  1.01273598e-03,-1.72996298e-03, 0.00000000e+00,-1.81117967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.23326844,  2.60769394, -8.23326844, 15.73936064,
       22.42628251,  2.60769394, 22.42628251, 79.44283408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012469045948519525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45191649e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.45191649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00635598, -0.07657379,  0.06188925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54819332e-05,-6.02198172e-05,-1.19860038e-05,-3.37223202e-05,
 -9.77124772e-06,-7.74566689e-05, 6.83049829e-05,-1.37877085e-04,
 -4.95379810e-06,-6.83169790e-08, 2.21305665e-05, 7.38041197e-05,
 -2.47905553e-05,-1.86318244e-05,-1.30271102e-06, 1.66543520e-04,
  7.73892601e-07,-9.47275138e-07,-1.21644382e+00, 1.58267366e-03,
  5.43248707e-04, 2.46212258e-05]


--- Step 1750 ---
qpos:
[-0.01068064, 1.33239316,-0.01837599, 0.94614532, 0.00422379, 1.33169882,
 -0.03033088, 0.94350586, 0.01692521, 1.33760762,-0.02351444, 0.95533778,
  1.34528555,-0.00256706, 1.11764005, 0.06370632,-0.00168972,-0.09784291,
  0.08168503, 0.53944917,-0.01248478,-0.00506899, 0.84191034]

qacc:
[-1.68789197e-01, 6.97926446e-02, 4.93996802e-02,-4.37942606e+00,
  5.31543138e-02,-3.62404736e+00, 1.34164004e+01,-2.60052498e+01,
  8.04785682e-02,-1.55929767e+00, 6.49546197e-01, 2.17135726e+01,
 -3.22047269e-01, 6.19469150e-01,-9.13957826e+00, 3.16506942e+01,
  1.34000532e+00,-6.35100623e-01, 5.87331705e-01, 4.46219826e+01,
 -6.32070800e+01, 4.08206652e-01]

qfrc_actuator:
[ 3.00798875e-03, 3.52458807e-02, 1.07777725e-02, 1.69756289e-03,
  5.49972426e-06, 3.53176684e-02, 1.09742935e-02, 1.73923127e-03,
 -3.02813173e-03, 3.48014466e-02, 1.09080660e-02, 1.69505084e-03,
  1.01312069e-03,-1.69728898e-03, 0.00000000e+00,-1.66152165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.37526076,  -7.44606407,  -4.37526076,
        70.32591028, -36.24839245,  -7.44606407, -36.24839245,
        29.93569273,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012402275105276306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47588453e-14,  4.47588453e-14,  1.00000000e+00,  2.00335423e-27,
        1.00000000e+00, -4.47588453e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47588453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03290957, -0.08895873,  0.06188989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86435553e-05,-5.46835852e-05,-3.75441901e-05,-2.29055883e-05,
  1.52724727e-05,-8.04771079e-05,-7.55126618e-06,-6.78916941e-05,
  2.31446925e-05, 7.40403188e-06, 9.62648791e-05, 1.01039232e-04,
 -1.73965089e-05, 2.20382241e-05, 1.49645989e-05, 1.58080605e-04,
  2.53532677e-06,-1.14318256e-06,-1.21644143e+00, 1.58397261e-03,
  5.42962608e-04, 3.02057366e-05]


--- Step 1751 ---
qpos:
[-0.0106808 , 1.33240381,-0.01837766, 0.94614347, 0.00422375, 1.33170931,
 -0.03033019, 0.94350484, 0.01692514, 1.33760865,-0.02351408, 0.95533604,
  1.34538056,-0.00256676, 1.11782697, 0.0637134 ,-0.00168645,-0.09784589,
  0.08170242, 0.53943495,-0.01237907,-0.00509162, 0.84192088]

qacc:
[-1.07133157e-01,-3.42946740e+00, 1.16426936e+01,-2.01343356e+01,
  1.32447409e-02, 1.06167797e+00,-2.89774981e+00,-2.16162987e+00,
  3.99391361e-02,-1.57199881e+00, 6.71052930e+00,-1.53234752e+01,
 -7.73311283e-01, 1.51786133e+00,-6.27617400e+00, 2.20922439e+01,
  1.27135648e+00,-6.14972492e-01, 4.66694694e-02, 4.23415385e+01,
 -5.98794346e+01, 4.45972810e-01]

qfrc_actuator:
[ 3.00578849e-03, 3.51774380e-02, 1.07825114e-02, 1.65067270e-03,
  3.25035843e-07, 3.53212354e-02, 1.09404146e-02, 1.71936067e-03,
 -3.03028951e-03, 3.47662975e-02, 1.08909154e-02, 1.64696083e-03,
  1.00993343e-03,-1.64219746e-03, 0.00000000e+00,-1.55773800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58814331, -0.91135687, -8.58814331,  9.35981423,
       -6.81741437, -0.91135687, -6.81741437, 72.88005763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012263045385654398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03293104, -0.08895492,  0.06189114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09252525e-05,-1.06785996e-04,-1.09090226e-05,-5.01418002e-05,
  3.83613706e-06,-4.45484382e-05,-5.24881253e-05,-2.40702197e-05,
  1.15092853e-05,-9.27231143e-06,-1.81178900e-06,-4.27016635e-05,
 -7.13011960e-06, 5.65324854e-05, 2.04263619e-05, 1.13574950e-04,
  3.60132857e-07, 8.68623524e-09,-1.21644003e+00, 1.58490869e-03,
  5.43089772e-04, 3.63381413e-05]


--- Step 1752 ---
qpos:
[-0.01068083, 1.33241336,-0.01837832, 0.94614175, 0.00422356, 1.33172038,
 -0.03033051, 0.9435018 , 0.01692496, 1.33760974,-0.02351475, 0.95533309,
  1.34547549,-0.00256607, 1.11801423, 0.06371935,-0.00167833,-0.09785127,
  0.08171818, 0.53942035,-0.01213351,-0.00510776, 0.84193371]

qacc:
[ 5.62509188e-02,-3.93704935e+00, 1.08695225e+01,-7.39603727e+00,
 -6.47414052e-02, 4.89234936e-02, 4.87874837e+00,-2.79096432e+01,
 -4.26956151e-02, 7.94541438e-01,-9.29760032e-02,-1.38232074e+01,
 -4.39167868e-01, 8.23686865e-01, 3.98167718e+00,-1.31033739e+01,
  1.21498713e+00,-5.98118620e-01,-4.05239762e-01, 4.04601772e+01,
 -5.71397943e+01, 4.66972415e-01]

qfrc_actuator:
[ 3.04018978e-03, 3.51326426e-02, 1.08391262e-02, 1.65932749e-03,
 -2.05357914e-05, 3.53902953e-02, 1.09025039e-02, 1.61933295e-03,
 -3.04936392e-03, 3.47448247e-02, 1.08272042e-02, 1.58379507e-03,
  1.00461911e-03,-1.62754356e-03, 0.00000000e+00,-1.62382742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.5486246 ,  -1.22792279,  -8.5486246 ,
        10.15819059, -10.5947438 ,  -1.22792279, -10.5947438 ,
        82.39546986,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001202417245386972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30831483e-14,  2.30831483e-14,  1.00000000e+00,  5.32831736e-28,
        1.00000000e+00, -2.30831483e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30831483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03296677, -0.08894728,  0.06189323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61347100e-05,-1.07554458e-04, 3.30153433e-05, 4.00092218e-06,
 -1.85982474e-05, 3.33481271e-05,-5.33194429e-05,-1.03450691e-04,
 -1.22776763e-05,-2.82281134e-05,-6.69811473e-05,-6.44878374e-05,
  4.46206518e-06, 2.73733430e-05, 1.73694709e-05,-5.82222216e-05,
  1.51459823e-07, 6.48395158e-08,-1.21644089e+00, 1.58619290e-03,
  5.43614110e-04, 3.50475641e-05]


--- Step 1753 ---
qpos:
[-0.01068061, 1.33242288,-0.01837873, 0.94614078, 0.00422318, 1.33173192,
 -0.03033142, 0.94349827, 0.01692493, 1.33761017,-0.02351489, 0.95533112,
  1.34557039,-0.00256539, 1.11820155, 0.06372448,-0.00166846,-0.09786136,
  0.08173533, 0.53940784,-0.01178958,-0.00520072, 0.84194604]

qacc:
[ 1.04411622e-01, 5.95407186e-01,-3.52871963e+00, 1.18015671e+01,
 -8.11038199e-02, 1.35325232e+00,-2.62233086e+00,-3.82701389e+00,
  5.88720626e-02,-6.49874084e-01,-8.71203979e-01, 1.23650656e+01,
 -6.61834908e-02, 8.02045248e-02, 2.54759739e+00,-8.77388205e+00,
  4.35059393e-01,-1.17830211e+00, 3.48712320e-01,-5.80184904e+00,
 -6.21221943e+01,-1.74046504e+00]

qfrc_actuator:
[ 3.06076248e-03, 3.51913624e-02, 1.08727576e-02, 1.70064078e-03,
 -3.28843163e-05, 3.54269646e-02, 1.08804966e-02, 1.59724160e-03,
 -3.02517329e-03, 3.47137270e-02, 1.08608818e-02, 1.63655954e-03,
  9.92692367e-04,-1.63701115e-03, 0.00000000e+00,-1.66517637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011746103062936775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00637734, -0.07650668,  0.06189564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00879548e-05, 5.74007719e-06, 1.64763069e-05, 3.91861118e-05,
 -2.33231666e-05, 4.14934802e-05,-2.46022844e-05,-2.50398299e-05,
  1.69411632e-05,-6.17082663e-05, 1.86621596e-05, 4.84642072e-05,
 -3.20179723e-06,-1.26350835e-06,-3.54431741e-06,-4.35561643e-05,
  1.64178806e-06,-8.20506988e-07,-1.21644372e+00, 1.58779155e-03,
  5.44499233e-04, 2.73177625e-05]


--- Step 1754 ---
qpos:
[-0.01068015, 1.33243277,-0.01837952, 0.94614065, 0.00422248, 1.33174384,
 -0.03033295, 0.94349589, 0.01692509, 1.33761079,-0.02351526, 0.95533045,
  1.34566512,-0.0025647 , 1.11838895, 0.06372806,-0.00165616,-0.09786598,
  0.08174895, 0.53939759,-0.01146818,-0.00514161, 0.84195741]

qacc:
[  0.1034975 ,  2.96782621,-10.82131503, 18.98041953, -0.1343656 ,
   4.14766349,-15.32058683, 26.46025452,  0.08468598,  3.16060155,
 -12.61718267, 25.83033148, -0.24570655,  0.28016825,  4.8056544 ,
 -16.6081008 ,  0.60695096,  1.36789538, -0.88636083, 57.95243156,
  50.51326504, -0.24753141]

qfrc_actuator:
[ 3.07287089e-03, 3.52228089e-02, 1.08574490e-02, 1.74311779e-03,
 -5.77783773e-05, 3.54440587e-02, 1.08502534e-02, 1.65671116e-03,
 -3.01072803e-03, 3.47662995e-02, 1.08630626e-02, 1.70392963e-03,
  9.71469336e-04,-1.64296195e-03, 0.00000000e+00,-1.74480865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011550399878594436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60449542e-14,  9.61198778e-14,  1.00000000e+00,  3.46463659e-27,
        1.00000000e+00, -9.61198778e-14, -1.00000000e+00,  0.00000000e+00,
       -3.60449542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02816037, -0.13103915,  0.06189737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98649569e-05, 3.89422520e-05,-1.11689242e-05, 4.40539909e-05,
 -3.86573064e-05, 3.43965964e-05,-2.56775867e-05, 5.94251077e-05,
  2.44468645e-05, 2.35234364e-05,-6.33401415e-06, 6.72144125e-05,
 -2.36678743e-05,-6.79481039e-06,-1.02618315e-05,-8.34187930e-05,
 -5.61892553e-08, 6.66186404e-07,-1.21644722e+00, 1.58922596e-03,
  5.44831946e-04, 2.26415692e-05]


--- Step 1755 ---
qpos:
[-0.01067948, 1.33244304,-0.01838024, 0.94614101, 0.00422148, 1.33175557,
 -0.03033489, 0.94349393, 0.01692516, 1.33761201,-0.02351607, 0.95532987,
  1.3457597 ,-0.00256429, 1.11857635, 0.06372998,-0.00164149,-0.09786537,
  0.08175742, 0.53938939,-0.01116841,-0.00493708, 0.84196792]

qacc:
[ 8.51606779e-02, 1.16053285e+00,-4.14829679e+00, 8.97365789e+00,
 -1.29476631e-01, 1.57723251e+00,-6.31437797e+00, 1.05209480e+01,
 -4.37788975e-02, 2.11410606e+00,-6.14054780e+00, 6.05408022e+00,
 -1.01980098e-02,-2.19771151e-01, 5.03356810e+00,-1.76155320e+01,
  5.93124583e-01, 1.30539399e+00,-1.28338642e+00, 5.54008069e+01,
  4.83333877e+01,-2.09508734e-01]

qfrc_actuator:
[ 3.07980396e-03, 3.52552566e-02, 1.08665584e-02, 1.76814783e-03,
 -7.22449773e-05, 3.53960670e-02, 1.08153430e-02, 1.67489896e-03,
 -3.03775220e-03, 3.48152290e-02, 1.08469147e-02, 1.70833318e-03,
  9.55335077e-04,-1.66456658e-03, 0.00000000e+00,-1.82859756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.21899421, -8.54990234, -1.21899421, 68.7266055 ,
       -8.56730918, -8.54990234, -8.56730918,  9.85783961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011331393500672651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06180079e-14,  4.89888126e-14,  1.00000000e+00,  1.49993985e-27,
        1.00000000e+00, -4.89888126e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06180079e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02818668, -0.131074  ,  0.06189928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45591448e-05, 5.30472440e-05, 1.67342800e-05, 2.68963955e-05,
 -3.72803493e-05,-3.22863709e-05,-2.93764652e-05, 1.98577785e-05,
 -1.25876598e-05, 6.26872343e-05,-1.03086600e-05, 6.47869964e-06,
 -3.11458541e-05,-2.86464552e-05,-1.78398352e-05,-9.06576377e-05,
  7.02937109e-06,-2.56271668e-06,-1.21644585e+00, 1.58727146e-03,
  5.45633882e-04, 1.63498332e-05]


--- Step 1756 ---
qpos:
[-0.01067882, 1.33245387,-0.01838085, 0.94614027, 0.00422052, 1.33176694,
 -0.03033656, 0.94349185, 0.01692502, 1.33761358,-0.02351611, 0.95532862,
  1.34585421,-0.0025644 , 1.11876351, 0.06373185,-0.00163009,-0.09787108,
  0.08176342, 0.53938656,-0.01084581,-0.00491002, 0.84197411]

qacc:
[ 1.76881877e-03,-1.47664635e+00, 7.92503325e+00,-1.99770813e+01,
  1.88551179e-02,-1.43528652e+00, 4.36979530e+00,-5.07285713e+00,
 -8.17791026e-02,-2.75710517e+00, 1.08995174e+01,-1.74318195e+01,
  3.27771804e-01,-8.15378019e-01,-2.67056263e-01, 3.32790216e-01,
 -8.16430603e-01,-1.57749600e+00,-6.21067846e-01,-6.85422525e+01,
 -5.74349324e+01,-4.47141893e+00]

qfrc_actuator:
[ 3.06582482e-03, 3.52881316e-02, 1.08722669e-02, 1.71172156e-03,
 -4.48344212e-05, 3.53804430e-02, 1.08309215e-02, 1.66858630e-03,
 -3.05392948e-03, 3.48437402e-02, 1.08910655e-02, 1.67564302e-03,
  9.47582943e-04,-1.69527634e-03, 0.00000000e+00,-1.82537877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011490796335760917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20773073e-14, -2.41546145e-14,  1.00000000e+00, -2.91722702e-28,
        1.00000000e+00,  2.41546145e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20773073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03074081, -0.05932933,  0.06189797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14988617e-07, 6.62159508e-05, 1.87631338e-05,-5.37166925e-05,
  5.40715772e-06,-3.87183980e-05, 6.48736466e-06,-7.67382985e-06,
 -2.36072004e-05, 6.13463903e-05, 5.54092155e-05,-3.09847764e-05,
 -3.21065265e-05,-4.50734792e-05,-2.17125944e-05,-4.92784103e-06,
  1.67268854e-05, 7.09871990e-07,-1.21644673e+00, 1.58566037e-03,
  5.45933498e-04, 1.74548206e-05]


--- Step 1757 ---
qpos:
[-0.01067836, 1.33246463,-0.01838117, 0.94613959, 0.00421972, 1.33177862,
 -0.03033832, 0.94348966, 0.0169247 , 1.33761587,-0.02351519, 0.95532695,
  1.34594856,-0.00256489, 1.11895064, 0.06373271,-0.00162622,-0.09787362,
  0.08176448, 0.53937699,-0.01073418,-0.00489825, 0.84198174]

qacc:
[-9.05400492e-02,-7.80353887e-01, 2.31003768e+00,-1.21714779e+00,
  6.93681875e-02, 4.96180743e-01,-8.99605918e-01,-6.08363215e-01,
 -8.13361763e-02,-2.40446316e+00, 9.82606558e+00,-1.38643083e+01,
  8.94476378e-02,-4.23468047e-01, 3.03090225e+00,-1.06857529e+01,
 -1.88350880e+00, 7.91957851e-01,-1.23240794e+00,-6.33620214e+01,
  8.46707302e+01, 3.65570054e+00]

qfrc_actuator:
[ 3.03941489e-03, 3.52499377e-02, 1.08758736e-02, 1.71432752e-03,
 -2.80305036e-05, 3.54377531e-02, 1.08407735e-02, 1.66571118e-03,
 -3.06346713e-03, 3.49132661e-02, 1.09526232e-02, 1.65693320e-03,
  9.39533403e-04,-1.71334547e-03, 0.00000000e+00,-1.87742973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011537254547235518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81146975e-14,  7.21720462e-14,  1.00000000e+00,  3.47253617e-27,
        1.00000000e+00, -7.21720462e-14, -1.00000000e+00,  0.00000000e+00,
       -4.81146975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358198, -0.10864166,  0.0618976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61099490e-05, 4.20954253e-07, 1.70929126e-05, 3.89385603e-06,
  1.99937486e-05, 3.68490790e-05, 2.77639423e-06,-4.01664612e-06,
 -2.34741113e-05, 1.13338962e-04, 7.89243333e-05,-1.59927139e-05,
 -3.66814586e-05,-3.69368649e-05,-1.32182658e-05,-5.57500843e-05,
  5.07162188e-06,-2.54724265e-06,-1.21644534e+00, 1.58565421e-03,
  5.45426478e-04, 1.53201117e-05]


--- Step 1758 ---
qpos:
[-0.01067787, 1.33247489,-0.01838097, 0.94614037, 0.0042191 , 1.33179043,
 -0.03034023, 0.94348817, 0.01692436, 1.33761845,-0.0235139 , 0.95532513,
  1.34604268,-0.00256539, 1.11913801, 0.06373023,-0.00162941,-0.09787317,
  0.08175847, 0.53936107,-0.01082018,-0.00490084, 0.84199082]

qacc:
[ 1.46127632e-02, 4.87504375e-01,-5.31775544e+00, 2.16690677e+01,
  7.66956337e-02, 1.73681223e+00,-6.89591837e+00, 1.39459750e+01,
 -5.45987612e-03,-8.54494048e-01, 3.55171366e+00,-4.92149330e+00,
 -3.93924368e-01, 4.51969148e-01, 1.04278437e+01,-3.59162555e+01,
 -1.76444903e+00, 7.47151584e-01,-1.76851677e+00,-5.93760270e+01,
  7.92977975e+01, 3.47632714e+00]

qfrc_actuator:
[ 3.05902080e-03, 3.52050032e-02, 1.08957360e-02, 1.78713244e-03,
 -1.77278085e-05, 3.54317669e-02, 1.08296921e-02, 1.70042786e-03,
 -3.05119207e-03, 3.48826282e-02, 1.09531053e-02, 1.64663289e-03,
  9.36641152e-04,-1.70601210e-03, 0.00000000e+00,-2.05041093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011654761055433435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76295919e-14,  9.52591837e-14,  1.00000000e+00,  4.53715604e-27,
        1.00000000e+00, -9.52591837e-14, -1.00000000e+00,  0.00000000e+00,
       -4.76295919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355401, -0.10863474,  0.06189662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18538527e-06,-4.13207646e-05, 2.19937375e-05, 7.34243380e-05,
  2.21040413e-05, 1.47387140e-05,-3.68943031e-06, 3.58235754e-05,
 -1.58051288e-06, 4.69555399e-05, 3.11102925e-05,-5.00476212e-06,
 -3.20767056e-05,-1.05263973e-05,-1.57750576e-05,-1.78599751e-04,
  6.99716844e-07,-2.46236681e-07,-1.21644082e+00, 1.58484886e-03,
  5.44985533e-04, 2.91280041e-05]


--- Step 1759 ---
qpos:
[-0.01067756, 1.33248509,-0.01838089, 0.94614096, 0.00421865, 1.33180144,
 -0.03034185, 0.94348751, 0.01692423, 1.33762127,-0.02351196, 0.95532354,
  1.34613646,-0.00256555, 1.11932503, 0.06372769,-0.00163926,-0.09786988,
  0.08174357, 0.53933907,-0.01109268,-0.00491704, 0.84200127]

qacc:
[-7.45816696e-02,-6.21881057e-02, 4.61657141e-01,-2.38961050e+00,
  6.73494853e-02,-3.96676844e-01,-1.70579571e+00, 1.16775849e+01,
  8.44268857e-02,-1.05320322e+00, 3.34168504e+00,-4.05971211e-01,
 -4.87615914e-01, 7.67008648e-01,-2.82825142e-01, 3.41390927e-01,
 -1.66455532e+00, 7.09660409e-01,-2.22125854e+00,-5.60574026e+01,
  7.48272706e+01, 3.31143829e+00]

qfrc_actuator:
[ 3.03506301e-03, 3.52097422e-02, 1.08895179e-02, 1.77638172e-03,
 -1.14087005e-05, 3.53346130e-02, 1.08238918e-02, 1.73919246e-03,
 -3.02593180e-03, 3.48985351e-02, 1.09881609e-02, 1.65901926e-03,
  9.26204248e-04,-1.68365383e-03, 0.00000000e+00,-2.04469464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011618948998574352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55527927e-14,  4.77763963e-14,  1.00000000e+00,  4.56516809e-27,
        1.00000000e+00, -4.77763963e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55527927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356197, -0.10863577,  0.06189689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14947924e-05,-1.16999049e-05,-9.63981166e-06,-9.61226746e-06,
  1.93650055e-05,-8.87268540e-05,-2.30014669e-06, 3.99415047e-05,
  2.43304767e-05, 4.77779594e-05, 4.76074195e-05, 1.45735604e-05,
 -3.11558167e-05, 1.25185072e-05,-3.12107496e-05,-7.19963747e-06,
  2.87491967e-07,-1.96791682e-07,-1.21644010e+00, 1.58345986e-03,
  5.44407507e-04, 3.02357298e-05]


--- Step 1760 ---
qpos:
[-0.01067761, 1.33249478,-0.01838014, 0.94614142, 0.00421832, 1.33181174,
 -0.03034378, 0.94348734, 0.01692418, 1.33762507,-0.02351016, 0.95532139,
  1.34622993,-0.00256544, 1.11951132, 0.06372954,-0.001652  ,-0.09787247,
  0.08172542, 0.53932245,-0.01134283,-0.00510768, 0.84200745]

qacc:
[-1.55418624e-01,-2.74809491e+00, 8.43240699e+00,-8.60271351e+00,
  5.31636655e-02, 7.58934588e-01,-4.59526921e+00, 1.01380333e+01,
  4.04878741e-02, 6.79811680e-01, 4.49770315e-01,-7.39696123e+00,
 -1.44284239e-01, 2.73037620e-01,-1.43138499e+01, 4.85283208e+01,
 -7.24291788e-01,-1.47102520e+00,-8.15057214e-01,-6.73891574e+01,
 -5.64177742e+01,-4.43710053e+00]

qfrc_actuator:
[ 3.00291633e-03, 3.51730364e-02, 1.09213337e-02, 1.76979829e-03,
 -7.52983389e-06, 3.52901569e-02, 1.08031382e-02, 1.76221406e-03,
 -3.02859270e-03, 3.49778225e-02, 1.09902766e-02, 1.63144495e-03,
  9.11258361e-04,-1.67036932e-03, 0.00000000e+00,-1.80942836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011661315089987606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33049394e-14,  2.38014112e-14,  1.00000000e+00, -1.98277512e-27,
        1.00000000e+00, -2.38014112e-14, -1.00000000e+00,  0.00000000e+00,
        8.33049394e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071062, -0.0593587 ,  0.06189647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48425637e-05,-4.54169532e-05, 2.81386387e-05,-7.42326168e-06,
  1.53044949e-05,-9.28638025e-05,-3.72135148e-05, 2.12238481e-05,
  1.17094337e-05, 1.15413598e-04, 1.72750166e-05,-2.44229216e-05,
 -2.95069250e-05, 9.47828303e-06,-1.76779011e-05, 2.30289778e-04,
  3.17116705e-06,-2.02158653e-06,-1.21644251e+00, 1.58157499e-03,
  5.43689596e-04, 2.08551957e-05]


--- Step 1761 ---
qpos:
[-0.0106779 , 1.33250406,-0.01837933, 0.94614286, 0.00421808, 1.33182187,
 -0.03034616, 0.94348706, 0.01692404, 1.33762931,-0.02350959, 0.95531973,
  1.34632309,-0.00256491, 1.11969762, 0.0637328 ,-0.00166753,-0.09788064,
  0.081702  , 0.53931078,-0.01157181,-0.00546304, 0.84200958]

qacc:
[-9.63303716e-02, 1.00687657e+00,-5.92973826e+00, 1.67428692e+01,
  3.95872597e-02, 7.89115652e-01,-2.64035955e+00, 1.16502684e+00,
 -4.34714868e-02, 4.78073777e+00,-1.58560578e+01, 1.90385541e+01,
 -4.42396412e-01, 7.73700395e-01,-4.21576602e+00, 1.48645784e+01,
 -6.97580273e-01,-1.39467339e+00,-1.31499192e+00,-6.36241901e+01,
 -5.32908578e+01,-4.16993335e+00]

qfrc_actuator:
[ 3.00162327e-03, 3.51474439e-02, 1.09219596e-02, 1.81900258e-03,
 -5.14534599e-06, 3.53130370e-02, 1.07916436e-02, 1.75804592e-03,
 -3.04798257e-03, 3.49345251e-02, 1.09021373e-02, 1.65159742e-03,
  9.04269375e-04,-1.64486241e-03, 0.00000000e+00,-1.74264999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.31926422,  7.97303342, -3.31926422, 55.15654562,
       19.36687928,  7.97303342, 19.36687928, 16.6990151 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011608701123471399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78185722e-14,  2.39092861e-14,  1.00000000e+00,  1.14330792e-27,
        1.00000000e+00, -2.39092861e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78185722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071491, -0.05935192,  0.06189683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77734131e-05,-4.55007769e-05,-5.27468745e-06, 4.85230023e-05,
  1.14136578e-05,-3.52032707e-05,-3.32840299e-05,-7.54878150e-06,
 -1.24688896e-05, 2.31444270e-05,-6.43616958e-05, 2.35120315e-05,
 -2.06955408e-05, 2.09629241e-05, 1.54984809e-05, 7.68872981e-05,
  1.31394251e-05, 8.28177951e-07,-1.21644406e+00, 1.58361950e-03,
  5.43151549e-04, 2.27343739e-05]


--- Step 1762 ---
qpos:
[-0.01067803, 1.33251336,-0.01837948, 0.94614386, 0.00421805, 1.33183185,
 -0.03034845, 0.94348671, 0.01692389, 1.33763331,-0.02350934, 0.95532075,
  1.34641636,-0.00256491, 1.11988412, 0.06373552,-0.00167961,-0.09788148,
  0.081686  , 0.53930185,-0.01183029,-0.00562084, 0.84201067]

qacc:
[ 6.43157170e-02, 1.88716991e+00,-5.22523842e+00,-5.59646613e-01,
  9.01496688e-02,-5.68544172e-01, 1.78125200e+00,-2.36995254e+00,
 -3.96683017e-03, 5.14274456e+00,-2.25636497e+01, 5.06624200e+01,
  4.13338652e-01,-8.72817367e-01, 1.91462813e+00,-6.37030292e+00,
  8.63694196e-01, 1.83494501e+00, 1.85193979e+00, 7.52348067e+01,
  6.57036056e+01,-2.04347255e-01]

qfrc_actuator:
[ 3.03660211e-03, 3.51463801e-02, 1.08687189e-02, 1.79410488e-03,
  1.40768779e-05, 3.53228225e-02, 1.08037197e-02, 1.75571874e-03,
 -3.04174494e-03, 3.49065829e-02, 1.08852803e-02, 1.78833255e-03,
  9.02063860e-04,-1.68327571e-03, 0.00000000e+00,-1.77574812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012096088131703375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02808442, -0.1309661 ,  0.06189263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85755155e-05,-2.58787867e-05,-6.13154897e-05,-2.52637157e-05,
  2.59572563e-05,-1.64952747e-05, 1.17053862e-06,-4.52668477e-06,
 -1.12145710e-06,-2.70480145e-05,-1.89708191e-05, 1.36089163e-04,
 -8.34833930e-06,-3.79580976e-05, 1.11829323e-05,-2.78623155e-05,
  2.63721459e-05, 1.17510614e-05,-1.21644811e+00, 1.58497559e-03,
  5.42881402e-04, 3.32727407e-05]


--- Step 1763 ---
qpos:
[-0.01067775, 1.3325225 ,-0.01837997, 0.94614418, 0.00421839, 1.33184191,
 -0.03035069, 0.94348597, 0.01692361, 1.33763668,-0.0235082 , 0.95532234,
  1.34650962,-0.00256532, 1.12007068, 0.06373749,-0.00168848,-0.09787557,
  0.081674  , 0.53929539,-0.01211626,-0.00559563, 0.84201091]

qacc:
[ 1.72285888e-01,-4.97929905e-01, 2.73341481e+00,-1.00162900e+01,
  1.54456362e-01,-7.04236426e-01, 3.24044304e+00,-7.39736102e+00,
 -5.04623834e-02,-2.24008298e+00, 5.17794421e+00, 2.41005104e+00,
  2.53546625e-01,-6.25297068e-01, 2.30327925e+00,-7.97813445e+00,
  8.02321746e-01, 1.68678341e+00, 1.00311386e+00, 6.96466898e+01,
  6.09354367e+01,-1.12498697e-01]

qfrc_actuator:
[ 3.07530276e-03, 3.51420084e-02, 1.08551730e-02, 1.76128017e-03,
  4.32451251e-05, 3.53425453e-02, 1.08118289e-02, 1.73675863e-03,
 -3.05568819e-03, 3.48706163e-02, 1.09285087e-02, 1.81509535e-03,
  8.97377421e-04,-1.70601146e-03, 0.00000000e+00,-1.81411292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.65492586,  -3.99861063,  -7.65492586,
        25.09130878, -31.501288  ,  -3.99861063, -31.501288  ,
        68.94231647,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012420862042170078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.91053835e-14,  4.46918668e-14,  1.00000000e+00,  1.74769259e-27,
        1.00000000e+00, -4.46918668e-14, -1.00000000e+00,  0.00000000e+00,
       -3.91053835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02804341, -0.1309173 ,  0.06188983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96606565e-05,-3.14815244e-05,-2.63375581e-05,-3.59711851e-05,
  4.44873775e-05, 1.06237302e-05, 4.87306527e-06,-1.95168021e-05,
 -1.46045870e-05,-5.06241083e-05, 3.97693723e-05, 2.85819362e-05,
 -1.84121653e-05,-3.43249844e-05,-2.24607424e-06,-3.94997174e-05,
  1.10992579e-05,-3.56396592e-07,-1.21644401e+00, 1.58476435e-03,
  5.43853974e-04, 2.25932126e-05]


--- Step 1764 ---
qpos:
[-0.01067719, 1.33253152,-0.01838096, 0.94614447, 0.0042188 , 1.33185191,
 -0.03035277, 0.94348536, 0.0169232 , 1.33763987,-0.02350686, 0.95532216,
  1.34660262,-0.00256549, 1.12025757, 0.06373596,-0.00169435,-0.09786339,
  0.08166316, 0.53929113,-0.01242805,-0.00539949, 0.84201037]

qacc:
[ 1.19373295e-01, 1.15000165e+00,-3.86356534e+00, 2.95103041e+00,
  2.74444443e-02,-2.63877901e-01, 4.78071901e-01, 1.17272729e+00,
 -5.81982522e-02,-3.80036120e+00, 1.56719412e+01,-3.38388553e+01,
 -6.19356209e-01, 9.20508544e-01, 1.10888097e+01,-3.79719681e+01,
  7.50795194e-01, 1.56468603e+00, 2.88590328e-01, 6.50084892e+01,
  5.69746114e+01,-2.71364481e-02]

qfrc_actuator:
[ 3.08041567e-03, 3.51358231e-02, 1.08296787e-02, 1.75960776e-03,
  2.48861317e-05, 3.53325481e-02, 1.08175546e-02, 1.74366705e-03,
 -3.06387326e-03, 3.48658160e-02, 1.09357056e-02, 1.72366315e-03,
  8.91208279e-04,-1.68372587e-03, 0.00000000e+00,-1.99725025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.61592349,  -4.07240546,  -7.61592349,
        27.79732187, -35.83346339,  -4.07240546, -35.83346339,
        75.64956219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012544908536673838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53124312e-15,  4.42499450e-14,  1.00000000e+00,  2.44757204e-28,
        1.00000000e+00, -4.42499450e-14, -1.00000000e+00,  0.00000000e+00,
       -5.53124312e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02802715, -0.13089878,  0.06188873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44239639e-05,-2.98749294e-05,-3.57131267e-05,-4.20729883e-06,
  7.89748556e-06,-3.82119018e-06, 7.77568460e-06, 6.92789211e-06,
 -1.68089317e-05,-2.42043020e-05, 2.66422582e-06,-9.10938279e-05,
 -2.46670102e-05, 9.33930895e-06,-9.20942569e-06,-1.86520185e-04,
  1.64759203e-06,-1.33247179e-06,-1.21644371e+00, 1.58499281e-03,
  5.44013058e-04, 2.42049294e-05]


--- Step 1765 ---
qpos:
[-0.0106763 , 1.33254045,-0.01838255, 0.9461437 , 0.004219  , 1.33186113,
 -0.03035448, 0.94348558, 0.01692296, 1.33764323,-0.02350565, 0.95532191,
  1.34669547,-0.00256545, 1.12044452, 0.06373124,-0.00169554,-0.09784963,
  0.08166   , 0.53928702,-0.01265773,-0.00510891, 0.8420114 ]

qacc:
[  0.14130974, -0.32866797,  3.098126  ,-14.8862781 , -0.08426622,
  -0.60332286, -0.95931956, 10.94387134,  0.07249875,  0.41149995,
  -0.95156489, -0.0829386 , -0.47796779,  0.73530692,  9.76479751,
 -33.95350129,  1.16929154,  0.39833599,  1.92092483, 61.90669087,
  -9.12071835,  0.72316013]

qfrc_actuator:
[ 3.10084327e-03, 3.51285804e-02, 1.07973356e-02, 1.70525852e-03,
 -4.08253705e-06, 3.52515823e-02, 1.08217351e-02, 1.78348181e-03,
 -3.03303225e-03, 3.48972661e-02, 1.09393727e-02, 1.72319335e-03,
  8.89498553e-04,-1.67043765e-03, 0.00000000e+00,-2.15768381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012509170744337127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43763638e-14,  3.83849956e-07,  1.00000000e+00,  1.70338653e-20,
        1.00000000e+00, -3.83849956e-07, -1.00000000e+00,  0.00000000e+00,
       -4.43763638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03070744, -0.10784463,  0.06188897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07437162e-05,-3.09301287e-05,-4.23807556e-05,-5.63750059e-05,
 -2.43078140e-05,-8.14184227e-05, 4.51077434e-06, 4.00984453e-05,
  2.09170650e-05, 1.58640763e-05,-3.42701765e-06,-3.22280359e-06,
 -1.36320096e-05, 1.02710262e-05,-2.94910626e-05,-1.73045107e-04,
 -3.11315052e-06, 6.65277031e-06,-1.21644645e+00, 1.58552479e-03,
  5.43516599e-04, 3.57432324e-05]


--- Step 1766 ---
qpos:
[-0.01067526, 1.33254945,-0.01838438, 0.94614294, 0.00421924, 1.33186952,
 -0.03035606, 0.94348698, 0.01692283, 1.33764605,-0.02350444, 0.9553224 ,
  1.34678818,-0.00256525, 1.12063076, 0.06372895,-0.00169113,-0.09783875,
  0.08166178, 0.53928222,-0.01272367,-0.00481046, 0.84201523]

qacc:
[ 6.23866697e-02, 7.37781708e-01,-2.34955302e+00, 2.18794510e+00,
  1.33285620e-02, 5.55967708e-01,-5.58319914e+00, 1.91284506e+01,
  4.54628751e-02, 6.03948152e-01,-4.30893124e+00, 1.26175731e+01,
 -2.91687296e-02, 1.02592040e-01,-8.37183298e+00, 2.77691399e+01,
  1.40145492e+00,-7.22083154e-01, 1.23389160e+00, 4.74668827e+01,
 -6.68255434e+01, 6.81404494e-01]

qfrc_actuator:
[ 3.09478983e-03, 3.51562109e-02, 1.07966773e-02, 1.70909826e-03,
  1.40788919e-05, 3.51997739e-02, 1.08247028e-02, 1.84229052e-03,
 -3.03228737e-03, 3.48259372e-02, 1.09234072e-02, 1.75855869e-03,
  8.85138961e-04,-1.66260727e-03, 0.00000000e+00,-2.01935579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012635326296354527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39332946e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.39332946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03287836, -0.0889896 ,  0.0618879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79937199e-05, 5.03266923e-07,-1.31966325e-05, 3.72151190e-07,
  3.81206797e-06,-9.48237626e-05,-1.12792909e-05, 5.74328818e-05,
  1.30988110e-05,-6.33446510e-05,-1.33564882e-05, 3.56658587e-05,
 -1.03037487e-05, 7.78198296e-06,-3.60402964e-05, 1.24160500e-04,
 -1.41372094e-06, 1.43500512e-05,-1.21644652e+00, 1.58510801e-03,
  5.42849245e-04, 5.05566398e-05]


--- Step 1767 ---
qpos:
[-0.01067431, 1.33255811,-0.01838586, 0.94614362, 0.00421987, 1.33187714,
 -0.03035708, 0.94349078, 0.01692262, 1.33764847,-0.02350426, 0.95532232,
  1.34688077,-0.00256493, 1.12081646, 0.06373061,-0.00168484,-0.09783321,
  0.08167188, 0.53927978,-0.01267443,-0.00460174, 0.84201871]

qacc:
[-3.90568074e-02, 1.11048671e+00,-7.06605874e+00, 2.29758952e+01,
  1.68622398e-01, 1.60178316e+00,-1.13688300e+01, 3.81078531e+01,
 -3.33130826e-02, 1.23226233e+00,-3.49360854e+00,-3.34417134e+00,
  9.49776500e-02,-9.48408352e-02,-1.27021644e+01, 4.32879109e+01,
  4.66371455e-01,-1.33515350e+00, 2.08022136e+00,-6.70245683e+00,
 -7.26836608e+01,-1.93904732e+00]

qfrc_actuator:
[ 3.07290064e-03, 3.51336524e-02, 1.08149077e-02, 1.78270715e-03,
  6.03675628e-05, 3.51835887e-02, 1.08625356e-02, 1.96506565e-03,
 -3.04960473e-03, 3.47823336e-02, 1.08600947e-02, 1.72587769e-03,
  8.79192391e-04,-1.65808856e-03, 0.00000000e+00,-1.81262959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012600080933194424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40561862e-14,  4.40561862e-14,  1.00000000e+00,  1.94094755e-27,
        1.00000000e+00, -4.40561862e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40561862e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00636101, -0.07659825,  0.0618882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12717641e-05,-2.49090620e-05, 1.68281651e-05, 7.32533392e-05,
  4.85349425e-05,-6.91756211e-05, 1.96772334e-05, 1.20935521e-04,
 -9.58329150e-06,-8.02033290e-05,-7.61603716e-05,-3.41111237e-05,
 -1.01098432e-05, 4.33281349e-06,-4.06661292e-06, 2.08718572e-04,
  4.91521399e-06, 1.34581706e-05,-1.21644438e+00, 1.58441596e-03,
  5.42811713e-04, 5.24832691e-05]


--- Step 1768 ---
qpos:
[-0.01067367, 1.33256601,-0.01838686, 0.9461452 , 0.00422068, 1.33188391,
 -0.0303567 , 0.94349598, 0.01692243, 1.33765118,-0.02350515, 0.9553211 ,
  1.34697307,-0.00256422, 1.12100226, 0.06373336,-0.0016768 ,-0.09783273,
  0.08168757, 0.5392796 ,-0.01251663,-0.00447755, 0.84202185]

qacc:
[-1.31255911e-01,-6.88515104e-01,-8.17642339e-01, 1.17079175e+01,
  7.11513828e-02,-2.51591842e+00, 3.96489780e+00, 1.33853375e+01,
  6.20082742e-03, 1.35230440e+00,-1.65017318e+00,-1.18776331e+01,
 -4.49057439e-01, 7.65315414e-01,-3.14592972e+00, 1.12878713e+01,
  4.40942333e-01,-1.26279105e+00, 1.39728154e+00,-6.30089335e+00,
 -6.84852582e+01,-1.82567457e+00]

qfrc_actuator:
[ 3.04169078e-03, 3.50635935e-02, 1.08262245e-02, 1.82573987e-03,
  5.21429858e-05, 3.51535375e-02, 1.09385742e-02, 2.03577617e-03,
 -3.04211133e-03, 3.48442066e-02, 1.08226425e-02, 1.67114103e-03,
  8.61646061e-04,-1.63782306e-03, 0.00000000e+00,-1.76263437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012550630284068331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.21148859e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.21148859e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00636227, -0.07659368,  0.06188866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78703860e-05,-7.84239055e-05, 1.05127314e-05, 4.44991573e-05,
  2.04175458e-05,-6.08778754e-05, 6.82891321e-05, 7.20249539e-05,
  1.83349908e-06, 1.62203319e-06,-6.27701077e-05,-6.01304831e-05,
 -2.18509734e-05, 1.89466248e-05, 1.88054546e-05, 6.05107068e-05,
  5.63349122e-06, 5.47854872e-06,-1.21644218e+00, 1.58463051e-03,
  5.42940943e-04, 4.22137691e-05]


--- Step 1769 ---
qpos:
[-0.01067337, 1.33257292,-0.01838728, 0.94614731, 0.00422139, 1.33189077,
 -0.03035588, 0.94349919, 0.01692228, 1.33765424,-0.02350611, 0.95531987,
  1.34706508,-0.00256321, 1.12118861, 0.06373269,-0.00167193,-0.09783806,
  0.08169914, 0.5392842 ,-0.01233683,-0.00452246, 0.84202132]

qacc:
[-1.42612027e-01,-1.99939905e+00, 3.93001120e+00, 3.14174485e+00,
 -3.83144279e-02,-4.46549522e+00, 1.88180230e+01,-3.94736881e+01,
  1.95446220e-02, 5.87764096e-01,-1.34939903e+00, 7.92562915e-01,
 -6.78797922e-01, 1.01644614e+00, 1.11938629e+01,-3.78532135e+01,
 -7.94201890e-01,-1.45306129e+00,-1.02811068e+00,-6.52456006e+01,
 -5.48288766e+01,-4.11292503e+00]

qfrc_actuator:
[ 3.02289596e-03, 3.50011090e-02, 1.08508907e-02, 1.85037866e-03,
  2.90344103e-05, 3.51865710e-02, 1.09654484e-02, 1.93325882e-03,
 -3.03754617e-03, 3.48978201e-02, 1.08366856e-02, 1.67497579e-03,
  8.42485913e-04,-1.62618115e-03, 0.00000000e+00,-1.94742967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012489032188168908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03058803, -0.05950639,  0.06188925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11593341e-05,-1.02531630e-04, 1.18398034e-05, 2.36596610e-05,
 -1.10607807e-05, 1.48413015e-05, 2.48471476e-05,-1.00658855e-04,
  5.64986679e-06, 4.04528689e-05, 5.46359918e-06, 6.47424278e-07,
 -2.63938154e-05, 1.13041111e-05, 1.06329255e-05,-1.80102962e-04,
  5.39641625e-06, 5.36020304e-07,-1.21644194e+00, 1.58475858e-03,
  5.43173228e-04, 3.32308118e-05]


--- Step 1770 ---
qpos:
[-0.01067351, 1.33257945,-0.01838725, 0.94614861, 0.00422207, 1.33189848,
 -0.03035616, 0.94349978, 0.01692232, 1.33765726,-0.02350566, 0.95531899,
  1.34715691,-0.0025623 , 1.12137491, 0.06373051,-0.00167007,-0.0978489 ,
  0.08170473, 0.53929331,-0.01213617,-0.00472757, 0.84201727]

qacc:
[-1.84626997e-01,-3.08649874e+00, 1.10813623e+01,-1.86893291e+01,
 -1.01646277e-02,-3.99804090e-01, 8.03688031e+00,-3.79005186e+01,
  8.29377429e-02,-3.24465700e+00, 9.81234183e+00,-4.39203522e+00,
 -1.59646929e-01, 9.99991743e-02, 4.51616425e+00,-1.58818374e+01,
 -7.52866613e-01,-1.37900428e+00,-1.49627917e+00,-6.17982276e+01,
 -5.19431155e+01,-3.88556709e+00]

qfrc_actuator:
[ 2.99394854e-03, 3.50146953e-02, 1.08832498e-02, 1.81075282e-03,
  3.26918078e-05, 3.52390940e-02, 1.09099685e-02, 1.80064748e-03,
 -3.01702258e-03, 3.49108099e-02, 1.09165423e-02, 1.69553196e-03,
  8.27693359e-04,-1.63752327e-03, 0.00000000e+00,-2.02048275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012350724873145813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49456625e-14,  8.98913251e-14,  1.00000000e+00,  4.04022516e-27,
        1.00000000e+00, -8.98913251e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49456625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03060819, -0.05948251,  0.06189047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32538180e-05,-4.01479752e-05, 1.43604114e-05,-4.17674178e-05,
 -2.86979920e-06, 6.25216482e-05,-5.27056211e-05,-1.33754903e-04,
  2.38630399e-05, 3.64243868e-05, 8.83921963e-05, 2.19302502e-05,
 -2.69213502e-05,-1.44151004e-05,-2.06925383e-05,-8.29977880e-05,
 -3.98674808e-08, 8.40370209e-09,-1.21644154e+00, 1.58439465e-03,
  5.43171878e-04, 3.32362414e-05]


--- Step 1771 ---
qpos:
[-0.01067419, 1.33258637,-0.01838746, 0.94614905, 0.00422262, 1.33190669,
 -0.03035682, 0.94349946, 0.01692288, 1.33766054,-0.02350434, 0.9553194 ,
  1.34724846,-0.00256124, 1.12156078, 0.06372978,-0.00167109,-0.09786501,
  0.08170277, 0.53930667,-0.0119156 ,-0.00508548, 0.84200978]

qacc:
[ -0.22989821, -0.36411771,  3.56658463,-13.35925311, -0.0608847 ,
   0.1405905 ,  2.21733925,-12.80293841,  0.21427616,  0.24347826,
  -2.9743009 , 17.29282862, -0.22483807,  0.31285697, -4.99328304,
  16.59627794, -0.71819573, -1.31735577, -1.88973578,-58.94131006,
 -49.55440591, -3.68481393]

qfrc_actuator:
[ 2.95914355e-03, 3.50737281e-02, 1.08846414e-02, 1.76918372e-03,
  1.68726998e-05, 3.52670176e-02, 1.08952045e-02, 1.75792132e-03,
 -2.96933896e-03, 3.49351672e-02, 1.09634278e-02, 1.76126243e-03,
  8.15520975e-04,-1.62688554e-03, 0.00000000e+00,-1.93826308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012106785421511917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.58512721e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.58512721e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03064258, -0.05944155,  0.06189254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.62489677e-05, 3.83469860e-05,-6.05310196e-06,-4.33008851e-05,
 -1.75100655e-05, 4.81242305e-05,-1.24617699e-05,-4.54814590e-05,
  6.17773997e-05, 6.23888528e-05, 6.46802231e-05, 6.99093750e-05,
 -3.08576131e-05, 9.12533144e-07,-2.19838081e-05, 7.41931381e-05,
 -1.59328433e-06, 7.27539641e-06,-1.21644364e+00, 1.58354342e-03,
  5.43392173e-04, 4.14462181e-05]


--- Step 1772 ---
qpos:
[-0.01067535, 1.33259373,-0.01838775, 0.94614932, 0.00422314, 1.33191494,
 -0.03035694, 0.94349897, 0.01692381, 1.33766382,-0.02350287, 0.955321  ,
  1.3473396 ,-0.00255953, 1.121747  , 0.06372598,-0.00167036,-0.09788609,
  0.08170374, 0.53932198,-0.01159294,-0.00552292, 0.84200173]

qacc:
[-2.06135375e-01, 4.92315061e-01,-5.74805540e-01,-1.71795359e+00,
 -7.57517617e-03,-1.68182798e+00, 5.89397453e+00,-7.11712844e+00,
  1.62331155e-01, 1.60714502e+00,-7.64681880e+00, 2.03562752e+01,
 -9.87719675e-01, 1.62456532e+00, 9.85719194e+00,-3.35696556e+01,
  4.36834336e-01,-1.24203376e+00, 7.35937666e-01,-5.94380034e+00,
 -6.44191586e+01,-1.70997512e+00]

qfrc_actuator:
[ 2.93885769e-03, 3.51061446e-02, 1.08856984e-02, 1.76233880e-03,
  2.50023571e-05, 3.52624300e-02, 1.09223449e-02, 1.75071194e-03,
 -2.95900590e-03, 3.48950513e-02, 1.09550105e-02, 1.81751445e-03,
  8.04937217e-04,-1.58552072e-03, 0.00000000e+00,-2.10254155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011836968994862682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68964236e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68964236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00638121, -0.07652689,  0.06189481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93991342e-05, 5.11044611e-05, 6.58250593e-06,-6.87752516e-06,
 -2.20282125e-06, 1.81710545e-05, 3.37934087e-05,-7.17208792e-06,
  4.68156681e-05, 9.06467784e-06, 1.31574819e-05, 6.16260404e-05,
 -2.74297552e-05, 3.44786412e-05,-4.36131768e-06,-1.63536928e-04,
  1.84951004e-07, 2.12539080e-05,-1.21644786e+00, 1.58229154e-03,
  5.43808847e-04, 5.66994413e-05]


--- Step 1773 ---
qpos:
[-0.01067704, 1.33260145,-0.018388  , 0.94614916, 0.00422413, 1.33192294,
 -0.03035688, 0.94349844, 0.01692502, 1.33766707,-0.023502  , 0.95532365,
  1.34743069,-0.00255791, 1.12193317, 0.06372023,-0.00166615,-0.09790082,
  0.08170867, 0.53933852,-0.01129905,-0.00577666, 0.84199342]

qacc:
[-2.22882720e-01,-3.50271478e-01, 2.61122384e+00,-7.48841016e+00,
  1.96681914e-01,-9.19576127e-01, 2.69377570e+00,-2.64323592e+00,
  1.15161086e-01, 3.41623428e+00,-1.33048346e+01, 2.36679440e+01,
 -9.90802800e-02, 6.14142389e-02, 5.78997508e+00,-2.03487868e+01,
  8.69776938e-01, 1.58702566e+00, 9.89436568e-01, 6.95797404e+01,
  6.16533079e+01, 5.55563930e-01]

qfrc_actuator:
[ 2.90969167e-03, 3.51223915e-02, 1.08864948e-02, 1.74047267e-03,
  8.29384732e-05, 3.52208523e-02, 1.09206085e-02, 1.74668475e-03,
 -2.95341042e-03, 3.48696744e-02, 1.09137669e-02, 1.86766312e-03,
  8.00653688e-04,-1.59727290e-03, 0.00000000e+00,-2.19774374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012134191794606897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43107840e-14,  4.57477121e-14,  1.00000000e+00, -1.56963987e-27,
        1.00000000e+00, -4.57477121e-14, -1.00000000e+00,  0.00000000e+00,
        3.43107840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02808162, -0.13096371,  0.06189232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.42353971e-05, 4.55415765e-05, 1.13247402e-05,-2.03010740e-05,
  5.66366338e-05,-2.51887433e-05, 5.44346352e-06,-2.64555001e-06,
  3.32414973e-05,-1.59890464e-05,-3.61778249e-05, 5.22451970e-05,
 -1.16119584e-05,-9.04607141e-06,-2.50103397e-05,-1.05962174e-04,
 -2.38367845e-06, 3.23363924e-05,-1.21645321e+00, 1.58149269e-03,
  5.44153200e-04, 6.46472756e-05]


--- Step 1774 ---
qpos:
[-0.01067889, 1.33260938,-0.01838842, 0.94614807, 0.00422553, 1.33193061,
 -0.03035673, 0.94349754, 0.01692641, 1.33767046,-0.02350225, 0.95532621,
  1.34752208,-0.00255747, 1.12211846, 0.06371904,-0.00165872,-0.09790961,
  0.08171474, 0.53935645,-0.01103186,-0.00585893, 0.84198491]

qacc:
[ -0.06568536, -0.89951462,  5.12260571,-15.27998191,  0.17280806,
  -1.27403766,  4.39995294, -7.94848887,  0.07729802,  3.02761196,
  -9.44408831,  6.9614801 ,  1.42280896, -2.61347252,-15.16364516,
  50.89042529,  0.80541997,  1.48703827,  0.28350057, 64.99830681,
  57.48974676,  0.41188046]

qfrc_actuator:
[ 2.92868973e-03, 3.51110701e-02, 1.08693000e-02, 1.69217036e-03,
  9.92728848e-05, 3.51928513e-02, 1.09194214e-02, 1.72675146e-03,
 -2.95069969e-03, 3.48709221e-02, 1.08535341e-02, 1.86055513e-03,
  8.00133058e-04,-1.67593299e-03, 0.00000000e+00,-1.94960879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.30511649,   5.90188809,   6.30511649,
        42.833874  , -36.53395036,   5.90188809, -36.53395036,
        47.66638409,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001228370404033896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69465836e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.69465836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02806492, -0.13094087,  0.06189109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89268946e-05, 1.54209401e-05,-7.60934439e-06,-4.70752748e-05,
  4.97603319e-05,-4.10048705e-05,-5.58331029e-06,-2.05823180e-05,
  2.23404016e-05,-1.31287929e-05,-6.59383571e-05,-7.41463235e-06,
 -9.75111547e-06,-8.33293397e-05,-2.62444656e-05, 2.38342277e-04,
 -3.56934236e-06, 1.12306638e-05,-1.21644629e+00, 1.58190015e-03,
  5.44723725e-04, 3.88673915e-05]


--- Step 1775 ---
qpos:
[-0.01068029, 1.33261675,-0.01838847, 0.94614715, 0.00422681, 1.33193814,
 -0.03035699, 0.9434971 , 0.01692748, 1.33767399,-0.02350346, 0.95532623,
  1.3476134 ,-0.00255765, 1.12230356, 0.06372077,-0.00164827,-0.09791278,
  0.08171957, 0.53937581,-0.01078967,-0.00577985, 0.8419762 ]

qacc:
[ 1.88536795e-01,-1.45521273e+00, 3.54902321e+00,-9.11575712e-01,
 -5.17556018e-02, 1.70232291e+00,-6.73816632e+00, 1.13541135e+01,
 -1.35686830e-01,-1.57414795e+00, 1.04377336e+01,-3.82744272e+01,
  5.77841049e-01,-1.21417949e+00,-9.15262152e+00, 3.14722638e+01,
  7.52317854e-01, 1.40409338e+00,-3.09593446e-01, 6.11989465e+01,
  5.40394758e+01, 3.03269044e-01]

qfrc_actuator:
[ 2.99417819e-03, 3.50477319e-02, 1.08770040e-02, 1.69968298e-03,
  5.50116745e-05, 3.51909344e-02, 1.09008555e-02, 1.75088273e-03,
 -3.00299733e-03, 3.48702278e-02, 1.08004079e-02, 1.73105920e-03,
  7.91188516e-04,-1.70483650e-03, 0.00000000e+00,-1.80298546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.46276324,   5.72882782,   6.46276324,
        45.11018771, -41.14658299,   5.72882782, -41.14658299,
        55.05434515,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012271469507891541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82724652e-14,  4.52359444e-14,  1.00000000e+00,  1.27893167e-27,
        1.00000000e+00, -4.52359444e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82724652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02806769, -0.13094265,  0.06189122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43107243e-05,-5.77527842e-05, 8.45761669e-06, 6.66291639e-06,
 -1.48941146e-05,-2.63653639e-05,-2.78371655e-05, 2.22666070e-05,
 -3.91045984e-05,-2.10677936e-05,-6.33998044e-05,-1.31978810e-04,
 -3.40641619e-05,-5.26025158e-05, 1.37992499e-05, 1.56359223e-04,
 -6.61300498e-07, 5.09183631e-07,-1.21644287e+00, 1.58242751e-03,
  5.44736788e-04, 2.47989322e-05]


--- Step 1776 ---
qpos:
[-0.01068096, 1.33262354,-0.0183887 , 0.94614773, 0.00422794, 1.33194538,
 -0.03035742, 0.94349661, 0.01692796, 1.33767807,-0.02350563, 0.95532605,
  1.34770441,-0.00255772, 1.12248905, 0.06372124,-0.001635  ,-0.0979106 ,
  0.08172117, 0.53939659,-0.01057104,-0.00554779, 0.84196722]

qacc:
[ 3.10143437e-01, 2.35793672e+00,-1.16913548e+01, 2.80414242e+01,
 -6.25916910e-02,-3.26683847e-02,-2.53071732e-01,-1.93441987e-01,
 -2.51438153e-01, 2.99052359e+00,-8.45727728e+00, 4.60247342e+00,
 -4.17287376e-01, 5.41856574e-01, 4.43132107e+00,-1.45812006e+01,
  7.08372323e-01, 1.33525419e+00,-8.07497286e-01, 5.80509673e+01,
  5.11818388e+01, 2.22644287e-01]

qfrc_actuator:
[ 3.05151757e-03, 3.50071121e-02, 1.08636699e-02, 1.77547566e-03,
  4.57703884e-05, 3.51691032e-02, 1.08900625e-02, 1.74750314e-03,
 -3.05236467e-03, 3.49393281e-02, 1.07695949e-02, 1.72587892e-03,
  7.87864125e-04,-1.68623285e-03, 0.00000000e+00,-1.87722708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001213012377962605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57630542e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.57630542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02808587, -0.13096387,  0.06189243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.93958179e-05,-7.07586353e-05,-2.34713507e-05, 7.44858941e-05,
 -1.80327491e-05,-4.12461129e-05,-1.84749703e-05,-4.46318006e-06,
 -7.24564702e-05, 4.11377490e-05,-4.59957600e-05,-1.07279291e-05,
 -3.39869471e-05,-3.11282043e-06, 2.00664703e-05,-6.46133307e-05,
  5.62989094e-06,-1.65924754e-06,-1.21644230e+00, 1.58307879e-03,
  5.44259033e-04, 2.03956378e-05]


--- Step 1777 ---
qpos:
[-0.01068121, 1.33263044,-0.01838932, 0.94614813, 0.00422908, 1.33195232,
 -0.03035796, 0.94349574, 0.01692799, 1.33768249,-0.02350824, 0.95532684,
  1.3477955 ,-0.00255845, 1.12267497, 0.06371782,-0.00162946,-0.09790456,
  0.08171848, 0.5394087 ,-0.01056535,-0.00533277, 0.84196092]

qacc:
[ 1.78590209e-01, 9.07214727e-01,-2.40353888e+00,-9.46968786e-02,
  4.19490643e-03,-7.43465146e-01, 2.73642288e+00,-6.63275023e+00,
 -1.89044164e-01, 3.25733734e+00,-1.20189466e+01, 2.13152713e+01,
  2.75434572e-01,-7.87538609e-01, 1.23197888e+01,-4.22369631e+01,
 -1.93439806e+00, 9.66395207e-01,-1.07102775e+00,-6.46425052e+01,
  8.50126079e+01, 4.87424186e+00]

qfrc_actuator:
[ 3.05024417e-03, 3.50513871e-02, 1.08558717e-02, 1.76655265e-03,
  5.76155925e-05, 3.51532858e-02, 1.08838546e-02, 1.72794892e-03,
 -3.06406726e-03, 3.49610706e-02, 1.07525608e-02, 1.77622529e-03,
  7.87934838e-04,-1.72837278e-03, 0.00000000e+00,-2.08097327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011984813503462394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.63179099e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.63179099e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346851, -0.10863002,  0.06189365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14959226e-05, 2.72855464e-06,-2.21156865e-05,-9.97932579e-06,
  1.20084780e-06,-4.24346434e-05,-1.65188513e-05,-2.14310851e-05,
 -5.44836183e-05, 3.51634586e-05,-1.45436687e-05, 4.99717148e-05,
 -1.92082330e-05,-5.08932543e-05,-3.40582697e-06,-2.06020328e-04,
  1.47863696e-05, 3.37286244e-06,-1.21644417e+00, 1.58385193e-03,
  5.43342811e-04, 2.41478991e-05]


--- Step 1778 ---
qpos:
[-0.01068136, 1.33263741,-0.01839006, 0.94614807, 0.00423013, 1.33195879,
 -0.03035783, 0.94349841, 0.01692785, 1.33768639,-0.02350973, 0.95532614,
  1.34788648,-0.00255942, 1.12286103, 0.06371066,-0.00163114,-0.09789499,
  0.08170925, 0.5394129 ,-0.0107589 ,-0.00513347, 0.84195701]

qacc:
[ 4.06727959e-02,-4.23610990e-01, 2.43088542e+00,-7.54664154e+00,
 -3.60225433e-02, 3.65108826e+00,-1.99288108e+01, 5.86871765e+01,
 -7.32012954e-02,-6.24789892e+00, 2.25078320e+01,-3.62197153e+01,
 -1.57122701e-01, 1.82608396e-02, 1.15255208e+01,-4.00265021e+01,
 -1.80410839e+00, 8.84711721e-01,-1.63751237e+00,-6.03888102e+01,
  7.95958192e+01, 4.42275858e+00]

qfrc_actuator:
[ 3.03157330e-03, 3.50573680e-02, 1.08516819e-02, 1.74339567e-03,
  4.65088964e-05, 3.51589548e-02, 1.09336719e-02, 1.91207403e-03,
 -3.05308083e-03, 3.49011312e-02, 1.07968945e-02, 1.69902590e-03,
  7.84693892e-04,-1.73520922e-03, 0.00000000e+00,-2.27053921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63312328, -0.23655701, -8.63312328,  8.65775964,
       -0.78084495, -0.23655701, -0.78084495, 37.13321804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012111625948470484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58329472e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.58329472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343805, -0.10862612,  0.06189257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17266504e-05, 2.82638528e-06,-6.47462557e-06,-2.39489799e-05,
 -1.03993695e-05,-2.17309291e-05, 3.89986866e-05, 1.81875363e-04,
 -2.11822347e-05,-4.18827093e-05, 5.10090917e-05,-7.54165845e-05,
 -2.64673694e-05,-2.40714776e-05,-2.89286078e-05,-2.02520074e-04,
  4.49991885e-06, 6.32266526e-06,-1.21644231e+00, 1.58538611e-03,
  5.44117121e-04, 3.67040933e-05]


--- Step 1779 ---
qpos:
[-0.01068169, 1.33264409,-0.01839016, 0.94614806, 0.00423093, 1.33196515,
 -0.03035694, 0.94350427, 0.01692751, 1.33768949,-0.02350971, 0.95532625,
  1.34797695,-0.00255966, 1.12304631, 0.06370626,-0.0016396 ,-0.09788214,
  0.08169155, 0.53940978,-0.01114024,-0.00494882, 0.84195516]

qacc:
[ -0.07631524, -2.00574642,  5.97373036, -4.34911473, -0.10730236,
   3.22800235,-17.29155191, 52.04200557, -0.08122983, -3.73108577,
   9.28628462,  1.77099228, -0.71797341,  1.28168896, -9.45157535,
  31.53571166, -1.6950236 ,  0.81785324, -2.11596972,-56.8485425 ,
  75.08032474,  4.03905374]

qfrc_actuator:
[ 3.00262102e-03, 3.50403776e-02, 1.08850361e-02, 1.74755917e-03,
  2.17221853e-05, 3.51777907e-02, 1.09808609e-02, 2.07261224e-03,
 -3.06408054e-03, 3.48639272e-02, 1.08766823e-02, 1.74263458e-03,
  7.68828609e-04,-1.68552016e-03, 0.00000000e+00,-2.11287205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62786917, -0.38294957, -8.62786917,  8.69969336,
       -1.42682121, -0.38294957, -1.42682121, 40.78270296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012077482200852363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.19250392e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.19250392e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344526, -0.10862978,  0.06189281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20331799e-05,-1.74520644e-05, 3.24582277e-05, 3.50932627e-06,
 -3.09258877e-05, 1.98708555e-05, 5.27055945e-05, 1.65257398e-04,
 -2.35066808e-05,-5.26632312e-05, 7.51956541e-05, 4.21078460e-05,
 -3.69484496e-05, 3.77944798e-05,-3.91542686e-05, 1.41912621e-04,
 -1.27840480e-06, 6.90571489e-06,-1.21644401e+00, 1.58578356e-03,
  5.44502990e-04, 3.63913494e-05]


--- Step 1780 ---
qpos:
[-0.01068242, 1.33265063,-0.01838961, 0.94614844, 0.00423131, 1.33197145,
 -0.0303561 , 0.9435079 , 0.01692701, 1.33769234,-0.02350947, 0.95532795,
  1.34806695,-0.00255906, 1.12323113, 0.06370539,-0.00165168,-0.0978756 ,
  0.08167402, 0.53941138,-0.01149601,-0.00495481, 0.84194932]

qacc:
[-1.66062751e-01,-1.28463660e+00, 3.18969200e+00, 1.71730612e+00,
 -1.77171424e-01,-3.72159696e+00, 1.66501023e+01,-4.02702701e+01,
 -7.01296581e-02, 1.79097005e+00,-9.41858915e+00, 2.65022941e+01,
 -7.17467181e-01, 1.36727765e+00,-1.12452246e+01, 3.84937257e+01,
 -9.04143024e-01,-1.57737606e+00, 4.13576685e-02,-7.33442825e+01,
 -6.21479370e+01,-4.18609083e+00]

qfrc_actuator:
[ 2.96773803e-03, 3.50454335e-02, 1.09224557e-02, 1.76777567e-03,
 -1.10701893e-05, 3.51333706e-02, 1.09551046e-02, 1.95164918e-03,
 -3.07043090e-03, 3.48585891e-02, 1.08881326e-02, 1.82152614e-03,
  7.56080635e-04,-1.63829975e-03, 0.00000000e+00,-1.92941272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012140771567443753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57229188e-14,  2.28614594e-14,  1.00000000e+00, -1.04529265e-27,
        1.00000000e+00, -2.28614594e-14, -1.00000000e+00,  0.00000000e+00,
        4.57229188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03064834, -0.05946099,  0.06189219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78952959e-05, 1.80563553e-06, 3.78012423e-05, 2.07424127e-05,
 -5.10448456e-05,-1.81857850e-05,-1.10249814e-05,-1.14970820e-04,
 -2.02311440e-05,-1.85505918e-05, 1.09404062e-05, 8.05169415e-05,
 -2.41768846e-05, 4.84456370e-05,-3.75265774e-06, 1.86021736e-04,
 -3.33601938e-06, 5.53059743e-06,-1.21644867e+00, 1.58532397e-03,
  5.44573711e-04, 2.55075696e-05]


--- Step 1781 ---
qpos:
[-0.0106831 , 1.33265744,-0.01838986, 0.94614841, 0.00423157, 1.33197734,
 -0.03035593, 0.94350908, 0.01692667, 1.3376949 ,-0.02350956, 0.95532957,
  1.34815689,-0.00255844, 1.12341586, 0.06370669,-0.00166712,-0.09787499,
  0.08165408, 0.53941751,-0.01182806,-0.00513886, 0.84193969]

qacc:
[ 1.57302929e-02, 1.80791760e+00,-4.63879871e+00,-8.71608340e-01,
 -4.92927166e-02,-2.92698731e+00, 1.39377002e+01,-4.02149406e+01,
  6.95087849e-02, 3.90549048e-01,-1.58854541e+00, 7.33915095e-01,
  7.32675763e-02,-1.09596738e-01,-6.70813390e+00, 2.32777544e+01,
 -8.42448582e-01,-1.48285416e+00,-5.99325209e-01,-6.85411513e+01,
 -5.79788970e+01,-4.00921787e+00]

qfrc_actuator:
[ 3.00059123e-03, 3.50459376e-02, 1.08732854e-02, 1.74402008e-03,
  4.85820800e-06, 3.50687229e-02, 1.09038464e-02, 1.82569916e-03,
 -3.03843619e-03, 3.48188952e-02, 1.08592694e-02, 1.81398003e-03,
  7.50542345e-04,-1.64621514e-03, 0.00000000e+00,-1.82109860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.05948827,  -3.10345383,  -8.05948827,
        16.50393531, -20.43162399,  -3.10345383, -20.43162399,
        61.69609746,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001226122761466067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52737303e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.52737303e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03063061, -0.05948393,  0.0618911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57347385e-06, 9.46187769e-06,-4.39094037e-05,-2.20977507e-05,
 -1.41986542e-05,-8.03644178e-05,-5.94457287e-05,-1.29470560e-04,
  2.00489558e-05,-4.54492394e-05,-2.88874661e-05,-5.89430904e-06,
 -7.00923606e-06,-1.19100548e-06, 1.58728836e-05, 1.17508860e-04,
  4.71891210e-06,-2.78101982e-06,-1.21644636e+00, 1.58607870e-03,
  5.44914493e-04, 1.49002308e-05]


--- Step 1782 ---
qpos:
[-0.01068317, 1.33266452,-0.01839069, 0.94614704, 0.00423214, 1.3319833 ,
 -0.03035693, 0.94350908, 0.0169263 , 1.33769674,-0.02350983, 0.95533181,
  1.34824695,-0.00255864, 1.12360045, 0.06371063,-0.00167905,-0.09786777,
  0.08163909, 0.53942521,-0.01218925,-0.00513533, 0.84192962]

qacc:
[ 2.63304688e-01,-3.87387275e-01, 4.39094855e+00,-1.93828759e+01,
  1.27067583e-01, 1.19441009e+00,-1.35303942e+00,-1.26509260e+01,
 -1.53333311e-02, 6.17690908e-01,-4.39296456e+00, 1.13854325e+01,
  8.61103826e-01,-1.65944332e+00,-8.24018465e+00, 2.83535992e+01,
  8.80320622e-01, 1.65225373e+00, 1.23400966e+00, 7.11121755e+01,
  6.28663481e+01, 4.01145535e-01]

qfrc_actuator:
[ 3.07381325e-03, 3.50611075e-02, 1.08443643e-02, 1.67676924e-03,
  4.98843799e-05, 3.50988320e-02, 1.08556688e-02, 1.76887645e-03,
 -3.05470862e-03, 3.47587242e-02, 1.08421862e-02, 1.84435228e-03,
  7.38659559e-04,-1.70448230e-03, 0.00000000e+00,-1.68692911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012311445948335886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81806619e-14,  9.01781179e-14,  1.00000000e+00,  2.54127905e-27,
        1.00000000e+00, -9.01781179e-14, -1.00000000e+00,  0.00000000e+00,
       -2.81806619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02806156, -0.13093289,  0.06189058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.59185429e-05, 1.11175277e-05,-3.27289001e-05,-6.87650498e-05,
  3.66437502e-05,-2.99114014e-05,-7.44666791e-05,-6.39740832e-05,
 -4.43390622e-06,-9.11338073e-05,-2.94141764e-05, 2.80496535e-05,
 -1.57725568e-05,-6.03020201e-05, 1.64016256e-05, 1.41831366e-04,
  1.66963068e-05,-8.68852781e-07,-1.21644729e+00, 1.58628685e-03,
  5.45415031e-04, 1.53519769e-05]


--- Step 1783 ---
qpos:
[-0.01068251, 1.33267124,-0.01839115, 0.94614627, 0.0042331 , 1.33198934,
 -0.03035841, 0.94350973, 0.01692554, 1.33769804,-0.02350942, 0.95533226,
  1.3483368 ,-0.00255894, 1.12378512, 0.06371583,-0.00168907,-0.09786625,
  0.08163544, 0.53943532,-0.01242759,-0.0052273 , 0.84191909]

qacc:
[ 3.06771969e-01,-4.63761879e-01,-2.59862597e-01, 7.29088059e+00,
  1.67368596e-01, 2.55399516e+00,-9.55846961e+00, 1.59107115e+01,
 -1.65267836e-01,-5.62245300e+00, 2.10753192e+01,-3.85228601e+01,
 -2.15460483e-02,-1.19552088e-01,-3.66218148e+00, 1.29799658e+01,
  4.75149345e-01,-1.42370376e+00, 2.83514394e+00,-7.05649672e+00,
 -7.74594979e+01,-2.03728539e+00]

qfrc_actuator:
[ 3.11739919e-03, 3.50317124e-02, 1.08631998e-02, 1.70877349e-03,
  7.64938154e-05, 3.51322301e-02, 1.08456121e-02, 1.80650845e-03,
 -3.09980653e-03, 3.47578198e-02, 1.08854121e-02, 1.75479256e-03,
  7.28280388e-04,-1.70337048e-03, 0.00000000e+00,-1.62733803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012546221189053824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63679729e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.63679729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006354  , -0.07659982,  0.06188854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.84021292e-05,-3.17365186e-05, 1.52501239e-05, 2.97815437e-05,
  4.82359911e-05, 3.20433228e-07,-2.62647404e-05, 3.30723318e-05,
 -4.77185349e-05,-5.62225185e-05, 2.29087841e-05,-9.24607764e-05,
 -3.29765384e-05,-1.82620092e-05, 1.97032914e-05, 6.87357453e-05,
  4.40398148e-06,-2.56014892e-06,-1.21644699e+00, 1.58794202e-03,
  5.44804700e-04, 1.69184877e-05]


--- Step 1784 ---
qpos:
[-0.0106815 , 1.33267738,-0.01839096, 0.94614589, 0.00423413, 1.33199521,
 -0.0303594 , 0.94351115, 0.01692462, 1.33769906,-0.02350861, 0.95533163,
  1.34842646,-0.0025593 , 1.12397022, 0.0637187 ,-0.00169327,-0.09786792,
  0.08163822, 0.53944446,-0.01249713,-0.00531078, 0.84191169]

qacc:
[ 1.46317152e-01,-1.79922661e+00, 4.16635213e+00, 1.27002870e+00,
  2.89167066e-02,-2.64187312e-01,-9.77868195e-01, 9.78842617e+00,
 -6.64339469e-02,-3.34303300e+00, 1.26194672e+01,-2.32540515e+01,
 -2.73803658e-01, 2.76689565e-01, 7.65760340e+00,-2.58241705e+01,
  1.45546487e+00,-7.97195134e-01, 1.60976611e+00, 4.91088834e+01,
 -6.87964054e+01, 8.66383569e-01]

qfrc_actuator:
[ 3.10734712e-03, 3.49938529e-02, 1.08922100e-02, 1.72793012e-03,
  5.63328130e-05, 3.51320482e-02, 1.08759676e-02, 1.84618118e-03,
 -3.09082017e-03, 3.47570777e-02, 1.09107766e-02, 1.70194721e-03,
  7.24156460e-04,-1.70251508e-03, 0.00000000e+00,-1.75418489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.53677975, -4.21707575, -7.53677975, 12.82704697,
       -7.48961108, -4.21707575, -7.48961108, 22.02183557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012753017704847797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35278555e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.35278555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285508, -0.08899121,  0.06188679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21323191e-05,-5.15888146e-05, 2.54121267e-05, 1.93598561e-05,
  8.30802703e-06,-4.18612101e-06, 2.83944976e-05, 3.96857780e-05,
 -1.91919485e-05,-3.01074607e-05, 1.42823316e-05,-5.59889343e-05,
 -2.61545242e-05,-1.17068381e-05, 1.20631083e-05,-1.21570079e-04,
  6.30637199e-06,-1.07841760e-06,-1.21644359e+00, 1.58667582e-03,
  5.44533661e-04, 2.64561565e-05]


--- Step 1785 ---
qpos:
[-0.01068035, 1.33268327,-0.01839081, 0.9461461 , 0.0042348 , 1.33200106,
 -0.03035941, 0.94351161, 0.01692409, 1.3376999 ,-0.02350796, 0.95533315,
  1.34851603,-0.00255993, 1.12415527, 0.06372072,-0.00169201,-0.09787256,
  0.08164459, 0.5394527 ,-0.01240841,-0.00538635, 0.84190724]

qacc:
[ 6.32453841e-02, 7.65342510e-01,-4.09451344e+00, 1.05043295e+01,
 -1.49651104e-01,-4.26750423e+00, 1.58604661e+01,-2.48364917e+01,
  1.65622951e-01, 3.91558754e+00,-1.73739223e+01, 3.99777868e+01,
  8.61274303e-02,-3.28471027e-01, 2.49233118e+00,-8.84309956e+00,
  1.36564749e+00,-7.44752054e-01, 8.96609305e-01, 4.60174066e+01,
 -6.45009542e+01, 8.03515302e-01]

qfrc_actuator:
[ 3.10070685e-03, 3.49867755e-02, 1.08914051e-02, 1.75709187e-03,
  8.27865225e-06, 3.51474474e-02, 1.09297824e-02, 1.79795080e-03,
 -3.03170792e-03, 3.47564022e-02, 1.09076759e-02, 1.81316401e-03,
  7.18464210e-04,-1.71958170e-03, 0.00000000e+00,-1.79454441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001278759381093758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34101615e-14,  2.17050807e-14,  1.00000000e+00,  9.42221060e-28,
        1.00000000e+00, -2.17050807e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34101615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03285032, -0.08899204,  0.06188652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82275968e-05,-3.01085777e-05,-7.43161324e-06, 2.88317349e-05,
 -4.31510562e-05, 1.97938753e-05, 5.73871540e-05,-4.65949691e-05,
  4.77794632e-05,-1.62031517e-05,-8.99795481e-06, 1.09441688e-04,
 -2.29904111e-05,-2.60596154e-05,-1.31475298e-05,-4.67897949e-05,
  1.72795589e-06, 6.17901243e-07,-1.21644065e+00, 1.58537640e-03,
  5.43761512e-04, 3.60323374e-05]


--- Step 1786 ---
qpos:
[-0.01067914, 1.33268914,-0.01839165, 0.94614737, 0.00423518, 1.33200661,
 -0.03035891, 0.94351154, 0.01692408, 1.33770054,-0.0235067 , 0.95533457,
  1.3486053 ,-0.00256046, 1.1243404 , 0.06372088,-0.00168632,-0.09787592,
  0.08165534, 0.53946077,-0.01224394,-0.00537387, 0.84190456]

qacc:
[ 2.14084629e-02, 4.53964905e+00,-1.70007137e+01, 2.71965340e+01,
 -1.26961033e-01,-2.71932476e+00, 9.48855332e+00,-1.42158269e+01,
  2.20841106e-01,-2.07931865e+00, 6.66805532e+00,-6.80599652e+00,
 -4.40753320e-01, 5.65982565e-01, 5.75596389e+00,-1.99137464e+01,
  1.10843116e+00, 3.22430752e-01, 1.09480325e+00, 5.74981557e+01,
 -8.15159945e+00, 8.89344408e-01]

qfrc_actuator:
[ 3.09617145e-03, 3.49803287e-02, 1.08376213e-02, 1.80966018e-03,
 -2.85897284e-06, 3.51011009e-02, 1.09437456e-02, 1.76940165e-03,
 -2.99626367e-03, 3.47557662e-02, 1.09411565e-02, 1.80698322e-03,
  7.01176952e-04,-1.71164654e-03, 0.00000000e+00,-1.89006792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012681010040293175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19305456e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19305456e-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([-0.03068562, -0.1078327 ,  0.06188744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22090839e-06,-2.37334477e-05,-5.96727895e-05, 5.21321817e-05,
 -3.66048375e-05,-2.56132754e-05, 2.29935079e-05,-2.73424059e-05,
  6.36570844e-05,-8.11502705e-06, 3.24964204e-05,-4.37226167e-06,
 -3.64252405e-05,-3.93034829e-06,-1.45771325e-05,-1.00602926e-04,
 -3.37982997e-07, 9.95222417e-07,-1.21644050e+00, 1.58474597e-03,
  5.43540444e-04, 3.66960795e-05]


--- Step 1787 ---
qpos:
[-0.01067837, 1.332695  ,-0.01839341, 0.94614823, 0.00423547, 1.33201171,
 -0.03035876, 0.94351291, 0.01692426, 1.33770096,-0.02350498, 0.95533557,
  1.3486943 ,-0.00256068, 1.12452563, 0.06371819,-0.00167779,-0.09787384,
  0.08166327, 0.53947028,-0.01210343,-0.00520688, 0.84190154]

qacc:
[-1.83376549e-01, 1.72501303e+00,-4.80979220e+00,-6.26757580e-01,
 -3.64947380e-02, 2.86406402e+00,-1.30198598e+01, 2.83407735e+01,
  7.99909355e-02,-2.23388001e+00, 7.78283888e+00,-1.14494718e+01,
 -6.18512285e-01, 9.47641680e-01, 8.78278102e+00,-3.03849229e+01,
  7.08480330e-01, 1.35931675e+00,-7.05138633e-01, 5.85905323e+01,
  5.17633309e+01, 3.16205531e-01]

qfrc_actuator:
[ 3.03967969e-03, 3.49741158e-02, 1.07885323e-02, 1.78679293e-03,
  8.24110873e-06, 3.50535028e-02, 1.09161017e-02, 1.84138313e-03,
 -3.01081205e-03, 3.47374935e-02, 1.09603740e-02, 1.78501304e-03,
  6.98259168e-04,-1.68898909e-03, 0.00000000e+00,-2.03509125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.62492638, -8.22779061,  2.62492638, 80.40615318,
       22.89684101, -8.22779061, 22.89684101, 15.94118272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001254772962542984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.52999954e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.52999954e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803694, -0.13089648,  0.06188861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.28233206e-05,-2.94881286e-05,-5.89932329e-05,-2.41086696e-05,
 -1.05051645e-05,-5.81322692e-05,-3.08469397e-05, 7.12600371e-05,
  2.30405981e-05,-1.65451813e-05, 2.11977183e-05,-2.13570209e-05,
 -2.41913455e-05, 1.33730901e-05,-2.17148508e-05,-1.53378765e-04,
  1.24539014e-06,-7.27815409e-07,-1.21644108e+00, 1.58471528e-03,
  5.43558911e-04, 3.14228673e-05]


--- Step 1788 ---
qpos:
[-0.01068109, 1.33269685,-0.01839484, 0.94614875, 0.00423576, 1.33201685,
 -0.0303589 , 0.94351613, 0.01692448, 1.33770113,-0.02350366, 0.95533843,
  1.34878166,-0.00256469, 1.12470487, 0.063712  ,-0.00166657,-0.09786657,
  0.08166663, 0.53948116,-0.01198566,-0.00489262, 0.84189814]

qacc:
[-1.47763693e+00,-6.74640168e+00, 1.63376192e+01,-1.56221528e+01,
  1.29181302e-03, 3.93073451e+00,-1.65678884e+01, 3.57151459e+01,
  1.61962672e-02, 3.89455023e+00,-1.68284361e+01, 3.60569474e+01,
  1.55193843e+00,-5.14708536e+00, 1.57722845e+00,-1.88224843e+01,
  6.71950782e-01, 1.29691899e+00,-1.14210573e+00, 5.58599208e+01,
  4.93084981e+01, 2.70472814e-01]

qfrc_actuator:
[ 2.98798272e-03, 3.49325507e-02, 1.08135895e-02, 1.75522892e-03,
  1.48372410e-05, 3.50941771e-02, 1.09174268e-02, 1.93641316e-03,
 -3.01972664e-03, 3.47087387e-02, 1.09354418e-02, 1.87819769e-03,
  6.98645298e-04,-1.67549166e-03, 0.00000000e+00,-2.03056437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14541196, -0.14299187,  0.02641902, -0.14299187,  0.14881701,
        0.01842969,  0.02641902,  0.01842969,  0.24516191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.296686643459756e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25367706,  0.08700315, -0.96336826, -0.02215471,  0.99620804,
        0.08413511,  0.96703522,  0.        ,  0.25464266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06670833, -0.0380722 ,  0.22683272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012306568052831493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38301980e-14,  9.02138614e-14,  1.00000000e+00, -3.05195280e-27,
        1.00000000e+00, -9.02138614e-14, -1.00000000e+00,  0.00000000e+00,
        3.38301980e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02806721, -0.13093343,  0.06189067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.28863678e-05,-7.01608428e-05, 1.18638417e-05,-3.47296224e-05,
  3.93640664e-07, 4.58974280e-06,-1.14721491e-05, 9.40383966e-05,
  4.69042113e-06,-3.43993278e-05,-2.63799777e-05, 9.28220715e-05,
 -1.03736946e-05, 1.16830666e-05,-3.07120171e-05,-7.64434268e-06,
  7.00680644e-06, 2.06538519e-06,-1.21644207e+00, 1.58487678e-03,
  5.43152486e-04, 3.33401157e-05]


--- Step 1789 ---
qpos:
[-0.01068738, 1.33269461,-0.01839588, 0.94614994, 0.00423608, 1.33202166,
 -0.03035854, 0.94351907, 0.01692453, 1.33770141,-0.02350358, 0.955341  ,
  1.34886671,-0.00257116, 1.1248741 , 0.06370233,-0.00165916,-0.09786562,
  0.08167009, 0.53949646,-0.01184227,-0.00476828, 0.84189108]

qacc:
[-1.51025964e+00,-5.24689076e+00, 9.30848033e+00, 2.06177104e+00,
  1.42429564e-02,-2.22253250e+00, 7.30956804e+00,-9.34865194e+00,
 -7.10701576e-02, 3.05139826e+00,-9.20710434e+00, 4.73692757e+00,
  2.56883594e-01,-2.74419184e+00,-4.40502662e+00,-6.29212844e+00,
 -9.50306689e-01,-1.57926260e+00, 2.35004758e-02,-7.30124909e+01,
 -6.19854593e+01,-4.05310754e+00]

qfrc_actuator:
[ 2.99565118e-03, 3.49092809e-02, 1.08467495e-02, 1.78953895e-03,
  1.86761427e-05, 3.50632522e-02, 1.09361930e-02, 1.92002989e-03,
 -3.04293880e-03, 3.47093285e-02, 1.08669264e-02, 1.86084798e-03,
  6.95819735e-04,-1.68126054e-03, 0.00000000e+00,-1.91674384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14545834, -0.11252084,  0.0921802 , -0.11252084,  0.12424533,
       -0.02589391,  0.0921802 , -0.02589391,  0.11385063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.932341635709628e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25367665,  0.08700385, -0.9633683 , -0.02215486,  0.99620798,
        0.08413579,  0.96703533,  0.        ,  0.25464226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06672054, -0.03808325,  0.22682984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012332386850688326
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50124959e-14,  4.50124959e-14,  1.00000000e+00, -2.02612479e-27,
        1.00000000e+00, -4.50124959e-14, -1.00000000e+00,  0.00000000e+00,
        4.50124959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03062711, -0.05950568,  0.06189047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92971972e-05, 1.07192519e-04, 2.85289800e-05, 1.62218334e-05,
  4.07108959e-06,-2.78336727e-05, 2.11148426e-05,-1.43904191e-05,
 -2.04441127e-05,-2.08333041e-05,-7.55124201e-05,-1.69735251e-05,
  6.79169948e-05, 1.96025599e-04, 2.65190123e-04, 2.81158633e-04,
  1.54478352e-05, 1.12738976e-05,-1.21644523e+00, 1.58517062e-03,
  5.42334370e-04, 4.25274923e-05]


--- Step 1790 ---
qpos:
[-0.01069724, 1.33268833,-0.0183975 , 0.94615157, 0.0042363 , 1.33202597,
 -0.03035804, 0.9435201 , 0.01692423, 1.33770221,-0.02350487, 0.95534367,
  1.3489493 ,-0.00257947, 1.12503186, 0.0636893 ,-0.00165526,-0.0978706 ,
  0.08167109, 0.53951607,-0.01167503,-0.00482139, 0.84188055]

qacc:
[-1.51501842e+00,-2.97039116e+00, 2.39197273e+00, 5.59509400e+00,
 -4.57054903e-02,-4.29730572e+00, 1.71545158e+01,-3.67212572e+01,
 -1.51686948e-01, 4.53139895e+00,-1.41394752e+01, 1.29702343e+01,
 -2.00501049e-01,-1.76450140e+00,-6.80618556e+00,-8.82007089e-01,
 -8.80160747e-01,-1.48486588e+00,-6.13343790e-01,-6.82502729e+01,
 -5.78733054e+01,-3.85668827e+00]

qfrc_actuator:
[ 2.98715414e-03, 3.49519239e-02, 1.08490832e-02, 1.80925378e-03,
  3.07662598e-06, 3.50074606e-02, 1.09292613e-02, 1.82042748e-03,
 -3.07453901e-03, 3.47627559e-02, 1.08087812e-02, 1.86732529e-03,
  6.96513949e-04,-1.66290962e-03, 0.00000000e+00,-1.78924590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14552845, -0.10053827,  0.10521686, -0.10053827,  0.12531783,
       -0.01931194,  0.10521686, -0.01931194,  0.12707524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8405009422666216e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25367981,  0.08700539, -0.96336733, -0.02215553,  0.99620784,
        0.08413722,  0.96703448,  0.        ,  0.25464547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06673202, -0.03809365,  0.22682701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.95446105,  -5.12076639,  -6.95446105,
        28.96635955, -27.60996186,  -5.12076639, -27.60996186,
        46.13317362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012447894224586753
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33784438e-13,  4.45948128e-14,  1.00000000e+00,  5.96609198e-27,
        1.00000000e+00, -4.45948128e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33784438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03061264, -0.05952581,  0.06188951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69167343e-04, 3.54117275e-04, 1.18291571e-05, 2.83009616e-06,
 -1.31977158e-05,-6.75211925e-05,-1.03980255e-05,-1.00142700e-04,
 -4.36729673e-05, 2.66591929e-05,-7.12882089e-05, 3.26010251e-06,
  1.84349438e-04, 3.37246587e-04, 7.62932817e-04, 5.81344487e-04,
  5.01945514e-06, 5.96196471e-07,-1.21644138e+00, 1.58406169e-03,
  5.42931304e-04, 3.16413889e-05]


--- Step 1791 ---
qpos:
[-0.01071051, 1.33267829,-0.01840059, 0.94615276, 0.00423638, 1.33203044,
 -0.03035853, 0.94352131, 0.0169237 , 1.33770307,-0.02350646, 0.95534568,
  1.34902897,-0.00259011, 1.12518663, 0.06367321,-0.00165466,-0.09788121,
  0.08166749, 0.53953982,-0.01148543,-0.00504161, 0.84186665]

qacc:
[-1.44423079e+00,-1.75742218e+00, 6.63415303e-01,-3.35586665e+00,
 -5.97771779e-02, 3.20638696e+00,-1.05749030e+01, 1.11668275e+01,
 -9.24701209e-02,-2.33705712e-01, 2.17303521e+00,-9.42125576e+00,
 -6.50060355e-01,-1.64239076e+00, 4.80076485e+00,-2.32612681e+01,
 -8.22049234e-01,-1.40595986e+00,-1.14955911e+00,-6.42943450e+01,
 -5.44641860e+01,-3.67670649e+00]

qfrc_actuator:
[ 2.91713773e-03, 3.49646884e-02, 1.08514766e-02, 1.78465573e-03,
 -6.30515339e-06, 3.50435736e-02, 1.08893144e-02, 1.83241090e-03,
 -3.07540953e-03, 3.47586791e-02, 1.07929846e-02, 1.83458629e-03,
  6.88763319e-04,-1.61196615e-03, 0.00000000e+00,-1.95405494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14561285, -0.12446338, -0.07557758, -0.12446338,  0.41295815,
       -0.44027208, -0.07557758, -0.44027208,  0.87066584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.644391444583908e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53687420e-01,  8.70077943e-02, -9.63365111e-01, -2.21568097e-02,
        9.96207631e-01,  8.41393609e-02,  9.67032455e-01,  3.46944695e-18,
        2.54653159e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06674266, -0.03810339,  0.22682425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.00227167,  -5.05519221,  -7.00227167,
        32.32694587, -32.81534825,  -5.05519221, -32.81534825,
        54.09101182,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012404725643746228
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47500032e-14,  4.47500032e-14,  1.00000000e+00,  2.00256279e-27,
        1.00000000e+00, -4.47500032e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47500032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03061977, -0.05951952,  0.06188988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78065124e-04, 5.68706975e-04, 4.29517422e-05,-4.41642776e-05,
 -1.71732285e-05,-6.31494116e-06,-5.72802607e-05, 7.33459331e-06,
 -2.66579631e-05,-3.16131688e-06,-1.85920868e-05,-3.39561999e-05,
  2.98617373e-04, 4.80414647e-04, 1.33284916e-03, 5.83985759e-04,
 -3.13479266e-07, 2.22316165e-07,-1.21644084e+00, 1.58250709e-03,
  5.43656151e-04, 3.16809963e-05]


--- Step 1792 ---
qpos:
[-0.01072681, 1.33266541,-0.0184045 , 0.94615387, 0.00423676, 1.33203523,
 -0.03035968, 0.94352296, 0.01692319, 1.33770375,-0.02350722, 0.95534553,
  1.34910557,-0.00260276, 1.12533781, 0.06365413,-0.00165714,-0.09789718,
  0.08165749, 0.53956748,-0.01127468,-0.00542037, 0.84184942]

qacc:
[-1.28037482e+00,-1.64513439e+00, 1.03932683e+00,-3.64740892e-02,
  1.30212909e-01, 2.92069005e+00,-9.95406367e+00, 1.36221655e+01,
  6.53053692e-03,-6.20653462e+00, 2.43261315e+01,-4.60094671e+01,
 -9.47221834e-01,-1.06772854e+00, 3.73795523e+00,-2.07398722e+01,
 -7.73722826e-01,-1.33978435e+00,-1.60082304e+00,-6.10104938e+01,
 -5.16405441e+01,-3.51093730e+00]

qfrc_actuator:
[ 2.93574193e-03, 3.49786260e-02, 1.08550276e-02, 1.78743949e-03,
  4.13774757e-05, 3.50811068e-02, 1.08661417e-02, 1.85676143e-03,
 -3.05783853e-03, 3.47558495e-02, 1.08375781e-02, 1.72576393e-03,
  6.86729283e-04,-1.55799213e-03, 0.00000000e+00,-2.00916262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14571063, -0.13891923,  0.0439663 , -0.13891923,  0.23325085,
        0.27659866,  0.0439663 ,  0.27659866,  1.01967265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3948186928672445e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53700086e-01,  8.70109941e-02, -9.63361486e-01, -2.21587370e-02,
        9.96207351e-01,  8.41421623e-02,  9.67029088e-01,  3.46944695e-18,
        2.54665944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06675316, -0.03811257,  0.22682146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.93232711,  -5.15069099,  -6.93232711,
        39.13117571, -41.04303922,  -5.15069099, -41.04303922,
        63.87628654,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012234968370364724
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53708988e-14,  4.53708988e-14,  1.00000000e+00,  2.05851846e-27,
        1.00000000e+00, -4.53708988e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53708988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03064394, -0.05949238,  0.06189129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67211174e-04, 7.71175916e-04, 1.19844114e-04,-1.92492805e-05,
  3.75467010e-05, 2.30250288e-05,-3.07145793e-05, 2.26580273e-05,
  1.82986647e-06,-9.21653797e-06, 4.08733965e-05,-1.10248390e-04,
  4.43012488e-04, 6.51281006e-04, 1.47981182e-03, 6.81281312e-04,
 -1.43508480e-06, 8.35301431e-06,-1.21644304e+00, 1.58058028e-03,
  5.44512871e-04, 4.07081723e-05]


--- Step 1793 ---
qpos:
[-0.01074546, 1.33265028,-0.01840911, 0.94615426, 0.00423741, 1.3320403 ,
 -0.03036075, 0.94352244, 0.01692293, 1.33770414,-0.02350745, 0.95534582,
  1.34917935,-0.00261724, 1.12548291, 0.06363217,-0.00165577,-0.09790688,
  0.08165281, 0.53959559,-0.01109451,-0.00560955, 0.84183255]

qacc:
[ -0.99381264, -2.31537874,  5.45897906,-11.75853815,  0.11346546,
  -3.52150932, 16.4250954 ,-39.66152329,  0.10263328, -1.04059109,
   2.02156867,  3.61128587, -0.75382026, -1.13855226, -0.24084432,
 -12.19445062,  0.96561067,  1.56973728,  1.32931578, 71.54756102,
  64.01551957,  1.05957751]

qfrc_actuator:
[ 3.00849587e-03, 3.50115903e-02, 1.08414577e-02, 1.75320559e-03,
  5.18960655e-05, 3.51015251e-02, 1.08708371e-02, 1.74617274e-03,
 -3.02934861e-03, 3.47362310e-02, 1.08641442e-02, 1.75059963e-03,
  6.72264676e-04,-1.53709914e-03, 0.00000000e+00,-1.97954685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14581873, -0.13740431,  0.04881759, -0.13740431,  0.1611837 ,
        0.043247  ,  0.04881759,  0.043247  ,  0.2675438 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.0965748878511324e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25371627,  0.08701492, -0.96335687, -0.02216116,  0.99620701,
        0.08414558,  0.96702479,  0.        ,  0.25468228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06676343, -0.03812118,  0.22681868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012478230293578377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.89727949e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.89727949e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02805511, -0.13090008,  0.0618892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91162955e-04, 9.45819280e-04, 1.47143618e-04,-4.96597851e-05,
  3.26797673e-05, 2.77998745e-05, 6.36663444e-06,-1.10264659e-04,
  2.95707997e-05,-2.00024183e-05, 2.61852811e-05, 2.31921168e-05,
  5.81206410e-04, 7.72759052e-04, 1.65615657e-03, 8.59611956e-04,
  1.00364658e-06, 2.36764078e-05,-1.21644752e+00, 1.57834162e-03,
  5.45499087e-04, 5.73081937e-05]


--- Step 1794 ---
qpos:
[-0.01076561, 1.33263206,-0.01841496, 0.94615364, 0.00423798, 1.3320458 ,
 -0.03036219, 0.94352165, 0.0169228 , 1.33770427,-0.02350847, 0.95534647,
  1.34925058,-0.00263354, 1.12562487, 0.06360758,-0.00165087,-0.09791067,
  0.08165039, 0.53962444,-0.0109425 ,-0.00562245, 0.84181596]

qacc:
[-6.38027738e-01,-2.45109680e+00, 5.13438021e+00,-1.41397060e+01,
 -3.59415851e-02, 1.05189289e+00,-2.20131520e+00,-1.53513578e+00,
  5.80393827e-02, 2.40900613e+00,-8.99440824e+00, 1.21190083e+01,
 -6.82614504e-01,-1.13178988e+00, 3.26390459e+00,-1.81683218e+01,
  8.81098143e-01, 1.47391888e+00, 5.64258832e-01, 6.66090983e+01,
  5.94111668e+01, 8.20452212e-01]

qfrc_actuator:
[ 3.04326191e-03, 3.50565263e-02, 1.08355844e-02, 1.69744100e-03,
  2.22804160e-05, 3.51293248e-02, 1.08562906e-02, 1.73458957e-03,
 -3.03004581e-03, 3.46889753e-02, 1.08088496e-02, 1.76511419e-03,
  6.61082538e-04,-1.51767192e-03, 0.00000000e+00,-2.07552485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14593198, -0.12084102,  0.08181437, -0.12084102,  0.25372051,
        0.15920523,  0.08181437,  0.15920523,  0.38108043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.73970155035089e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53735315e-01,  8.70193960e-02, -9.63351449e-01, -2.21639703e-02,
        9.96206617e-01,  8.41494724e-02,  9.67019725e-01, -3.46944695e-18,
        2.54701495e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06677327, -0.03812922,  0.22681596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.89902897,   6.30779154,   5.89902897,
        25.07083368, -15.36947031,   6.30779154, -15.36947031,
        23.00984918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001267705079187803
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.47358689e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.47358689e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803318, -0.13086773,  0.06188751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43291412e-04, 1.10360615e-03, 1.76633963e-04,-6.91498576e-05,
 -1.03264066e-05, 4.10742132e-05,-1.16227562e-05,-1.31120440e-05,
  1.67634725e-05,-5.25175265e-05,-5.55462165e-05, 1.52287717e-05,
  7.11081822e-04, 8.84205102e-04, 1.95717427e-03, 9.07582684e-04,
 -1.44895084e-06, 6.24483643e-06,-1.21644211e+00, 1.58036801e-03,
  5.45151463e-04, 3.66462321e-05]


--- Step 1795 ---
qpos:
[-0.01078737, 1.33261263,-0.01842086, 0.94615317, 0.0042385 , 1.33205159,
 -0.0303638 , 0.94352142, 0.0169226 , 1.33770398,-0.02351009, 0.9553473 ,
  1.3493195 ,-0.00265122, 1.12576225, 0.06358031,-0.00164273,-0.09790889,
  0.08164764, 0.53965419,-0.01081663,-0.00547009, 0.84179952]

qacc:
[-6.80271668e-01,-1.22634858e+00, 1.80246093e+00, 8.04101636e-01,
 -2.18914901e-02, 1.82797023e+00,-6.64808497e+00, 1.20697785e+01,
 -2.88359315e-02, 1.36228170e+00,-5.45456859e+00, 6.99164934e+00,
 -7.36410026e-01,-6.97224759e-01, 1.34421073e+00,-1.45187319e+01,
  8.11801883e-01, 1.39375011e+00,-7.91237867e-02, 6.25098694e+01,
  5.55994015e+01, 6.39971042e-01]

qfrc_actuator:
[ 3.07308649e-03, 3.50748793e-02, 1.08528986e-02, 1.71808723e-03,
  2.20874682e-05, 3.51435540e-02, 1.08483519e-02, 1.76362634e-03,
 -3.04824729e-03, 3.46607273e-02, 1.07765548e-02, 1.77334470e-03,
  6.57272418e-04,-1.49840440e-03, 0.00000000e+00,-2.06844805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14604892, -0.13659716,  0.05168658, -0.13659716,  0.1971011 ,
        0.13492058,  0.05168658,  0.13492058,  0.50261669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.33478579236818e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53758545e-01,  8.70242071e-02, -9.63344896e-01, -2.21672343e-02,
        9.96206197e-01,  8.41535878e-02,  9.67013554e-01, -3.46944695e-18,
        2.54724922e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06678294, -0.03813677,  0.22681322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.9478779 ,   6.26175098,   5.9478779 ,
        27.6013216 , -18.01433092,   6.26175098, -18.01433092,
        25.74771812,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001269879101923721
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.74274585e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.74274585e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803237, -0.13086264,  0.06188732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04847016e-03, 1.27670400e-03, 2.56019430e-04, 1.54421538e-06,
 -6.28614892e-06, 3.42450105e-05,-1.61662941e-06, 2.96315950e-05,
 -8.30465533e-06,-6.76837310e-05,-4.84152631e-05, 5.40423543e-06,
  8.34460796e-04, 9.94865172e-04, 2.11175421e-03, 1.04506248e-03,
  4.64360471e-07,-4.29960193e-07,-1.21644027e+00, 1.58229016e-03,
  5.44337376e-04, 2.80723424e-05]


--- Step 1796 ---
qpos:
[-0.01081085, 1.33259042,-0.01842604, 0.9461527 , 0.00423898, 1.3320576 ,
 -0.03036545, 0.94352084, 0.01692227, 1.33770347,-0.02351215, 0.95534681,
  1.34938681,-0.00266914, 1.12588738, 0.06355091,-0.00163156,-0.09790181,
  0.08164242, 0.5396849 ,-0.01071528,-0.00516159, 0.84178308]

qacc:
[-7.29703652e-01,-5.58523522e+00, 1.38174955e+01,-1.03161697e+01,
 -1.39108560e-02,-2.08333210e-01, 1.74166601e+00,-5.62789474e+00,
 -5.44707307e-02,-1.38099403e+00, 6.79796026e+00,-2.09111175e+01,
 -5.80365526e-01, 9.25461827e-02,-1.15982257e+01, 1.43540016e+01,
  7.54841756e-01, 1.32663677e+00,-6.19756482e-01, 5.91096661e+01,
  5.24449947e+01, 5.05935568e-01]

qfrc_actuator:
[ 3.10064870e-03, 3.50766355e-02, 1.08656712e-02, 1.71282760e-03,
  2.17962538e-05, 3.51495987e-02, 1.08443424e-02, 1.74530087e-03,
 -3.05904833e-03, 3.46618988e-02, 1.07581840e-02, 1.70683693e-03,
  6.47304455e-04,-1.49668734e-03, 0.00000000e+00,-1.80314704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14616835, -0.10220716,  0.10449346, -0.10220716,  0.14967605,
        0.00343095,  0.10449346,  0.00343095,  0.14952424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.88897327306634e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53782981e-01,  8.70294106e-02, -9.63337989e-01, -2.21707046e-02,
        9.96205743e-01,  8.41580547e-02,  9.67007062e-01, -3.46944695e-18,
        2.54749567e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06679224, -0.03814388,  0.22681055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.95738197,   6.25270957,   5.95738197,
        30.84547086, -21.16012803,   6.25270957, -21.16012803,
        28.79705779,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001257884050594446
  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([-0.02804831, -0.13087915,  0.06188831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15637570e-03, 1.33902634e-03, 2.70974492e-04,-1.07933043e-05,
 -4.00023020e-06, 2.55245073e-05, 3.36951961e-06,-1.66507556e-05,
 -1.57075834e-05,-4.55465185e-05,-3.69287358e-05,-6.98043034e-05,
  9.39888375e-04, 1.06649787e-03, 2.33848118e-03, 1.44403842e-03,
  5.95492119e-06, 1.65053010e-06,-1.21644133e+00, 1.58417018e-03,
  5.43100799e-04, 2.93617982e-05]


--- Step 1797 ---
qpos:
[-0.01083535, 1.332566  ,-0.01843174, 0.94615321, 0.00423944, 1.33206358,
 -0.03036703, 0.94352042, 0.01692182, 1.33770324,-0.02351526, 0.95534552,
  1.34945298,-0.00268726, 1.12600415, 0.06351922,-0.00162814,-0.09789061,
  0.08163323, 0.53970624,-0.01082771,-0.00487056, 0.84176969]

qacc:
[-4.32187045e-01, 2.37497704e-01,-6.27851118e+00, 1.83073380e+01,
 -9.39186476e-03, 4.07499421e-02,-5.02208720e-01, 2.19605293e+00,
 -5.40787002e-02, 1.83510641e+00,-3.91837711e+00,-6.05912279e+00,
 -4.57442698e-01, 1.02259365e-01,-5.46014232e+00, 1.16674793e+00,
 -1.93641934e+00, 1.02684608e+00,-9.92708235e-01,-6.50861708e+01,
  8.52309940e+01, 5.22809920e+00]

qfrc_actuator:
[ 3.14536607e-03, 3.50882436e-02, 1.08572264e-02, 1.76311749e-03,
  2.14479583e-05, 3.51329318e-02, 1.08426129e-02, 1.75249414e-03,
 -3.06532128e-03, 3.46984447e-02, 1.07127399e-02, 1.66791612e-03,
  6.44312542e-04,-1.48835177e-03, 0.00000000e+00,-1.73743954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14627506, -0.09854495,  0.1080985 , -0.09854495,  0.1657333 ,
        0.01773855,  0.1080985 ,  0.01773855,  0.16244591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.348219062987271e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53809412e-01,  8.70350268e-02, -9.63330518e-01, -2.21744555e-02,
        9.96205252e-01,  8.41628743e-02,  9.67000039e-01, -3.46944695e-18,
        2.54776224e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0668006 , -0.03815056,  0.22680797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012781895873794635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.34295129e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.34295129e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325901, -0.10863149,  0.06188658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28730230e-03, 1.48991683e-03, 2.26862831e-04, 3.93554233e-05,
 -2.70830464e-06,-2.42947227e-06, 3.15293127e-06, 7.67882379e-06,
 -1.55498466e-05, 2.08512487e-06,-6.05753212e-05,-4.29790972e-05,
  1.01666536e-03, 1.08672361e-03, 2.94795630e-03, 1.61603737e-03,
  1.44466845e-05, 1.10191254e-05,-1.21644482e+00, 1.58604525e-03,
  5.41478969e-04, 3.88866536e-05]


--- Step 1798 ---
qpos:
[-0.01086045, 1.33253937,-0.01843782, 0.94615536, 0.00423989, 1.33206919,
 -0.03036875, 0.94352012, 0.01692126, 1.33770353,-0.02351915, 0.95534477,
  1.34951837,-0.00270552, 1.12611417, 0.06348549,-0.00163194,-0.09787569,
  0.08161773, 0.5397191 ,-0.01113995,-0.00459554, 0.84175892]

qacc:
[-2.50042017e-01, 9.58477970e-01,-9.94395949e+00, 2.88741627e+01,
 -6.84766211e-03, 1.04056690e-01,-1.18456748e+00, 2.76096303e+00,
 -4.41750745e-02, 3.72769681e+00,-1.24258047e+01, 1.67094533e+01,
 -2.84115362e-01, 1.96558754e-02,-3.77156043e+00,-1.26742095e+00,
 -1.80293987e+00, 9.31474543e-01,-1.57881932e+00,-6.06927077e+01,
  7.97380473e+01, 4.67288638e+00]

qfrc_actuator:
[ 3.18261030e-03, 3.50885443e-02, 1.08547526e-02, 1.84574739e-03,
  2.10679257e-05, 3.50850591e-02, 1.08244196e-02, 1.75689080e-03,
 -3.06882718e-03, 3.47558016e-02, 1.06873524e-02, 1.69882173e-03,
  6.34871180e-04,-1.49373803e-03, 0.00000000e+00,-1.68397331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14637074, -0.09480733,  0.11151666, -0.09480733,  0.16067336,
        0.01215955,  0.11151666,  0.01215955,  0.15670834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.736389756217432e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25383847,  0.08704087, -0.96332233, -0.02217849,  0.99620474,
        0.08416785,  0.96699232,  0.        ,  0.25480553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06680832, -0.03815694,  0.22680543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.63588023, -0.09137524, -8.63588023,  8.63821534,
       -0.1750047 , -0.09137524, -0.1750047 , 25.17606961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012876468567093874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31105399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.31105399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323531, -0.10863031,  0.06188574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37559782e-03, 1.60057944e-03, 2.50447645e-04, 7.23971426e-05,
 -1.97862074e-06,-4.84097383e-05,-1.80903733e-05, 4.59952326e-06,
 -1.26878540e-05, 4.54102862e-05,-3.31199253e-05, 2.81881982e-05,
  1.06418795e-03, 1.09163185e-03, 3.36441927e-03, 1.78309811e-03,
  3.24818494e-06, 1.33592983e-05,-1.21644549e+00, 1.58836066e-03,
  5.42789709e-04, 4.61256619e-05]


--- Step 1799 ---
qpos:
[-0.01088683, 1.33250877,-0.01844361, 0.94615687, 0.00424032, 1.33207427,
 -0.0303703 , 0.94351988, 0.01692077, 1.33770406,-0.02352211, 0.9553433 ,
  1.34958296,-0.00272368, 1.12621132, 0.06345069,-0.0016398 ,-0.0978673 ,
  0.08160438, 0.53973624,-0.01142482,-0.00451977, 0.84174452]

qacc:
[-5.45901798e-01,-7.12326008e+00, 1.82432801e+01,-2.07778212e+01,
 -5.35192092e-03,-1.06375698e+00, 2.51704240e+00,-1.21537228e+00,
  2.93987360e-02,-3.46879168e+00, 1.31671113e+01,-1.99514624e+01,
 -9.37973448e-02,-6.69696713e-02,-1.57630500e+01, 2.75103080e+01,
 -1.01711868e+00,-1.63081530e+00, 5.40337088e-01,-7.64587256e+01,
 -6.52584693e+01,-3.94938152e+00]

qfrc_actuator:
[ 3.21534882e-03, 3.51184597e-02, 1.08736851e-02, 1.80472737e-03,
  2.06717161e-05, 3.50543093e-02, 1.08320238e-02, 1.75956970e-03,
 -3.05289269e-03, 3.47897896e-02, 1.07451563e-02, 1.66408106e-03,
  6.26895068e-04,-1.47182092e-03, 0.00000000e+00,-1.37088383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14645532, -0.08693004,  0.11786572, -0.08693004,  0.1387103 ,
       -0.00571222,  0.11786572, -0.00571222,  0.14224236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.063586477529555e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25387005,  0.08704683, -0.96331347, -0.02218279,  0.99620422,
        0.08417289,  0.96698393,  0.        ,  0.25483736])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06681551, -0.03816308,  0.22680292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013246070131007343
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09538190e-14,  2.09538190e-14,  1.00000000e+00, -4.39062531e-28,
        1.00000000e+00, -2.09538190e-14, -1.00000000e+00,  0.00000000e+00,
        2.09538190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03051757, -0.05968056,  0.06188257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43788333e-03, 1.74149869e-03, 2.88587551e-04,-5.00395646e-05,
 -1.56573178e-06,-6.09682152e-05,-3.79495130e-06, 8.04225246e-07,
  8.44391378e-06, 5.34664641e-05, 6.37352229e-05,-3.37148164e-05,
  1.09539733e-03, 1.12145602e-03, 3.69965420e-03, 2.19814708e-03,
 -3.31653798e-06, 1.33494364e-05,-1.21644955e+00, 1.58941813e-03,
  5.43616246e-04, 4.07804102e-05]


--- Step 1800 ---
qpos:
[-0.01091446, 1.33247574,-0.01845021, 0.94615677, 0.00424074, 1.33207912,
 -0.0303716 , 0.94352033, 0.01692041, 1.33770452,-0.02352395, 0.95534281,
  1.34964644,-0.00274228, 1.12630247, 0.06341482,-0.00165139,-0.097865  ,
  0.08159028, 0.53975758,-0.01168452,-0.00462898, 0.84172667]

qacc:
[-5.24912057e-01,-3.81197347e+00, 1.18805817e+01,-2.75613197e+01,
 -4.56675935e-03, 2.32265848e-01,-2.55633175e+00, 1.04179548e+01,
  5.11205793e-02,-1.36823486e+00, 2.33629794e+00, 9.50147786e+00,
 -3.05193510e-01,-2.58503878e-01,-5.63501840e+00, 6.85989251e+00,
 -9.32537583e-01,-1.52546395e+00,-1.88536611e-01,-7.10456659e+01,
 -6.04811566e+01,-3.81752185e+00]

qfrc_actuator:
[ 3.22856690e-03, 3.51155267e-02, 1.08694294e-02, 1.72663174e-03,
  2.02688799e-05, 3.50696505e-02, 1.08548552e-02, 1.79674636e-03,
 -3.04317809e-03, 3.47743131e-02, 1.07982077e-02, 1.71527449e-03,
  6.25152404e-04,-1.43372423e-03, 0.00000000e+00,-1.32823902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14651458, -0.08969767,  0.1158484 , -0.08969767,  0.23433184,
        0.06799407,  0.1158484 ,  0.06799407,  0.19916019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.284987407725791e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25390517,  0.08705308, -0.96330365, -0.02218746,  0.99620367,
        0.08417812,  0.9669746 ,  0.        ,  0.25487275])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06682177, -0.03816891,  0.22680044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.2950388 ,  -5.91263591,  -6.2950388 ,
        25.76207502, -18.23332591,  -5.91263591, -18.23332591,
        28.04893963,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341987939862857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13648659e-14,  4.13648659e-14,  1.00000000e+00,  1.71105213e-27,
        1.00000000e+00, -4.13648659e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13648659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03049427, -0.05971236,  0.06188105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51561820e-03, 1.93731381e-03, 2.69535690e-04,-9.65561959e-05,
 -1.32913000e-06,-1.91386551e-05, 1.04916221e-05, 3.52551502e-05,
  1.47027895e-05, 2.55347331e-05, 6.97492201e-05, 5.38513101e-05,
  1.13291010e-03, 1.15430309e-03, 4.34125695e-03, 2.29411181e-03,
  1.25946973e-07, 5.17065124e-07,-1.21644535e+00, 1.58851056e-03,
  5.44724868e-04, 2.55599986e-05]


--- Step 1801 ---
qpos:
[-0.01094305, 1.332441  ,-0.01845686, 0.94615597, 0.00424144, 1.33208405,
 -0.0303724 , 0.94351945, 0.01692016, 1.33770564,-0.02352623, 0.95534297,
  1.34970899,-0.00276131, 1.12639015, 0.06337808,-0.00166643,-0.09786846,
  0.08157297, 0.53978301,-0.01192088,-0.00491132, 0.84170546]

qacc:
[-4.11814504e-01,-3.32785213e+00, 9.56744674e+00,-1.53463999e+01,
  1.19214382e-01,-3.53286092e+00, 1.43847808e+01,-2.79307970e+01,
  5.04295900e-02, 3.11226258e+00,-1.03734166e+01, 1.58656441e+01,
 -2.93057879e-01,-2.01035961e-01,-2.47997736e+00, 1.20836296e+00,
 -8.62388203e-01,-1.43701048e+00,-8.02904199e-01,-6.65468308e+01,
 -5.65171556e+01,-3.69088519e+00]

qfrc_actuator:
[ 3.23053850e-03, 3.51461870e-02, 1.09055076e-02, 1.69853899e-03,
  5.53705348e-05, 3.50948084e-02, 1.08866854e-02, 1.72969188e-03,
 -3.03727435e-03, 3.48181465e-02, 1.07768564e-02, 1.74558530e-03,
  6.27207703e-04,-1.42091014e-03, 0.00000000e+00,-1.30542135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14655989, -0.08993171,  0.11572419, -0.08993171,  0.2406562 ,
        0.07312423,  0.11572419,  0.07312423,  0.20338626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.450223452070513e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25394342,  0.08705961, -0.96329298, -0.02219248,  0.9962031 ,
        0.08418355,  0.96696444,  0.        ,  0.2549113 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06682761, -0.03817446,  0.22679797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.20478956,  -6.00727587,  -6.20478956,
        29.13906354, -21.17680974,  -6.00727587, -21.17680974,
        30.50944732,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00134102816628337
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27889415e-14,  4.13944708e-14,  1.00000000e+00,  3.42700442e-27,
        1.00000000e+00, -4.13944708e-14, -1.00000000e+00,  0.00000000e+00,
       -8.27889415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03049586, -0.05971357,  0.06188105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57959727e-03, 2.08955509e-03, 3.46198671e-04,-4.38434177e-05,
  3.43163606e-05, 1.76513113e-05, 3.03104083e-05,-6.64995520e-05,
  1.45863695e-05, 7.31674415e-05,-6.86226755e-06, 3.43585861e-05,
  1.19064662e-03, 1.18989903e-03, 4.63916721e-03, 2.36976193e-03,
  8.12208363e-06,-9.22778529e-07,-1.21644483e+00, 1.58724328e-03,
  5.45882165e-04, 2.26595241e-05]


--- Step 1802 ---
qpos:
[-0.01097253, 1.33240443,-0.0184628 , 0.94615446, 0.00424233, 1.3320893 ,
 -0.03037293, 0.94351777, 0.01692015, 1.33770731,-0.02352781, 0.95534239,
  1.34977084,-0.00278059, 1.12647254, 0.06334079,-0.00168469,-0.09787736,
  0.08155038, 0.53981232,-0.01213541,-0.00535693, 0.84168087]

qacc:
[ -0.37164894, -5.5660173 , 16.6943248 ,-21.62203557,  0.08025332,
  -1.69219218,  7.70040165,-16.24633892,  0.10386366, -2.38883423,
  10.10326239,-17.41334628, -0.11606805, -0.24332095, -6.16436026,
  10.22336657, -0.80393226, -1.36254915, -1.32040343,-62.81021263,
 -53.22894431, -3.5707791 ]

qfrc_actuator:
[ 3.24374379e-03, 3.51972570e-02, 1.09653485e-02, 1.66466904e-03,
  5.82292314e-05, 3.51256374e-02, 1.09057991e-02, 1.69060591e-03,
 -3.01595167e-03, 3.48613544e-02, 1.08184699e-02, 1.71007438e-03,
  6.20913820e-04,-1.42310395e-03, 0.00000000e+00,-1.18774071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14659638, -0.08720367,  0.11783895, -0.08720367,  0.20059179,
        0.03995791,  0.11783895,  0.03995791,  0.17616619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.580940151353342e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53983371e-01,  8.70663649e-02, -9.63281836e-01, -2.21977044e-02,
        9.96202514e-01,  8.41891550e-02,  9.66953830e-01, -3.46944695e-18,
        2.54951546e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06683321, -0.0381798 ,  0.22679551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -5.98880456,  -6.22261977,  -5.98880456,
        34.38506817, -24.78119586,  -6.22261977, -24.78119586,
        32.48640501,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013254021871220642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.18824956e-14,  4.18824956e-14,  1.00000000e+00, -1.75414344e-27,
        1.00000000e+00, -4.18824956e-14, -1.00000000e+00,  0.00000000e+00,
        4.18824956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0305172 , -0.05969054,  0.06188227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64146356e-03, 2.22637133e-03, 4.08534593e-04,-4.29401324e-05,
  2.31134409e-05, 4.44898811e-05, 2.40597965e-05,-3.92035779e-05,
  2.99387188e-05, 8.33410713e-05, 5.61284084e-05,-3.27466192e-05,
  1.23084100e-03, 1.20963885e-03, 4.81181559e-03, 2.53122642e-03,
  1.98108531e-05, 6.86091842e-06,-1.21644728e+00, 1.58564645e-03,
  5.47120630e-04, 2.97039886e-05]


--- Step 1803 ---
qpos:
[-0.01100262, 1.33236716,-0.01846947, 0.94615253, 0.00424306, 1.33209464,
 -0.03037378, 0.94351776, 0.01692025, 1.33770891,-0.02352804, 0.95534142,
  1.34983213,-0.00280006, 1.12655122, 0.06330253,-0.00169867,-0.09787948,
  0.08153742, 0.53984186,-0.01238375,-0.00559536, 0.84165676]

qacc:
[-2.63147000e-01, 3.29827443e-01,-1.31084839e+00,-3.31252354e+00,
 -7.16559188e-02, 3.84410866e+00,-1.58519874e+01, 3.30801464e+01,
  4.38187461e-02,-4.45780043e+00, 1.52431292e+01,-1.78119000e+01,
 -1.81132855e-01,-6.30430331e-02,-2.55465043e+00, 9.76456431e-01,
  1.06712476e+00, 1.69562661e+00, 2.40895464e+00, 7.80695326e+01,
  7.01475764e+01, 1.37707078e+00]

qfrc_actuator:
[ 3.24623122e-03, 3.52613837e-02, 1.09499452e-02, 1.64537531e-03,
  2.39688626e-05, 3.51063316e-02, 1.08818066e-02, 1.77482707e-03,
 -3.02105638e-03, 3.48330276e-02, 1.08791645e-02, 1.68942933e-03,
  6.04296451e-04,-1.43430667e-03, 0.00000000e+00,-1.15515082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14662097, -0.08593666,  0.11879646, -0.08593666,  0.2516767 ,
        0.0759967 ,  0.11879646,  0.0759967 ,  0.20159653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.667883622329176e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54024407e-01,  8.70733308e-02, -9.63270386e-01, -2.22030806e-02,
        9.96201905e-01,  8.41949413e-02,  9.66942927e-01,  3.46944695e-18,
        2.54992894e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06683844, -0.03818496,  0.22679306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013576486826486767
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06657856e-14,  4.08877141e-14,  1.00000000e+00,  1.25385388e-27,
        1.00000000e+00, -4.08877141e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06657856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02793417, -0.13070964,  0.06187947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68788526e-03, 2.38260517e-03, 3.57711588e-04,-2.69026473e-05,
 -2.06168433e-05, 8.79600181e-06,-1.37087141e-05, 8.53598443e-05,
  1.25776772e-05, 2.77410548e-05, 8.23887897e-05,-1.72978651e-05,
  1.24862243e-03, 1.21155438e-03, 5.07428770e-03, 2.59063770e-03,
  3.45792044e-05, 2.22931506e-05,-1.21645215e+00, 1.58374920e-03,
  5.48458259e-04, 4.49634383e-05]


--- Step 1804 ---
qpos:
[-0.011033  , 1.3323306 ,-0.01847718, 0.94615096, 0.00424351, 1.33209938,
 -0.03037428, 0.94351809, 0.01692039, 1.3377109 ,-0.02352765, 0.9553409 ,
  1.3498926 ,-0.00281994, 1.12663091, 0.06326304,-0.00170881,-0.0978753 ,
  0.08153029, 0.53987193,-0.01266298,-0.00564313, 0.841633  ]

qacc:
[-1.20662404e-01, 4.36590058e+00,-1.38842909e+01, 1.59053122e+01,
 -1.14144413e-01,-1.13522449e+00, 2.05749809e+00, 2.57756638e+00,
  1.48176655e-02,-3.66585240e-01, 8.96288960e-01, 4.17876228e+00,
 -4.65245281e-01, 7.76119199e-02, 5.26574580e+00,-1.61907997e+01,
  9.62896025e-01, 1.57561809e+00, 1.45830895e+00, 7.19004748e+01,
  6.44649786e+01, 1.14250016e+00]

qfrc_actuator:
[ 3.26013491e-03, 3.53151792e-02, 1.09260552e-02, 1.67033056e-03,
  3.22492729e-06, 3.50393076e-02, 1.08857009e-02, 1.78885701e-03,
 -3.02422081e-03, 3.48686865e-02, 1.09148533e-02, 1.71317848e-03,
  5.92150164e-04,-1.41538374e-03, 0.00000000e+00,-1.27948783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14663717, -0.08946604,  0.11618213, -0.08946604,  0.48753327,
        0.26250702,  0.11618213,  0.26250702,  0.34878068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.724664590965478e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25406681,  0.08708044, -0.96325856, -0.02220861,  0.99620128,
        0.08420083,  0.96693166,  0.        ,  0.25503562])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06684338, -0.03818996,  0.22679064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.82032084,   6.38048918,   5.82032084,
        27.39818829, -17.11464997,   6.38048918, -17.11464997,
        24.2484509 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013942176573224635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.98152691e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.98152691e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02789213, -0.13065127,  0.06187635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73287592e-03, 2.47115653e-03, 3.70314914e-04, 1.91225267e-05,
 -3.29122163e-05,-6.23101109e-05, 6.55295210e-06, 1.58774557e-05,
  4.26448783e-06, 6.65643340e-05, 4.99598679e-05, 2.65790596e-05,
  1.26462713e-03, 1.23981041e-03, 5.25849097e-03, 2.51449133e-03,
  1.68506437e-05, 4.07085582e-06,-1.21644673e+00, 1.58734192e-03,
  5.47377952e-04, 2.75228758e-05]


--- Step 1805 ---
qpos:
[-0.01106333, 1.3322949 ,-0.01848526, 0.94614931, 0.0042437 , 1.33210304,
 -0.03037387, 0.94351826, 0.01692038, 1.33771316,-0.02352768, 0.95534245,
  1.34995232,-0.00284059, 1.12671256, 0.06322247,-0.00171544,-0.09786522,
  0.0815258 , 0.53990267,-0.01297072,-0.00551394, 0.84160945]

qacc:
[ 2.25532014e-02, 2.02417903e+00,-5.04055578e+00, 2.83716131e+00,
 -1.10464253e-01,-4.16191934e+00, 1.22020640e+01,-1.18069886e+01,
 -5.97942947e-02, 5.07301771e+00,-2.02874816e+01, 4.13727594e+01,
 -2.13088434e-01,-4.71316717e-01, 6.12237459e+00,-1.72293263e+01,
  8.77389824e-01, 1.47540181e+00, 6.58006014e-01, 6.67794726e+01,
  5.97616702e+01, 9.71303170e-01]

qfrc_actuator:
[ 3.29855261e-03, 3.53439120e-02, 1.09154285e-02, 1.66795924e-03,
 -9.24083753e-06, 3.49620458e-02, 1.09235329e-02, 1.77918328e-03,
 -3.04394678e-03, 3.48535512e-02, 1.08824881e-02, 1.81612996e-03,
  5.88055189e-04,-1.41357642e-03, 0.00000000e+00,-1.39080551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14665533, -0.07471446,  0.12619642, -0.07471446,  0.59589162,
        0.26596987,  0.12619642,  0.26596987,  0.30412252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.78787553170099e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54109545e-01,  8.70876192e-02, -9.63246638e-01, -2.22141947e-02,
        9.96200656e-01,  8.42067869e-02,  9.66920301e-01, -3.46944695e-18,
        2.55078677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06684837, -0.03819487,  0.22678825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.88602096,   6.3199315 ,   5.88602096,
        29.98933752, -19.88693262,   6.3199315 , -19.88693262,
        27.15790968,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014082428121210896
  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([-0.02787713, -0.13062773,  0.06187515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78553711e-03, 2.46527423e-03, 4.11739014e-04,-1.53699717e-06,
 -3.18933006e-05,-1.10005501e-04, 2.68492597e-05,-1.09808445e-05,
 -1.72044327e-05, 3.22025820e-05,-1.29146668e-05, 1.07005655e-04,
  1.30121505e-03, 1.26313139e-03, 5.20629061e-03, 2.46499060e-03,
  5.44016752e-06,-1.46870987e-06,-1.21644551e+00, 1.59072179e-03,
  5.45842021e-04, 2.41243944e-05]


--- Step 1806 ---
qpos:
[-0.01109267, 1.3322602 ,-0.01849383, 0.94614797, 0.00424368, 1.33210568,
 -0.03037271, 0.94351935, 0.01692019, 1.33771518,-0.02352839, 0.95534495,
  1.35001148,-0.00286216, 1.12679639, 0.06318065,-0.00171639,-0.09785865,
  0.08152929, 0.5399319 ,-0.01310505,-0.00537549, 0.84158951]

qacc:
[ 4.16466120e-01, 3.16309509e+00,-9.40750536e+00, 1.13291047e+01,
 -9.08424381e-02,-1.79380775e+00, 2.31824371e+00, 9.35148110e+00,
 -7.60459530e-02, 3.12650326e+00,-1.24690216e+01, 2.17623043e+01,
  4.52529067e-02,-8.49022443e-01, 6.96767954e+00,-1.97489761e+01,
  1.41757461e+00,-8.78736629e-01, 1.99522852e+00, 5.07079955e+01,
 -7.04942647e+01, 1.19254536e+00]

qfrc_actuator:
[ 3.40471243e-03, 3.53749031e-02, 1.08947629e-02, 1.68500423e-03,
 -1.66402071e-05, 3.49148729e-02, 1.09632725e-02, 1.82666826e-03,
 -3.05569520e-03, 3.47901423e-02, 1.08278264e-02, 1.85827861e-03,
  5.83489671e-04,-1.43927727e-03, 0.00000000e+00,-1.51173490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14667799, -0.04824596,  0.13851629, -0.04824596,  1.3177807 ,
        0.40790129,  0.13851629,  0.40790129,  0.28875218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.866098481152482e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2541518 ,  0.08709479, -0.96323484, -0.02221973,  0.99620003,
        0.08421275,  0.96690907,  0.        ,  0.25512125])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0668535 , -0.03819966,  0.22678588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014263356918915657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89187143e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.89187143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.032623  , -0.0890126 ,  0.06187362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88904304e-03, 2.45277273e-03, 4.10108949e-04, 1.98586050e-05,
 -2.62272024e-05,-1.03132429e-04, 2.09484383e-05, 4.47157339e-05,
 -2.19055784e-05,-4.49681397e-05,-4.67100771e-05, 4.52205714e-05,
  1.33461032e-03, 1.27623353e-03, 5.10718599e-03, 2.39753271e-03,
 -9.16673403e-07, 3.01023168e-06,-1.21644759e+00, 1.59394517e-03,
  5.43908089e-04, 3.18464386e-05]


--- Step 1807 ---
qpos:
[-0.01112149, 1.33222573,-0.01850244, 0.94614724, 0.00424335, 1.33210793,
 -0.03037159, 0.94352099, 0.01692014, 1.33771662,-0.02352842, 0.9553472 ,
  1.35006969,-0.00288409, 1.12687907, 0.06313772,-0.00171202,-0.09785532,
  0.0815376 , 0.53995984,-0.01307765,-0.0052285 , 0.84157294]

qacc:
[ 2.21611783e-01, 1.47085320e+00,-5.66998208e+00, 1.17956329e+01,
 -1.30283717e-01, 5.46931789e-01,-3.49192102e+00, 9.56006924e+00,
  5.46128349e-02,-3.01561347e+00, 9.41888502e+00,-1.06404823e+01,
 -5.09871390e-01, 1.30191925e-01, 1.69974455e+00,-8.33992837e+00,
  1.33348686e+00,-8.08349684e-01, 1.20466756e+00, 4.72537956e+01,
 -6.57780128e+01, 1.07784459e+00]

qfrc_actuator:
[ 3.46180268e-03, 3.54067825e-02, 1.08860783e-02, 1.71332338e-03,
 -3.86942843e-05, 3.49216401e-02, 1.09684504e-02, 1.85416879e-03,
 -3.02705700e-03, 3.47691912e-02, 1.08667312e-02, 1.84650286e-03,
  5.67998106e-04,-1.41001047e-03, 0.00000000e+00,-1.51355706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14670574, -0.09367061,  0.11290877, -0.09367061,  0.30224517,
        0.12903756,  0.11290877,  0.12903756,  0.253757  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.960910747975864e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54193561e-01,  8.71017263e-02, -9.63223195e-01, -2.22251664e-02,
        9.96199422e-01,  8.42184819e-02,  9.66897966e-01,  3.46944695e-18,
        2.55163329e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06685875, -0.03820436,  0.22678353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.68870395, -6.49810929,  5.68870395, 45.94086724,
       32.65784977, -6.49810929, 32.65784977, 37.22634738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014289242373257266
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.76964233e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.76964233e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03261842, -0.08901193,  0.06187343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89696723e-03, 2.43531611e-03, 4.25448584e-04, 3.19813406e-05,
 -3.75376559e-05,-4.48617840e-05,-1.13052106e-05, 2.60569366e-05,
  1.57023081e-05,-5.36103301e-05, 2.61404862e-05,-1.34160122e-05,
  1.34622101e-03, 1.35209555e-03, 4.99676019e-03, 2.45799831e-03,
 -1.55249091e-07, 3.52699054e-06,-1.21644280e+00, 1.58976563e-03,
  5.42405562e-04, 4.10110210e-05]


--- Step 1808 ---
qpos:
[-0.01115075, 1.33219004,-0.01851035, 0.9461466 , 0.00424288, 1.33211025,
 -0.03037088, 0.94352257, 0.01692044, 1.33771765,-0.02352805, 0.95534997,
  1.35012672,-0.00290568, 1.12695571, 0.06309422,-0.00170259,-0.09785499,
  0.08154808, 0.53998662,-0.01289816,-0.00507357, 0.84155947]

qacc:
[-1.84533572e-01,-3.36559114e+00, 8.88237748e+00,-5.98236989e+00,
 -6.01872093e-02, 1.09277282e+00,-3.38692165e+00, 2.35893743e+00,
  1.53186819e-01,-7.00818369e-01, 5.61862165e-01, 5.90288693e+00,
 -8.73927068e-01, 1.01126174e+00,-7.16273079e+00, 1.22221008e+01,
  1.26359451e+00,-7.51225016e-01, 5.42326892e-01, 4.44013652e+01,
 -6.18769098e+01, 9.78613501e-01]

qfrc_actuator:
[ 3.47176544e-03, 3.54573169e-02, 1.09198449e-02, 1.71249113e-03,
 -3.38572326e-05, 3.49427727e-02, 1.09533806e-02, 1.85193734e-03,
 -2.99217572e-03, 3.47563878e-02, 1.08896774e-02, 1.87419102e-03,
  5.56660053e-04,-1.34796113e-03, 0.00000000e+00,-1.35478873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14673163, -0.09081346,  0.11525227, -0.09081346,  0.18763378,
        0.03222901,  0.11525227,  0.03222901,  0.1721266 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.048460706004291e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54235147e-01,  8.71085312e-02, -9.63211604e-01, -2.22305524e-02,
        9.96198827e-01,  8.42240983e-02,  9.66886908e-01,  3.46944695e-18,
        2.55205227e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0668639 , -0.03820891,  0.22678123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.42695951, -6.71825032,  5.42695951, 54.14760646,
       36.76369004, -6.71825032, 36.76369004, 38.33383665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014158833922201658
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47022571e-14, -3.92060190e-14,  1.00000000e+00, -5.76416973e-28,
        1.00000000e+00,  3.92060190e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47022571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03263665, -0.089006  ,  0.06187455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88078298e-03, 2.47482757e-03, 4.61520768e-04, 8.75231230e-07,
 -1.73199274e-05,-5.12899276e-06,-2.43700604e-05,-3.30097519e-06,
  4.41520570e-05,-3.77476526e-05, 1.50568632e-05, 2.65582048e-05,
  1.38306212e-03, 1.43238807e-03, 5.05234636e-03, 2.67221418e-03,
  2.92463591e-06, 2.73235320e-06,-1.21644110e+00, 1.58656564e-03,
  5.41545354e-04, 4.08659407e-05]


--- Step 1809 ---
qpos:
[-0.01118039, 1.33215387,-0.01851783, 0.94614453, 0.00424234, 1.33211282,
 -0.03037085, 0.94352584, 0.01692113, 1.33771864,-0.02352783, 0.95535306,
  1.35018239,-0.00292756, 1.1270301 , 0.06305036,-0.00168833,-0.09785748,
  0.08155851, 0.54001233,-0.01257455,-0.00491119, 0.84154883]

qacc:
[-1.63327366e-01,-4.25647303e+00, 1.60404030e+01,-3.03020996e+01,
 -2.46146692e-02, 5.05431356e+00,-1.95373367e+01, 3.63051020e+01,
  1.61771928e-01, 8.67460586e-01,-3.50186218e+00, 6.57624240e+00,
 -7.65315572e-01, 3.78223135e-01,-2.16436677e+00, 2.82888820e+00,
  1.20557539e+00,-7.04960487e-01,-1.17778254e-02, 4.20495648e+01,
 -5.86554369e+01, 8.91570499e-01]

qfrc_actuator:
[ 3.52521250e-03, 3.54848883e-02, 1.09605915e-02, 1.64118436e-03,
 -3.06807573e-05, 3.49722498e-02, 1.09265481e-02, 1.93875520e-03,
 -2.97158569e-03, 3.47662935e-02, 1.08853053e-02, 1.88937254e-03,
  5.53192422e-04,-1.28454862e-03, 0.00000000e+00,-1.34830810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14674468, -0.0941097 ,  0.1125938 , -0.0941097 ,  0.33394129,
        0.15646526,  0.1125938 ,  0.15646526,  0.27752363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.09224725171541e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25427722,  0.08711544, -0.96319987, -0.02223601,  0.99619822,
        0.08422981,  0.96687572,  0.        ,  0.25524761])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06686859, -0.03821326,  0.22677897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001390507224770035
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.99215123e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.99215123e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03267276, -0.08899593,  0.06187672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95606300e-03, 2.56336332e-03, 4.66763408e-04,-7.49126509e-05,
 -7.04614204e-06, 2.17575414e-05,-3.07074577e-05, 8.58788058e-05,
  4.66603421e-05,-7.24296783e-06,-9.25294474e-06, 1.51280997e-05,
  1.43761576e-03, 1.47922345e-03, 5.35312589e-03, 2.70665486e-03,
  7.89930061e-06, 8.58941235e-07,-1.21644192e+00, 1.58414803e-03,
  5.41223266e-04, 3.30179209e-05]


--- Step 1810 ---
qpos:
[-0.0112104 , 1.33211678,-0.01852543, 0.94614064, 0.0042418 , 1.33211548,
 -0.0303711 , 0.94353012, 0.01692199, 1.33771913,-0.02352769, 0.95535496,
  1.35023699,-0.00294946, 1.12710059, 0.06300617,-0.00167259,-0.09786482,
  0.08157359, 0.54004   ,-0.0121445 ,-0.00483145, 0.84153786]

qacc:
[-1.54266029e-01,-4.07507220e+00, 1.55145283e+01,-3.38890701e+01,
 -7.02822774e-03, 2.58737016e+00,-1.03876732e+01, 2.06709089e+01,
  7.51451088e-02,-2.48414736e+00, 9.67862706e+00,-2.17250536e+01,
 -6.34205734e-01, 4.81229469e-01,-4.74276700e+00, 8.31652807e+00,
  3.72630930e-01,-1.21122861e+00, 1.16367989e+00,-6.02179592e+00,
 -6.70910867e+01,-1.68990247e+00]

qfrc_actuator:
[ 3.56936914e-03, 3.54984379e-02, 1.09522808e-02, 1.54683407e-03,
 -2.85280367e-05, 3.49709963e-02, 1.09108443e-02, 1.98852855e-03,
 -2.97748821e-03, 3.47008520e-02, 1.08649261e-02, 1.82605373e-03,
  5.65159177e-04,-1.23757206e-03, 0.00000000e+00,-1.25563990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14675296, -0.0929262 ,  0.11358324, -0.0929262 ,  0.27806866,
        0.10743371,  0.11358324,  0.10743371,  0.23464804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.11995206284398e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54319356e-01,  8.71224542e-02, -9.63188114e-01, -2.22414973e-02,
        9.96197610e-01,  8.42356090e-02,  9.66864510e-01, -3.46944695e-18,
        2.55290069e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06687312, -0.03821742,  0.22677674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013546580605387354
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09779802e-14,  4.09779802e-14,  1.00000000e+00,  1.67919486e-27,
        1.00000000e+00, -4.09779802e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09779802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00629901, -0.07669275,  0.06187976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01954261e-03, 2.60140107e-03, 4.37795321e-04,-9.75515123e-05,
 -2.00549300e-06, 7.34411128e-06,-1.24220818e-05, 5.15260210e-05,
  2.16499794e-05,-7.08062213e-05,-2.23994183e-05,-6.34460853e-05,
  1.51800626e-03, 1.54139439e-03, 5.46451654e-03, 2.81773747e-03,
  1.44628828e-05,-1.92397884e-06,-1.21644489e+00, 1.58236368e-03,
  5.41361015e-04, 1.86349051e-05]


--- Step 1811 ---
qpos:
[-0.01124053, 1.3320788 ,-0.01853321, 0.94613566, 0.0042414 , 1.33211814,
 -0.03037114, 0.94353322, 0.01692307, 1.33771909,-0.02352895, 0.9553572 ,
  1.35029108,-0.00297122, 1.12716798, 0.06296168,-0.00166032,-0.09787764,
  0.08158513, 0.54007122,-0.01169091,-0.00492378, 0.84152371]

qacc:
[-5.17737667e-02,-2.57441796e+00, 9.23688866e+00,-2.02331489e+01,
  6.28457949e-02,-2.57513120e+00, 1.08476318e+01,-2.31284373e+01,
  9.18880782e-02, 3.68473845e+00,-1.35169792e+01, 1.58968204e+01,
 -3.64871050e-01, 4.11180714e-01,-3.62672585e+00, 6.08971459e+00,
 -8.68918742e-01,-1.37107566e+00,-8.87353984e-01,-6.60329337e+01,
 -5.63408193e+01,-3.45885761e+00]

qfrc_actuator:
[ 3.59033182e-03, 3.55042052e-02, 1.09503950e-02, 1.49286337e-03,
 -9.25515393e-06, 3.49691315e-02, 1.09194417e-02, 1.92731214e-03,
 -2.96372907e-03, 3.46439454e-02, 1.07816815e-02, 1.84127062e-03,
  5.81082775e-04,-1.21836306e-03, 0.00000000e+00,-1.19992393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1467523 , -0.09158702,  0.11466497, -0.09158702,  0.24786951,
        0.08076594,  0.11466497,  0.08076594,  0.21126295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.11773412166049e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25436248,  0.08712955, -0.96317608, -0.02224709,  0.99619699,
        0.08424147,  0.96685304,  0.        ,  0.25533352])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06687738, -0.03822139,  0.22677454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.09445409,   3.01107785,   8.09445409,
        13.84099268, -13.99121276,   3.01107785, -13.99121276,
        46.24788849,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013297226343474688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17464137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.17464137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03053442, -0.05972111,  0.06188191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05875440e-03, 2.65350563e-03, 4.41235420e-04,-6.11357707e-05,
  1.80893101e-05, 1.30479608e-06, 1.01344991e-05,-6.01562085e-05,
  2.65411080e-05,-1.02313685e-04,-1.01471389e-04, 1.09912586e-05,
  1.58715995e-03, 1.56223408e-03, 5.65802942e-03, 2.88937561e-03,
  1.22876872e-05,-5.51858112e-06,-1.21644715e+00, 1.58013475e-03,
  5.42031510e-04, 5.14447943e-06]


--- Step 1812 ---
qpos:
[-0.01127073, 1.33203949,-0.01854074, 0.9461325 , 0.00424118, 1.33212101,
 -0.03037108, 0.94353382, 0.01692449, 1.3377187 ,-0.02353133, 0.95535922,
  1.35034497,-0.00299199, 1.12723146, 0.06291683,-0.0016513 ,-0.09789571,
  0.08159112, 0.54010593,-0.01121521,-0.00517861, 0.84150638]

qacc:
[-2.99137916e-02, 7.74406465e-01,-8.34096401e+00, 2.92042728e+01,
  7.74865631e-02,-4.24705376e+00, 1.93175596e+01,-4.58361579e+01,
  1.42450933e-01, 2.19526601e+00,-7.27642861e+00, 4.08431306e+00,
 -6.87070905e-01, 1.51645097e+00,-4.63419112e+00, 7.95559073e+00,
 -8.11376385e-01,-1.31246647e+00,-1.38557618e+00,-6.23883292e+01,
 -5.31487740e+01,-3.32826375e+00]

qfrc_actuator:
[ 3.57952921e-03, 3.55056333e-02, 1.09702388e-02, 1.58740339e-03,
  2.37908200e-06, 3.49846944e-02, 1.09244899e-02, 1.80128953e-03,
 -2.93828395e-03, 3.46456379e-02, 1.07330837e-02, 1.83155311e-03,
  5.72740546e-04,-1.19821820e-03, 0.00000000e+00,-1.11300792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14674403, -0.08814367,  0.11732222, -0.08814367,  0.16076552,
        0.01053428,  0.11732222,  0.01053428,  0.15465839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.09008608537612e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25440665,  0.08713666, -0.96316378, -0.02225279,  0.99619637,
        0.08424732,  0.96684129,  0.        ,  0.25537801])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06688142, -0.03822526,  0.22677235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.65890315,  -3.99098728,  -7.65890315,
        15.93574572, -14.00787737,  -3.99098728, -14.00787737,
        35.51817723,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013146969046907708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26670606e-13,  4.22235354e-14,  1.00000000e+00,  5.34848081e-27,
        1.00000000e+00, -4.22235354e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26670606e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03055777, -0.05969716,  0.06188323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05409647e-03, 2.69937316e-03, 4.70395394e-04, 8.83312830e-05,
  2.23110798e-05, 1.64445079e-05, 4.69367832e-06,-1.27072957e-04,
  4.11135924e-05,-7.43687574e-05,-7.97826789e-05,-1.54592433e-05,
  1.60461946e-03, 1.57573196e-03, 5.81181430e-03, 2.99147852e-03,
  6.52107252e-07,-1.34897151e-06,-1.21644774e+00, 1.57739283e-03,
  5.43095850e-04, 1.09191198e-05]


--- Step 1813 ---
qpos:
[-0.01130114, 1.33199846,-0.01854847, 0.94613193, 0.00424128, 1.33212429,
 -0.03037135, 0.94353222, 0.01692594, 1.33771806,-0.0235329 , 0.95535893,
  1.35039862,-0.00301128, 1.12728861, 0.06287162,-0.00163866,-0.09790808,
  0.08159838, 0.54014083,-0.01076734,-0.00526146, 0.84148931]

qacc:
[-9.21744585e-02, 2.76905840e+00,-1.70465272e+01, 4.59616476e+01,
  1.31444570e-01,-2.35674788e+00, 1.28734059e+01,-3.69744120e+01,
  1.15224180e-02,-6.50728210e+00, 2.54645436e+01,-4.85747915e+01,
 -9.34061447e-01, 2.15016152e+00,-8.18995832e+00, 1.52696868e+01,
  9.02677887e-01, 1.42449350e+00, 3.15903288e-01, 6.48425039e+01,
  5.81434063e+01, 1.03085750e+00]

qfrc_actuator:
[ 3.60292271e-03, 3.55407638e-02, 1.09672623e-02, 1.71530718e-03,
  2.70888775e-05, 3.50105137e-02, 1.09096884e-02, 1.69142710e-03,
 -2.95929145e-03, 3.46825190e-02, 1.07943086e-02, 1.71852388e-03,
  5.55154154e-04,-1.14291885e-03, 0.00000000e+00,-9.53939783e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14672589, -0.08478101,  0.11975253, -0.08478101,  0.14050623,
       -0.00440333,  0.11975253, -0.00440333,  0.14360848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.029134599472868e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25445186,  0.08714379, -0.96315119, -0.02225858,  0.99619574,
        0.08425316,  0.96682925,  0.        ,  0.25542355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06688516, -0.03822913,  0.22677016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012926921914837297
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61033553e-14, -4.29422809e-14,  1.00000000e+00, -6.91514809e-28,
        1.00000000e+00,  4.29422809e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61033553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803912, -0.13079763,  0.06188511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08105602e-03, 2.80131521e-03, 4.55382301e-04, 1.24924680e-04,
  3.78791869e-05, 3.19947877e-05,-1.47795995e-05,-1.12171372e-04,
  3.26665068e-06,-2.02710909e-05, 3.71891512e-05,-1.17927006e-04,
  1.59666638e-03, 1.58159008e-03, 6.00642921e-03, 3.16833618e-03,
 -6.66391584e-06, 1.06003673e-05,-1.21645083e+00, 1.57440618e-03,
  5.44240595e-04, 2.48224335e-05]


--- Step 1814 ---
qpos:
[-0.01133209, 1.33195633,-0.01855665, 0.94613148, 0.00424168, 1.33212787,
 -0.03037218, 0.94353141, 0.01692714, 1.33771779,-0.02353441, 0.95535934,
  1.35045224,-0.00302968, 1.12733968, 0.06282641,-0.00163366,-0.09791641,
  0.08160279, 0.54016646,-0.01054091,-0.005362  , 0.84147509]

qacc:
[-2.24642076e-01,-3.00235387e-02,-1.85862386e+00, 3.59414205e+00,
  1.28179304e-01, 3.27400034e+00,-1.18333201e+01, 1.92469909e+01,
 -1.00687399e-01, 1.52364739e+00,-5.79805450e+00, 1.28873082e+01,
 -3.49159493e-01, 1.03614078e+00,-8.92599524e+00, 1.82590326e+01,
 -1.90930218e+00, 1.01059319e+00,-7.10499707e-01,-6.72832625e+01,
  8.83561444e+01, 5.15218488e+00]

qfrc_actuator:
[ 3.59375120e-03, 3.56325511e-02, 1.09686841e-02, 1.71970777e-03,
  4.16906634e-05, 3.50244462e-02, 1.08833545e-02, 1.73398673e-03,
 -2.99024259e-03, 3.47405634e-02, 1.08134350e-02, 1.75872583e-03,
  5.42683292e-04,-1.12066148e-03, 0.00000000e+00,-8.04700707e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14669283, -0.08283181,  0.12106889, -0.08283181,  0.17136553,
        0.01688035,  0.12106889,  0.01688035,  0.15824187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.916913735900964e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25449893,  0.08715095, -0.9631381 , -0.02226454,  0.99619512,
        0.08425899,  0.96681673,  0.        ,  0.25547096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06688841, -0.03823297,  0.22676798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013122136595095785
  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([ 0.05315648, -0.10867565,  0.06188351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08279526e-03, 2.97982309e-03, 4.66507522e-04,-5.10602460e-07,
  3.69602579e-05, 2.53439421e-05,-2.50521880e-05, 4.04897192e-05,
 -2.90231603e-05, 5.06114702e-05, 1.59457946e-05, 3.79410280e-05,
  1.59573835e-03, 1.53047819e-03, 6.32185759e-03, 3.33511397e-03,
  1.07000837e-06,-1.75914424e-06,-1.21644708e+00, 1.57618821e-03,
  5.43789751e-04, 7.52193823e-06]


--- Step 1815 ---
qpos:
[-0.01136295, 1.33191413,-0.01856499, 0.94613132, 0.00424218, 1.33213165,
 -0.03037276, 0.94353143, 0.0169282 , 1.33771794,-0.02353635, 0.95536164,
  1.35050594,-0.00304771, 1.12738832, 0.06278128,-0.0016358 ,-0.09792106,
  0.08160184, 0.54018375,-0.0105205 ,-0.00547878, 0.8414635 ]

qacc:
[ 3.93481616e-02, 8.58353838e-01,-3.52378520e+00, 6.53161528e+00,
  4.33327686e-02, 9.70779444e-01,-4.56460939e+00, 1.34320427e+01,
 -6.35909482e-02, 4.98081568e+00,-1.93506750e+01, 3.81729912e+01,
 -7.56510697e-02, 3.84801276e-01,-3.80896781e+00, 8.12709272e+00,
 -1.78382886e+00, 9.20517757e-01,-1.33999548e+00,-6.25167197e+01,
  8.22534688e+01, 4.68457244e+00]

qfrc_actuator:
[ 3.63645105e-03, 3.57051290e-02, 1.09908290e-02, 1.74021499e-03,
  3.23583624e-05, 3.50489458e-02, 1.09037331e-02, 1.77712475e-03,
 -2.99140085e-03, 3.47575261e-02, 1.07899713e-02, 1.85327134e-03,
  5.38598575e-04,-1.11822647e-03, 0.00000000e+00,-7.68082011e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14664733, -0.08270535,  0.12110022, -0.08270535,  0.19943336,
        0.0360502 ,  0.12110022,  0.0360502 ,  0.1712678 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.760084048940048e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25454748,  0.08715823, -0.96312461, -0.02227066,  0.99619448,
        0.08426491,  0.9668038 ,  0.        ,  0.25551987])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0668912 , -0.03823677,  0.22676582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.84947542,  3.60173743, -7.84947542, 13.57520271,
       10.76349863,  3.60173743, 10.76349863, 32.09388091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013283955925235957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17881176e-14, -4.17881176e-14,  1.00000000e+00,  1.74624677e-27,
        1.00000000e+00,  4.17881176e-14, -1.00000000e+00,  0.00000000e+00,
        4.17881176e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05311759, -0.1086705 ,  0.06188218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15204434e-03, 3.10729543e-03, 5.11071121e-04, 1.43338285e-05,
  1.24830535e-05, 3.48125305e-05, 2.36685901e-05, 4.41066228e-05,
 -1.82950285e-05, 4.91911074e-05,-1.06555466e-05, 9.73920090e-05,
  1.59357364e-03, 1.48917371e-03, 6.62497662e-03, 3.37189473e-03,
 -1.20469328e-06, 1.47926960e-06,-1.21644179e+00, 1.58062650e-03,
  5.44900350e-04, 2.70436957e-05]


--- Step 1816 ---
qpos:
[-0.01139312, 1.33187366,-0.01857396, 0.94613127, 0.00424269, 1.33213596,
 -0.03037286, 0.94353019, 0.01692902, 1.33771827,-0.02353787, 0.95536467,
  1.35055915,-0.00306606, 1.12744019, 0.0627359 ,-0.00164466,-0.09792231,
  0.08159341, 0.54019341,-0.01069325,-0.00561065, 0.84145425]

qacc:
[ 2.89138382e-01, 4.17092948e+00,-1.10750903e+01, 9.81073458e+00,
  5.26101668e-03,-2.70731453e+00, 1.22612781e+01,-2.55062920e+01,
 -1.02557275e-01, 3.75190955e-01,-2.43462328e+00, 1.05939463e+01,
 -3.34703084e-01, 6.74610408e-02, 5.53696334e+00,-1.23875392e+01,
 -1.67828349e+00, 8.47170367e-01,-1.87150057e+00,-5.85545578e+01,
  7.71667671e+01, 4.29339413e+00]

qfrc_actuator:
[ 3.72761508e-03, 3.57833572e-02, 1.09897999e-02, 1.75240601e-03,
  2.64976939e-05, 3.50975263e-02, 1.09337891e-02, 1.71374144e-03,
 -3.01018143e-03, 3.47673894e-02, 1.08124398e-02, 1.89020134e-03,
  5.39535329e-04,-1.07428291e-03, 0.00000000e+00,-9.05629337e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14659842, -0.0875496 ,  0.11758472, -0.0875496 ,  0.38734341,
        0.17925056,  0.11758472,  0.17925056,  0.28006231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.588198247311274e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25459627,  0.08716548, -0.96311106, -0.0222768 ,  0.99619385,
        0.08427079,  0.96679082,  0.        ,  0.25556901])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06689381, -0.03824056,  0.22676368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.87808573,  3.5387204 , -7.87808573, 14.27180151,
       12.54590858,  3.5387204 , 12.54590858, 36.56672605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013265182419035099
  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([ 0.05312123, -0.10867391,  0.06188233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23858682e-03, 3.18975163e-03, 5.18381860e-04, 1.17205560e-05,
  1.50808949e-06, 7.37699844e-05, 4.08494210e-05,-6.06155291e-05,
 -2.95826596e-05, 3.78726032e-05, 3.37183028e-05, 4.03425871e-05,
  1.58997618e-03, 1.51423474e-03, 6.74581739e-03, 3.23053515e-03,
  7.99923293e-07, 2.12322437e-06,-1.21644051e+00, 1.58355968e-03,
  5.45600417e-04, 3.21492781e-05]


--- Step 1817 ---
qpos:
[-0.01142296, 1.33183503,-0.01858291, 0.94613062, 0.00424332, 1.3321402 ,
 -0.03037232, 0.94352756, 0.01692959, 1.33771809,-0.02353811, 0.95536608,
  1.35061175,-0.00308495, 1.12749567, 0.06269043,-0.00165013,-0.09791728,
  0.08158807, 0.54020472,-0.0108934 ,-0.00556365, 0.84144473]

qacc:
[ 1.37915109e-01, 1.31182734e+00,-1.72998708e-01,-7.82438898e+00,
  5.19057577e-02,-4.23023216e+00, 1.65664572e+01,-3.05167110e+01,
 -9.99928669e-02,-6.97650582e+00, 2.52142425e+01,-4.03796806e+01,
 -2.77754555e-01,-1.80002304e-01, 5.64467113e+00,-1.19558424e+01,
  8.43330979e-01, 1.57372196e+00, 7.71444227e-01, 6.78672324e+01,
  5.98407513e+01, 2.69742979e-01]

qfrc_actuator:
[ 3.72296172e-03, 3.58276864e-02, 1.09931494e-02, 1.72417341e-03,
  4.05217042e-05, 3.50536190e-02, 1.09515824e-02, 1.64145187e-03,
 -3.02163038e-03, 3.47020537e-02, 1.08617785e-02, 1.80418073e-03,
  5.38208816e-04,-1.05812997e-03, 0.00000000e+00,-1.00536309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14655883, -0.09020082,  0.11551321, -0.09020082,  0.57543023,
        0.3348929 ,  0.11551321,  0.3348929 ,  0.40806672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.446399917201933e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54643992e-01,  8.71725803e-02, -9.63097803e-01, -2.22827994e-02,
        9.96193225e-01,  8.42765424e-02,  9.66778110e-01,  3.46944695e-18,
        2.55617069e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06689665, -0.03824434,  0.22676156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013240548743529146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19251138e-14,  4.19251138e-14,  1.00000000e+00,  1.75771516e-27,
        1.00000000e+00, -4.19251138e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19251138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800889, -0.13074697,  0.0618825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19979772e-03, 3.14752947e-03, 5.53279058e-04,-2.18535464e-05,
  1.49168884e-05, 3.03869910e-06, 3.50890448e-05,-7.02744602e-05,
 -2.89165209e-05,-3.66105727e-05, 6.17522399e-05,-8.29709013e-05,
  1.61350363e-03, 1.54734820e-03, 6.58326249e-03, 3.14309282e-03,
  6.27168770e-06, 6.63109020e-07,-1.21644253e+00, 1.58533228e-03,
  5.45965717e-04, 2.55970285e-05]


--- Step 1818 ---
qpos:
[-0.01145288, 1.33179634,-0.01859092, 0.94613011, 0.00424395, 1.33214414,
 -0.03037168, 0.94352379, 0.01692998, 1.33771752,-0.02353844, 0.95536374,
  1.35066427,-0.0031035 , 1.12754823, 0.0626452 ,-0.00165248,-0.09790635,
  0.08158307, 0.54021758,-0.01111914,-0.00534931, 0.84143491]

qacc:
[-2.81373149e-02,-2.38851158e+00, 7.44031311e+00,-4.94360509e+00,
 -2.92030377e-03,-2.59974522e+00, 1.03607759e+01,-2.20330621e+01,
 -8.32245535e-02,-6.68146590e+00, 2.87115992e+01,-6.77816118e+01,
 -1.42062227e-01, 3.84970395e-01,-5.06960758e+00, 1.14681073e+01,
  7.81784415e-01, 1.47193858e+00, 8.81974571e-02, 6.34966212e+01,
  5.59751887e+01, 2.45244859e-01]

qfrc_actuator:
[ 3.69640719e-03, 3.58508830e-02, 1.10164745e-02, 1.72559900e-03,
  3.08563930e-05, 3.50078662e-02, 1.09438967e-02, 1.58221499e-03,
 -3.02858892e-03, 3.46454857e-02, 1.08374458e-02, 1.61096727e-03,
  5.30225798e-04,-1.07606487e-03, 0.00000000e+00,-8.69428393e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14652939, -0.08564601,  0.11889333, -0.08564601,  0.19715361,
        0.03646767,  0.11889333,  0.03646767,  0.17279925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.339376300310966e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25468991,  0.08717962, -0.96308502, -0.02228863,  0.99619261,
        0.08428228,  0.96676588,  0.        ,  0.25566332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06689974, -0.03824809,  0.22675948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001327126464690867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18280795e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.18280795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800566, -0.13074178,  0.06188221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15697301e-03, 3.07925591e-03, 5.75341826e-04, 9.06342115e-06,
 -8.60822676e-07,-3.93540774e-05,-5.16824873e-06,-5.97427256e-05,
 -2.40349889e-05,-6.72083408e-05,-2.68895169e-05,-1.94420800e-04,
  1.63554796e-03, 1.55672820e-03, 6.40138079e-03, 3.28380261e-03,
  1.93789280e-07, 9.21019635e-08,-1.21644257e+00, 1.58673008e-03,
  5.45320018e-04, 2.68206909e-05]


--- Step 1819 ---
qpos:
[-0.01148301, 1.33175624,-0.01859805, 0.94612905, 0.00424452, 1.33214813,
 -0.03037186, 0.94352005, 0.01693035, 1.33771679,-0.02353952, 0.95536015,
  1.35071671,-0.00312139, 1.1275931 , 0.0626006 ,-0.00165191,-0.09788988,
  0.08157614, 0.54023186,-0.01136901,-0.00497719, 0.84142469]

qacc:
[-9.23251669e-02,-5.17409686e+00, 1.57588703e+01,-1.91782474e+01,
 -2.28739852e-02, 2.32217463e+00,-7.57825537e+00, 6.89154966e+00,
 -2.31266855e-03,-3.66174099e-01, 3.44447489e+00,-1.72444312e+01,
 -1.05185240e-01, 5.46006056e-01,-1.32334241e+01, 2.98368823e+01,
  7.30790869e-01, 1.38754696e+00,-4.86121602e-01, 5.98705474e+01,
  5.27725396e+01, 2.39479186e-01]

qfrc_actuator:
[ 3.74573751e-03, 3.58980627e-02, 1.10508605e-02, 1.69107537e-03,
  2.48105003e-05, 3.50145189e-02, 1.09034643e-02, 1.58437087e-03,
 -3.01504586e-03, 3.46475052e-02, 1.08052876e-02, 1.55147828e-03,
  5.18224081e-04,-1.06185609e-03, 0.00000000e+00,-6.10152285e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14649625, -0.08189744,  0.12146588, -0.08189744,  0.16112245,
        0.00986161,  0.12146588,  0.00986161,  0.15314536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.217148594748258e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54734976e-01,  8.71866868e-02, -9.63072465e-01, -2.22943959e-02,
        9.96191990e-01,  8.42880672e-02,  9.66753873e-01,  3.46944695e-18,
        2.55708718e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0669026 , -0.03825181,  0.22675743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013151705590477986
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22083287e-14,  4.22083287e-14,  1.00000000e+00,  1.78154301e-27,
        1.00000000e+00, -4.22083287e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22083287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0280205 , -0.13075915,  0.06188318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20966871e-03, 3.12952757e-03, 5.62769288e-04,-3.21039760e-05,
 -6.55516046e-06,-1.79590437e-05,-5.04818454e-05,-5.62937477e-07,
 -6.51159199e-07,-4.61535520e-05,-5.40288595e-05,-6.67960538e-05,
  1.62774186e-03, 1.55438907e-03, 6.54720263e-03, 3.53057673e-03,
 -1.62844115e-06, 8.08803603e-06,-1.21644548e+00, 1.58827764e-03,
  5.44150305e-04, 3.75919948e-05]


--- Step 1820 ---
qpos:
[-0.01151283, 1.33171573,-0.01860454, 0.94612786, 0.00424518, 1.33215187,
 -0.03037254, 0.94351809, 0.01693079, 1.33771584,-0.02353965, 0.95535683,
  1.35076881,-0.00313899, 1.12763504, 0.0625566 ,-0.00165548,-0.09787989,
  0.08157159, 0.54025016,-0.01159128,-0.00480565, 0.8414109 ]

qacc:
[ 1.29811033e-01,-2.48224424e+00, 7.72809156e+00,-8.06702313e+00,
  3.48434768e-02, 4.08905670e+00,-1.74041653e+01, 3.60061803e+01,
  2.64771450e-02,-2.37071049e+00, 6.83530297e+00,-2.70739984e+00,
 -2.77631601e-01, 4.48993295e-01,-6.11146536e+00, 1.51291564e+01,
 -1.03425177e+00,-1.62117608e+00, 5.97298294e-01,-7.69197590e+01,
 -6.57608270e+01,-3.86639118e+00]

qfrc_actuator:
[ 3.82302463e-03, 3.59432559e-02, 1.11093228e-02, 1.68886334e-03,
  3.87383844e-05, 3.49991423e-02, 1.08797718e-02, 1.67590662e-03,
 -3.00706725e-03, 3.46846109e-02, 1.08756281e-02, 1.57122442e-03,
  5.14465946e-04,-1.02882000e-03, 0.00000000e+00,-5.43642976e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14644987, -0.08299116,  0.12066495, -0.08299116,  0.18649857,
        0.02754477,  0.12066495,  0.02754477,  0.16539466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.042921386863452e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54780554e-01,  8.71938068e-02, -9.63059764e-01, -2.23002198e-02,
        9.96191367e-01,  8.42938915e-02,  9.66741728e-01, -3.46944695e-18,
        2.55754630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06690489, -0.03825545,  0.22675541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001322287442397596
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.09905764e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.09905764e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03055958, -0.05972618,  0.06188255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29791123e-03, 3.24552724e-03, 5.77430211e-04,-7.17060459e-06,
  1.00583592e-05,-3.52371094e-05,-3.29768110e-05, 8.95023461e-05,
  7.59272155e-06,-9.43876619e-07, 5.32304499e-05, 1.52361938e-05,
  1.62825040e-03, 1.55467513e-03, 6.93053366e-03, 3.56548546e-03,
  7.61473630e-08, 2.31713108e-05,-1.21645081e+00, 1.58992996e-03,
  5.42534062e-04, 5.62946668e-05]


--- Step 1821 ---
qpos:
[-0.01154191, 1.33167612,-0.01861102, 0.94612725, 0.0042458 , 1.33215493,
 -0.03037271, 0.94351655, 0.0169313 , 1.33771574,-0.02353945, 0.95535475,
  1.3508208 ,-0.00315658, 1.12767815, 0.06251283,-0.00166283,-0.09787597,
  0.08156648, 0.5402725 ,-0.01178821,-0.00482021, 0.84139374]

qacc:
[ 3.18036460e-01, 2.12884079e+00,-6.72074965e+00, 1.20822530e+01,
 -1.29556023e-02,-1.56531592e+00, 3.17997480e+00, 2.40966964e+00,
  3.13274824e-02, 2.34936660e+00,-8.77367174e+00, 2.12602979e+01,
 -1.39341959e-01, 1.65754906e-01, 1.06394555e+00,-1.17556053e+00,
 -9.47010732e-01,-1.51820587e+00,-1.39349025e-01,-7.14307800e+01,
 -6.09010178e+01,-3.75080415e+00]

qfrc_actuator:
[ 3.86339058e-03, 3.59868216e-02, 1.11288686e-02, 1.72360035e-03,
  2.90305786e-05, 3.49530575e-02, 1.09016331e-02, 1.69503043e-03,
 -3.00249268e-03, 3.47961544e-02, 1.09173232e-02, 1.63749707e-03,
  5.26331014e-04,-1.01988156e-03, 0.00000000e+00,-5.93011018e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14640005, -0.0842232 ,  0.11974735, -0.0842232 ,  0.22861565,
        0.05782558,  0.11974735,  0.05782558,  0.18707114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.851365961999285e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54825920e-01,  8.72008541e-02, -9.63047123e-01, -2.23060070e-02,
        9.96190750e-01,  8.42996501e-02,  9.66729638e-01, -3.46944695e-18,
        2.55800327e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06690699, -0.03825902,  0.22675343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.51466815,  -5.6697333 ,  -6.51466815,
        22.30717124, -15.70810657,  -5.6697333 , -15.70810657,
        26.68537866,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341768331163458
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27432724e-14,  4.13716362e-14,  1.00000000e+00,  3.42322456e-27,
        1.00000000e+00, -4.13716362e-14, -1.00000000e+00,  0.00000000e+00,
       -8.27432724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0305343 , -0.05976094,  0.0618809 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32299370e-03, 3.30990813e-03, 5.65498188e-04, 3.42987958e-05,
 -3.77268648e-06,-6.93652257e-05, 1.38335741e-05, 1.91734723e-05,
  9.05763888e-06, 1.21869933e-04, 4.80021562e-05, 6.81504987e-05,
  1.65682305e-03, 1.54967842e-03, 7.07659240e-03, 3.48629465e-03,
 -1.42366403e-06, 5.31744290e-06,-1.21644487e+00, 1.58883938e-03,
  5.43693397e-04, 3.60369765e-05]


--- Step 1822 ---
qpos:
[-0.01157043, 1.33163686,-0.01861771, 0.94612712, 0.00424651, 1.33215757,
 -0.03037268, 0.94351489, 0.01693202, 1.33771667,-0.02353996, 0.95535316,
  1.35087298,-0.00317388, 1.12771954, 0.06246928,-0.00167368,-0.09787778,
  0.08155834, 0.54029881,-0.01196166,-0.00500884, 0.8413733 ]

qacc:
[ 2.35254942e-01, 1.90005884e+00,-6.61265686e+00, 1.10964409e+01,
  3.29423326e-02,-1.29601144e+00, 3.80902586e+00,-4.35340760e+00,
  8.85439993e-02, 4.13624757e+00,-1.28829742e+01, 1.63496157e+01,
  4.52380473e-02, 1.86622622e-01,-3.22864864e+00, 7.60036342e+00,
 -8.74915261e-01,-1.43182428e+00,-7.59999341e-01,-6.68701355e+01,
 -5.68711546e+01,-3.63678530e+00]

qfrc_actuator:
[ 3.88103640e-03, 3.60282704e-02, 1.11076659e-02, 1.74433431e-03,
  4.07269692e-05, 3.49423475e-02, 1.09145167e-02, 1.68912498e-03,
 -2.98224470e-03, 3.48270952e-02, 1.08710485e-02, 1.65960432e-03,
  5.31583698e-04,-1.02524819e-03, 0.00000000e+00,-5.16494420e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14635499, -0.08222136,  0.12107614, -0.08222136,  0.19601374,
        0.03372266,  0.12107614,  0.03372266,  0.16925565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.6738703127327e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2548704 ,  0.08720772, -0.96303473, -0.02231167,  0.99619015,
        0.08430526,  0.96671778,  0.        ,  0.25584513])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06690916, -0.03826262,  0.22675145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.50483841,  -5.6810082 ,  -6.50483841,
        24.60286156, -18.28187626,  -5.6810082 , -18.28187626,
        29.56938233,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001342598352094937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13460594e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.13460594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03053441, -0.05976445,  0.0618808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30310914e-03, 3.30695007e-03, 5.43131457e-04, 2.56857177e-05,
  9.46710822e-06,-4.58232958e-05, 1.44483528e-06,-7.13932787e-06,
  2.56005760e-05, 1.09722779e-04,-1.50301443e-05, 2.87041320e-05,
  1.66713224e-03, 1.54379073e-03, 7.01713490e-03, 3.55151097e-03,
  2.04877069e-06,-6.46348251e-07,-1.21644277e+00, 1.58742126e-03,
  5.44872166e-04, 2.86131357e-05]


--- Step 1823 ---
qpos:
[-0.01159826, 1.33159872,-0.01862448, 0.94612613, 0.00424731, 1.33216022,
 -0.03037325, 0.94351353, 0.01693267, 1.33771803,-0.02354072, 0.95535051,
  1.35092509,-0.0031916 , 1.12776238, 0.06242609,-0.0016827 ,-0.09788524,
  0.0815589 , 0.54032734,-0.01201974,-0.00528726, 0.84135244]

qacc:
[ 2.88749289e-01, 1.58846459e-01, 3.02472262e+00,-1.33339904e+01,
  4.25267940e-02, 2.13710752e+00,-7.56966277e+00, 9.96472856e+00,
 -3.00489430e-02,-6.39712613e-01, 4.91272724e+00,-1.68951756e+01,
  1.93497679e-01,-5.61480669e-01, 1.04341933e+00,-5.88511467e-01,
  4.59160173e-01,-1.41169852e+00, 2.17575008e+00,-6.59689772e+00,
 -7.27853721e+01,-1.87068170e+00]

qfrc_actuator:
[ 3.92045042e-03, 3.60686306e-02, 1.11155079e-02, 1.70328043e-03,
  4.74171040e-05, 3.49528618e-02, 1.08866024e-02, 1.70406491e-03,
 -3.00601571e-03, 3.48091687e-02, 1.08439153e-02, 1.60218850e-03,
  5.16869415e-04,-1.03946987e-03, 0.00000000e+00,-5.59818118e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14630916, -0.08416118,  0.11967985, -0.08416118,  0.29445614,
        0.10417981,  0.11967985,  0.10417981,  0.21957041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.488925304894103e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25491475,  0.08721446, -0.96302238, -0.02231729,  0.99618956,
        0.08431073,  0.96670596,  0.        ,  0.2558898 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0669112 , -0.03826623,  0.2267495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013314644141753026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66767210e-13,  2.08459012e-14,  1.00000000e+00, -3.47641277e-27,
        1.00000000e+00, -2.08459012e-14, -1.00000000e+00,  0.00000000e+00,
        1.66767210e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00629428, -0.07667274,  0.06188169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31476583e-03, 3.32985324e-03, 5.62089195e-04,-3.94082914e-05,
  1.22761874e-05,-1.47875015e-05,-3.69289902e-05, 1.34402042e-05,
 -8.64964128e-06, 4.06566232e-05,-6.57748770e-06,-5.39399738e-05,
  1.64310970e-03, 1.51579384e-03, 7.10257985e-03, 3.49679891e-03,
  9.55012095e-06, 3.00398108e-06,-1.21644378e+00, 1.58569569e-03,
  5.46112118e-04, 3.15377297e-05]


--- Step 1824 ---
qpos:
[-0.01162581, 1.33156217,-0.01863123, 0.94612392, 0.00424806, 1.33216275,
 -0.03037409, 0.94351131, 0.01693287, 1.33771889,-0.02354029, 0.95534788,
  1.3509764 ,-0.00320988, 1.12780844, 0.06238322,-0.00168798,-0.09788668,
  0.08156301, 0.54035627,-0.01210712,-0.00538428, 0.841332  ]

qacc:
[ 1.22484898e-01,-9.52335890e-02, 5.28040790e+00,-1.97021583e+01,
 -2.38735181e-02,-8.94659783e-01, 4.46705304e+00,-1.36773616e+01,
 -1.90809066e-01,-3.78187857e+00, 1.15036956e+01,-9.32761676e+00,
 -3.75484796e-01,-1.30296469e-01, 3.82993324e+00,-6.43313670e+00,
  9.33913689e-01, 1.50519583e+00, 8.90218069e-01, 6.83996679e+01,
  6.13312948e+01, 1.10635309e+00]

qfrc_actuator:
[ 3.93707154e-03, 3.61074222e-02, 1.11229579e-02, 1.64405845e-03,
  3.32968052e-05, 3.49403547e-02, 1.08704446e-02, 1.66014076e-03,
 -3.05600146e-03, 3.47621143e-02, 1.08990942e-02, 1.60495127e-03,
  5.00842971e-04,-1.00515581e-03, 0.00000000e+00,-6.39759995e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14626871, -0.08781987,  0.11697095, -0.08781987,  0.42380013,
        0.20836604,  0.11697095,  0.20836604,  0.30270651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.321689394733377e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54958073e-01,  8.72210282e-02, -9.63010318e-01, -2.23227777e-02,
        9.96188984e-01,  8.43160800e-02,  9.66694406e-01, -3.46944695e-18,
        2.55933439e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06691334, -0.03826983,  0.22674758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013424597822662976
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06751636e-14,  4.13503272e-14,  1.00000000e+00,  8.54924779e-28,
        1.00000000e+00, -4.13503272e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06751636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02799659, -0.13070851,  0.06188078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29731562e-03, 3.31250927e-03, 5.72920494e-04,-5.54818777e-05,
 -6.87516149e-06,-2.75269276e-05,-2.28633491e-05,-4.51392982e-05,
 -5.50906788e-05,-2.74657124e-05, 6.07884144e-05, 2.51579417e-06,
  1.63062665e-03, 1.57155518e-03, 7.02943834e-03, 3.39904819e-03,
  9.51563301e-06, 1.03126657e-05,-1.21644377e+00, 1.58293090e-03,
  5.46079352e-04, 4.36261300e-05]


--- Step 1825 ---
qpos:
[-0.01165354, 1.33152552,-0.0186374 , 0.94612147, 0.00424855, 1.33216508,
 -0.0303746 , 0.9435096 , 0.01693271, 1.33771942,-0.02353944, 0.95534499,
  1.35102707,-0.00322781, 1.12785264, 0.06234086,-0.00168984,-0.09788244,
  0.08156789, 0.54038583,-0.01222162,-0.00531191, 0.84131182]

qacc:
[-0.07827387,-2.0738492 , 7.10900546,-8.82590021,-0.1059881 ,-0.2863259 ,
 -0.3919775 , 6.26230477,-0.15447547,-2.02433687, 6.60092364,-8.56771995,
 -0.61608044, 0.8476499 ,-4.27584475,11.05830327, 0.85403552, 1.41836127,
  0.18824397,63.93311549,57.17751633, 0.90891987]

qfrc_actuator:
[ 3.92238406e-03, 3.61088730e-02, 1.11301197e-02, 1.62789587e-03,
  6.80694913e-06, 3.49496720e-02, 1.08967545e-02, 1.68844171e-03,
 -3.06804953e-03, 3.47338256e-02, 1.09135675e-02, 1.58988911e-03,
  4.94749374e-04,-9.76919871e-04, 0.00000000e+00,-5.28742812e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1462366 , -0.08560867,  0.11855926, -0.08560867,  0.19795032,
        0.03734118,  0.11855926,  0.03734118,  0.17319973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.186148633781322e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54999866e-01,  8.72275472e-02, -9.62998662e-01, -2.23281184e-02,
        9.96188413e-01,  8.43214096e-02,  9.66683259e-01, -3.46944695e-18,
        2.55975539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06691574, -0.03827338,  0.22674568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.53224923,   6.63181689,   5.53224923,
        27.95698526, -16.11722639,   6.63181689, -16.11722639,
        22.08132371,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001347848705867842
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14812521e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.14812521e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.027993  , -0.13069909,  0.06188035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26818238e-03, 3.23565946e-03, 5.79475437e-04,-1.06632491e-05,
 -3.05485044e-05,-1.17605572e-05, 1.69941392e-05, 2.57555616e-05,
 -4.45789103e-05,-3.15433683e-05, 1.60865381e-05,-1.40401199e-05,
  1.66473762e-03, 1.62811789e-03, 6.86726192e-03, 3.49427612e-03,
  2.57709567e-06, 1.03547024e-06,-1.21644117e+00, 1.58561001e-03,
  5.45064048e-04, 3.43179960e-05]


--- Step 1826 ---
qpos:
[-0.011681  , 1.33148925,-0.01864344, 0.94611953, 0.00424892, 1.33216702,
 -0.03037472, 0.94350894, 0.01693242, 1.33772015,-0.02353861, 0.95534157,
  1.35107764,-0.00324548, 1.12789703, 0.0622988 ,-0.00168855,-0.09787282,
  0.08157115, 0.54041612,-0.01236146,-0.0050801 , 0.84129175]

qacc:
[ 1.17052661e-01, 9.91124846e-01,-3.67536439e+00, 8.76268397e+00,
 -5.62295025e-02, 2.55145267e-01,-3.63118018e+00, 1.56709417e+01,
 -5.38089898e-02,-6.28247221e-01, 3.41901949e+00,-9.16714373e+00,
 -2.60814723e-01, 4.91697879e-01,-5.73006745e-01, 2.47909183e+00,
  7.88701092e-01, 1.34588507e+00,-4.01531436e-01, 6.02271727e+01,
  5.37421351e+01, 7.64122547e-01]

qfrc_actuator:
[ 3.92477538e-03, 3.61066959e-02, 1.11365379e-02, 1.65481979e-03,
  8.61717610e-06, 3.49189354e-02, 1.09125448e-02, 1.74131369e-03,
 -3.05724059e-03, 3.47700999e-02, 1.09216636e-02, 1.56441490e-03,
  4.89303173e-04,-9.88521099e-04, 0.00000000e+00,-5.34264279e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14620305, -0.08498559,  0.11896546, -0.08498559,  0.20669963,
        0.04321706,  0.11896546,  0.04321706,  0.17707611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.041659257728608e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25504118,  0.08723412, -0.96298713, -0.02233343,  0.99618784,
        0.0843268 ,  0.96667224,  0.        ,  0.25601716])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06691801, -0.03827686,  0.2267438 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.61581576,   6.56120341,   5.61581576,
        31.05001034, -19.18411951,   6.56120341, -19.18411951,
        25.05629058,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013376405321202378
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55622390e-14,  4.14993041e-14,  1.00000000e+00,  6.45822091e-28,
        1.00000000e+00, -4.14993041e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55622390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02800779, -0.13071346,  0.06188123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27984990e-03, 3.23781407e-03, 5.57009200e-04, 2.77336066e-05,
 -1.62206558e-05,-3.31626517e-05, 1.61744408e-05, 5.36140183e-05,
 -1.55149160e-05, 2.15468500e-05, 3.34819474e-06,-2.62664363e-05,
  1.69086450e-03, 1.59939805e-03, 6.95984693e-03, 3.46277855e-03,
 -3.04221337e-08, 1.15509299e-06,-1.21644168e+00, 1.58816468e-03,
  5.43659173e-04, 3.55197375e-05]


--- Step 1827 ---
qpos:
[-0.01170804, 1.33145276,-0.01864955, 0.94611902, 0.00424936, 1.33216841,
 -0.03037478, 0.94350826, 0.01693181, 1.33772117,-0.0235381 , 0.95533926,
  1.35112858,-0.00326247, 1.12793869, 0.06225694,-0.00168213,-0.09786638,
  0.08157813, 0.54044501,-0.01234265,-0.00483993, 0.84127488]

qacc:
[ 1.73238887e-01, 2.42978115e+00,-1.11629467e+01, 2.64457555e+01,
  3.20029462e-02,-9.41949511e-01, 2.22312046e+00,-1.79899087e+00,
 -1.31823412e-01, 3.19747102e+00,-1.21848115e+01, 2.31665739e+01,
 -4.09386793e-02, 6.17648281e-01,-4.66851998e+00, 1.04902006e+01,
  1.28353747e+00,-7.94501986e-01, 9.28348860e-01, 4.63869943e+01,
 -6.45061282e+01, 1.10067994e+00]

qfrc_actuator:
[ 3.93702652e-03, 3.61374359e-02, 1.11249728e-02, 1.72470985e-03,
  2.73901512e-05, 3.48644462e-02, 1.09040851e-02, 1.73716004e-03,
 -3.08606732e-03, 3.47914573e-02, 1.09084401e-02, 1.62182543e-03,
  4.84220346e-04,-1.00632694e-03, 0.00000000e+00,-4.32164685e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14617126, -0.08164526,  0.12124392, -0.08164526,  0.16584122,
        0.01324569,  0.12124392,  0.01324569,  0.15509086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.901885557895893e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55082009e-01,  8.72406319e-02, -9.62975722e-01, -2.23386871e-02,
        9.96187268e-01,  8.43321463e-02,  9.66661343e-01,  3.46944695e-18,
        2.56058291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692029, -0.03828037,  0.22674193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013321909965434559
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16690635e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.16690635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03275228, -0.08894959,  0.0618817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27830344e-03, 3.25068819e-03, 5.38912516e-04, 7.25639345e-05,
  9.19780992e-06,-6.80732450e-05,-1.15373001e-05,-3.43203590e-06,
 -3.79863994e-05, 3.31370752e-05,-9.41026193e-06, 5.75326469e-05,
  1.69079074e-03, 1.56872971e-03, 6.94928877e-03, 3.55017460e-03,
  9.52911831e-07, 9.00646645e-06,-1.21644475e+00, 1.59064030e-03,
  5.41899081e-04, 4.53963244e-05]


--- Step 1828 ---
qpos:
[-0.01173473, 1.33141499,-0.01865584, 0.9461198 , 0.00424949, 1.33216925,
 -0.03037471, 0.94350926, 0.01693074, 1.33772266,-0.02353907, 0.95533977,
  1.35118008,-0.00327864, 1.12797479, 0.06221557,-0.00167429,-0.09786508,
  0.0815923 , 0.5404758 ,-0.0122108 ,-0.00468721, 0.84125789]

qacc:
[  0.15393341,  1.02542574, -8.00821339, 22.69905763, -0.12765918,
   1.8128951 ,-10.21647727, 28.65971537, -0.19814235,  9.47037973,
 -35.81606984, 63.28598626,  0.16192658,  0.51709743, -9.64983032,
  21.83339313,  0.35296643, -1.28454949,  1.7984083 , -6.22880231,
 -71.17215511, -1.64430708]

qfrc_actuator:
[ 3.97270293e-03, 3.61350886e-02, 1.11027708e-02, 1.78374074e-03,
 -1.48249273e-05, 3.48492892e-02, 1.09167477e-02, 1.82371350e-03,
 -3.12068793e-03, 3.48036825e-02, 1.08294912e-02, 1.76304564e-03,
  4.84643027e-04,-1.01061449e-03, 0.00000000e+00,-2.47776486e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14613627, -0.07841055,  0.12331908, -0.07841055,  0.14578227,
       -0.00022508,  0.12331908, -0.00022508,  0.14599315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.744661248153302e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25512311,  0.08724704, -0.96296425, -0.02234394,  0.99618671,
        0.08433738,  0.96665037,  0.        ,  0.25609969])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692236, -0.03828392,  0.22674007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013294932655227923
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.21920200e-15,  2.08768080e-14,  1.00000000e+00,  1.08960278e-28,
        1.00000000e+00, -2.08768080e-14, -1.00000000e+00,  0.00000000e+00,
       -5.21920200e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00628684, -0.0766704 ,  0.06188196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29354767e-03, 3.25874478e-03, 5.20465279e-04, 5.98545831e-05,
 -3.67887463e-05,-5.51852847e-05,-2.07045985e-06, 8.40893466e-05,
 -5.70493660e-05, 3.04031891e-05,-7.18688135e-05, 1.43264491e-04,
  1.67291069e-03, 1.53127531e-03, 7.08544670e-03, 3.72390488e-03,
  6.39427537e-06, 7.66721801e-06,-1.21644298e+00, 1.58714965e-03,
  5.41072580e-04, 4.39790012e-05]


--- Step 1829 ---
qpos:
[-0.0117609 , 1.33137631,-0.01866321, 0.94612164, 0.00424925, 1.33217026,
 -0.03037509, 0.94351195, 0.01692938, 1.33772372,-0.02353978, 0.95534196,
  1.35123213,-0.00329411, 1.12800631, 0.06217459,-0.00167015,-0.09786927,
  0.08160349, 0.54050983,-0.01205467,-0.00470938, 0.84123815]

qacc:
[  0.21533452,  3.57763506,-15.28597199, 26.19534756, -0.16298513,
   4.29856199,-17.23943396, 34.42347429, -0.12477133,  1.59055462,
  -9.26086209, 27.63907859,  0.19289969,  0.37784137, -7.94788006,
  17.96316631, -0.92375511, -1.37376061, -0.74576123,-66.99040161,
 -57.44852236, -3.23408657]

qfrc_actuator:
[ 4.02231662e-03, 3.61673145e-02, 1.10565654e-02, 1.83582696e-03,
 -4.00282255e-05, 3.48934358e-02, 1.09064869e-02, 1.90974453e-03,
 -3.12299904e-03, 3.47568822e-02, 1.08366542e-02, 1.84587907e-03,
  4.88337854e-04,-1.00722121e-03, 0.00000000e+00,-1.20882586e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14609323, -0.07692919,  0.12419795, -0.07692919,  0.15279924,
        0.00415375,  0.12419795,  0.00415375,  0.1486661 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.545979651143355e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55165628e-01,  8.72533377e-02, -9.62952417e-01, -2.23492895e-02,
        9.96186155e-01,  8.43424815e-02,  9.66639028e-01, -3.46944695e-18,
        2.56142516e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692402, -0.03828749,  0.22673822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.25490674,  2.53836394,  8.25490674,  8.80202264,
       -0.5387327 ,  2.53836394, -0.5387327 , 10.38835362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013246166774192603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25721997e-13,  4.19073323e-14,  1.00000000e+00,  5.26867349e-27,
        1.00000000e+00, -4.19073323e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25721997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03058022, -0.05975049,  0.06188244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32501744e-03, 3.35571706e-03, 4.83101708e-04, 4.74130340e-05,
 -4.69190607e-05, 1.57359739e-05,-1.88257882e-05, 8.62629262e-05,
 -3.59968722e-05,-3.97907155e-05, 9.12471350e-06, 8.49675943e-05,
  1.64828765e-03, 1.49337596e-03, 7.36271706e-03, 3.82683386e-03,
  6.18638016e-06, 1.56101190e-06,-1.21644136e+00, 1.58408743e-03,
  5.41449566e-04, 3.41410676e-05]


--- Step 1830 ---
qpos:
[-0.01178674, 1.33133686,-0.01867114, 0.9461237 , 0.0042488 , 1.33217185,
 -0.03037598, 0.94351319, 0.01692798, 1.33772451,-0.02354038, 0.95534443,
  1.35128453,-0.00330915, 1.12803346, 0.06213438,-0.00166943,-0.09787872,
  0.08160962, 0.54054717,-0.01187592,-0.00489637, 0.84121563]

qacc:
[ 1.39624161e-01, 8.80165109e-01,-4.53371661e+00, 6.99996358e+00,
 -8.59669113e-02,-3.17045136e-01, 4.92295076e+00,-2.13629406e+01,
 -1.44158245e-02,-1.47750216e-01,-4.90008398e-01, 3.78970388e+00,
  2.43058537e-01, 6.67187312e-02,-8.78826714e+00, 2.13363550e+01,
 -8.55714788e-01,-1.31551070e+00,-1.26524563e+00,-6.32015329e+01,
 -5.40354188e+01,-3.18766378e+00]

qfrc_actuator:
[ 4.06224935e-03, 3.62381797e-02, 1.10501947e-02, 1.84795275e-03,
 -3.70681648e-05, 3.49371754e-02, 1.08829959e-02, 1.83500790e-03,
 -3.10591000e-03, 3.47463994e-02, 1.08410729e-02, 1.85819073e-03,
  4.88651376e-04,-9.99412444e-04, 0.00000000e+00, 2.46691633e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1460443 , -0.07612177,  0.12463713, -0.07612177,  0.15896766,
        0.00789291,  0.12463713,  0.00789291,  0.15086487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.312383479727124e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25521008,  0.08725949, -0.96294008, -0.02235477,  0.99618562,
        0.08434739,  0.96662717,  0.        ,  0.25618728])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692536, -0.0382911 ,  0.22673637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.9073285 ,  -5.18416722,  -6.9073285 ,
        16.51706775, -10.50016518,  -5.18416722, -10.50016518,
        22.62667049,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013132138145356964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22712209e-14,  8.45424418e-14,  1.00000000e+00,  3.57371223e-27,
        1.00000000e+00, -8.45424418e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22712209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03059936, -0.05973312,  0.06188345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33953981e-03, 3.47269239e-03, 5.30998286e-04, 6.37671690e-06,
 -2.47322758e-05, 5.13513691e-05,-2.00223097e-05,-7.28110486e-05,
 -4.16825432e-06,-2.81935522e-05, 1.74010521e-07, 1.33819288e-05,
  1.62115385e-03, 1.46687742e-03, 7.59131462e-03, 3.95285198e-03,
  3.04605928e-07,-3.13945187e-07,-1.21644015e+00, 1.58142280e-03,
  5.42871765e-04, 3.24069380e-05]


--- Step 1831 ---
qpos:
[-0.01181229, 1.33129799,-0.01867936, 0.94612472, 0.00424825, 1.33217358,
 -0.03037667, 0.94351216, 0.0169265 , 1.33772611,-0.02354222, 0.95534701,
  1.35133669,-0.00332443, 1.12806053, 0.06209509,-0.00167191,-0.09789324,
  0.08160894, 0.54058779,-0.0116759 ,-0.00523985, 0.84119026]

qacc:
[ 1.26178480e-01,-2.62382230e-01, 3.89371137e+00,-1.58149098e+01,
 -4.34021915e-02,-4.25309711e+00, 1.87964976e+01,-4.28864167e+01,
 -3.27967000e-02, 4.62568869e+00,-1.40038289e+01, 1.28385554e+01,
  4.39223621e-02,-2.91289551e-01,-2.87946038e+00, 9.89496674e+00,
 -7.99817087e-01,-1.26602490e+00,-1.70203111e+00,-6.00582115e+01,
 -5.12158354e+01,-3.12834664e+00]

qfrc_actuator:
[ 4.09634900e-03, 3.63146897e-02, 1.10676277e-02, 1.80101226e-03,
 -3.49907035e-05, 3.49269295e-02, 1.08873175e-02, 1.71952227e-03,
 -3.11282891e-03, 3.48287134e-02, 1.07906424e-02, 1.86442340e-03,
  4.70956925e-04,-9.88962558e-04, 0.00000000e+00, 3.88594264e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14599118, -0.07825629,  0.12324519, -0.07825629,  0.21436113,
        0.04341248,  0.12324519,  0.04341248,  0.17355655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0483727907539864e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55255808e-01,  8.72655429e-02, -9.62927410e-01, -2.23603394e-02,
        9.96185086e-01,  8.43521796e-02,  9.66614964e-01, -3.46944695e-18,
        2.56233316e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0669264 , -0.0382947 ,  0.22673454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.92146111,  -5.16528344,  -6.92146111,
        18.31987675, -12.97587251,  -5.16528344, -12.97587251,
        26.02398581,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001289868630123689
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.30362829e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.30362829e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03063421, -0.05969592,  0.06188543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35717859e-03, 3.58768517e-03, 5.76164676e-04,-5.17263699e-05,
 -1.25179110e-05, 1.20456979e-05, 9.95442489e-06,-1.16213755e-04,
 -9.38109977e-06, 6.71514755e-05,-5.55217467e-05, 5.71826110e-06,
  1.58596864e-03, 1.45645119e-03, 7.80941615e-03, 3.92858881e-03,
 -1.45709854e-06, 6.16150686e-06,-1.21644167e+00, 1.57857836e-03,
  5.44306646e-04, 3.95413089e-05]


--- Step 1832 ---
qpos:
[-0.01183712, 1.33126154,-0.01868759, 0.94612499, 0.00424779, 1.33217523,
 -0.03037697, 0.94351044, 0.01692481, 1.33772797,-0.02354364, 0.95534856,
  1.35138816,-0.00334053, 1.12809327, 0.06205644,-0.00167042,-0.09790186,
  0.081612  , 0.54062814,-0.01150599,-0.0054005 , 0.84116565]

qacc:
[ 3.02173749e-01, 1.90151768e+00,-8.36201864e-01,-9.49065511e+00,
  4.13636068e-02,-2.31247357e+00, 8.81544779e+00,-1.54422268e+01,
 -9.28868520e-02,-2.59376798e+00, 1.09169325e+01,-2.13823763e+01,
 -2.13181116e-01,-4.80886881e-01, 6.41821025e+00,-1.02754692e+01,
  9.93572034e-01, 1.47283845e+00, 9.36410043e-01, 6.87632020e+01,
  6.20803882e+01, 1.46026816e+00]

qfrc_actuator:
[ 4.14460122e-03, 3.63935480e-02, 1.10993028e-02, 1.77306580e-03,
 -1.57092047e-05, 3.49200074e-02, 1.09078214e-02, 1.68752156e-03,
 -3.13409616e-03, 3.48414667e-02, 1.08151311e-02, 1.81381316e-03,
  4.58475098e-04,-9.76441376e-04, 0.00000000e+00,-1.14983063e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14594144, -0.08263251,  0.12029453, -0.08263251,  0.36688974,
        0.15177343,  0.12029453,  0.15177343,  0.25019739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.790162826961598e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25530126,  0.08727153, -0.96291482, -0.02236587,  0.99618456,
        0.08435691,  0.96660283,  0.        ,  0.25627907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692746, -0.03829826,  0.22673272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012852529858638634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61965636e-14,  8.63816725e-14,  1.00000000e+00,  1.39908625e-27,
        1.00000000e+00, -8.63816725e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61965636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02809154, -0.130785  ,  0.06188582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39055422e-03, 3.63781729e-03, 6.22491680e-04,-2.76016920e-05,
  1.18939966e-05,-1.81894076e-06, 2.05824945e-05,-3.40406038e-05,
 -2.68037416e-05, 3.92075452e-05, 3.14635996e-05,-5.01095060e-05,
  1.58524271e-03, 1.48092012e-03, 7.81269815e-03, 3.72905056e-03,
  2.79424817e-07, 1.97127132e-05,-1.21644547e+00, 1.57555165e-03,
  5.45788725e-04, 5.41596173e-05]


--- Step 1833 ---
qpos:
[-0.01186141, 1.33122687,-0.01869467, 0.94612525, 0.00424764, 1.33217732,
 -0.03037758, 0.94350973, 0.01692317, 1.33772997,-0.02354442, 0.95534984,
  1.35143855,-0.00335706, 1.12812923, 0.06201858,-0.00166532,-0.09790491,
  0.081616  , 0.54066865,-0.0113638 ,-0.00539048, 0.84114162]

qacc:
[ 2.30858550e-01,-7.77579994e-01, 5.34657725e+00,-5.76361528e+00,
  1.26473287e-01, 3.11987757e+00,-1.15464480e+01, 2.13558904e+01,
  2.68821373e-02,-1.99701997e+00, 7.27648605e+00,-9.53861804e+00,
 -6.36254102e-01, 2.08351424e-01, 2.41146430e+00,-1.44838827e+00,
  9.02336075e-01, 1.39418000e+00, 2.32386442e-01, 6.42875848e+01,
  5.77847013e+01, 1.14783648e+00]

qfrc_actuator:
[ 4.20080997e-03, 3.64539880e-02, 1.11571113e-02, 1.77439658e-03,
  1.37356741e-05, 3.49684971e-02, 1.09022560e-02, 1.74042297e-03,
 -3.11054110e-03, 3.48482199e-02, 1.08478822e-02, 1.80119086e-03,
  4.54496683e-04,-9.26497177e-04, 0.00000000e+00,-1.38960065e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14590349, -0.08477989,  0.11874426, -0.08477989,  0.24528492,
        0.0709554 ,  0.11874426,  0.0709554 ,  0.19656355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5849723185699e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55344373e-01,  8.72773578e-02, -9.62902858e-01, -2.23711494e-02,
        9.96184051e-01,  8.43615366e-02,  9.66591321e-01,  3.46944695e-18,
        2.56322487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06692896, -0.03830181,  0.22673093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.5869725 ,  6.58578129,  5.5869725 , 19.68397989,
       -9.37211933,  6.58578129, -9.37211933, 16.58709425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012949424992216158
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28676573e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28676573e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02808363, -0.13076805,  0.06188503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41109695e-03, 3.57738926e-03, 6.80888613e-04, 1.13571046e-05,
  3.64649891e-05, 5.04731543e-05,-4.58114281e-06, 5.26606430e-05,
  7.72998883e-06, 3.30837474e-05, 4.25186376e-05,-1.17039718e-05,
  1.61613295e-03, 1.57195198e-03, 7.52860533e-03, 3.67268822e-03,
 -1.34329114e-06, 4.62732991e-06,-1.21644105e+00, 1.57879935e-03,
  5.44775514e-04, 3.62560566e-05]


--- Step 1834 ---
qpos:
[-0.01188578, 1.33119217,-0.01870112, 0.94612468, 0.00424795, 1.33217973,
 -0.03037765, 0.94350927, 0.01692184, 1.33773258,-0.02354553, 0.95535062,
  1.35148807,-0.00337328, 1.12816082, 0.06198165,-0.0016569 ,-0.09790265,
  0.08161856, 0.54070957,-0.01124735,-0.00521989, 0.84111795]

qacc:
[-3.25259337e-02,-3.18262558e+00, 1.20471390e+01,-2.01557542e+01,
  1.97299372e-01,-5.86759366e-01, 1.89930243e+00, 1.14591966e+00,
  1.28427881e-01, 8.31630791e-01,-7.36637980e-01,-5.49009192e+00,
 -6.32272370e-01, 7.65969791e-01,-9.24301595e+00, 2.30509729e+01,
  8.28016371e-01, 1.32807304e+00,-3.59184625e-01, 6.05729616e+01,
  5.42332773e+01, 9.09081885e-01]

qfrc_actuator:
[ 4.22617070e-03, 3.65030573e-02, 1.11584335e-02, 1.72183008e-03,
  4.90382491e-05, 3.49964929e-02, 1.09348517e-02, 1.75409576e-03,
 -3.07804030e-03, 3.48868960e-02, 1.08319620e-02, 1.77551686e-03,
  4.45027416e-04,-8.89651136e-04, 0.00000000e+00, 7.43583438e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14587333, -0.08203707,  0.12061902, -0.08203707,  0.17553584,
        0.02017447,  0.12061902,  0.02017447,  0.15959467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.416298659783464e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55384666e-01,  8.72830836e-02, -9.62891653e-01, -2.23761587e-02,
        9.96183549e-01,  8.43661318e-02,  9.66580560e-01,  3.46944695e-18,
        2.56363063e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693071, -0.03830529,  0.22672917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.64047976,   6.54001261,   5.64047976,
        21.72198031, -11.28578193,   6.54001261, -11.28578193,
        18.36986546,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001288749557644353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76894464e-14,  4.30736530e-14,  1.00000000e+00,  1.62342213e-27,
        1.00000000e+00, -4.30736530e-14, -1.00000000e+00,  0.00000000e+00,
       -3.76894464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02809434, -0.13077557,  0.06188557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40923354e-03, 3.53805244e-03, 6.24786682e-04,-4.13080588e-05,
  5.68266294e-05, 5.65911490e-05, 4.34897352e-05, 1.62779563e-05,
  3.70674485e-05, 6.49157545e-05,-4.96993863e-06,-2.37190296e-05,
  1.66016544e-03, 1.63126294e-03, 7.36713220e-03, 3.84668158e-03,
  1.03613438e-06,-5.29177135e-07,-1.21643988e+00, 1.58173766e-03,
  5.43419194e-04, 2.95255400e-05]


--- Step 1835 ---
qpos:
[-0.01190982, 1.33115782,-0.01870721, 0.94612347, 0.0042487 , 1.3321819 ,
 -0.030377  , 0.94350799, 0.01692057, 1.33773562,-0.02354666, 0.95534832,
  1.35153743,-0.00338941, 1.12819061, 0.06194564,-0.00164542,-0.0978953 ,
  0.08161769, 0.54075105,-0.01115503,-0.0048971 , 0.84109446]

qacc:
[ 1.35767290e-01,-1.63248187e+00, 7.18292637e+00,-1.39139286e+01,
  1.88709117e-01,-3.67381251e+00, 1.32909440e+01,-2.09553115e+01,
  2.16477053e-02,-4.70839866e+00, 2.22112602e+01,-5.49604490e+01,
 -2.86738216e-02, 4.50200194e-02,-5.40295621e+00, 1.50471516e+01,
  7.67333717e-01, 1.27249747e+00,-8.55836639e-01, 5.74934774e+01,
  5.12991905e+01, 7.28723763e-01]

qfrc_actuator:
[ 4.23342670e-03, 3.65286384e-02, 1.11791832e-02, 1.69101832e-03,
  6.98164131e-05, 3.49411184e-02, 1.09541131e-02, 1.70906833e-03,
 -3.09369553e-03, 3.48909362e-02, 1.08230507e-02, 1.61807843e-03,
  4.42936604e-04,-9.14507130e-04, 0.00000000e+00, 1.45545673e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14584039, -0.08086724,  0.12136684, -0.08086724,  0.18913638,
        0.0288483 ,  0.12136684,  0.0288483 ,  0.16506213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2257998387861965e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25542437,  0.08728884, -0.9628806 , -0.02238112,  0.99618304,
        0.08437077,  0.96656995,  0.        ,  0.25640305])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693216, -0.03830865,  0.22672747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.66161592,   6.52172385,   5.66161592,
        24.34938784, -13.64073519,   6.52172385, -13.64073519,
        20.47811059,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012699229047469021
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37122214e-14,  4.37122214e-14,  1.00000000e+00,  1.91075830e-27,
        1.00000000e+00, -4.37122214e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37122214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02811972, -0.13080237,  0.06188715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42036605e-03, 3.56502944e-03, 6.14168326e-04,-3.04440821e-05,
  5.43203643e-05,-1.50865696e-05, 3.57552174e-05,-4.16705327e-05,
  6.23663727e-06, 3.82496700e-05, 2.50601235e-06,-1.56210327e-04,
  1.70202014e-03, 1.59073451e-03, 7.58522141e-03, 3.87097304e-03,
  6.74206366e-06, 2.47510708e-06,-1.21644141e+00, 1.58448317e-03,
  5.41730454e-04, 3.20019740e-05]


--- Step 1836 ---
qpos:
[-0.01193278, 1.33112545,-0.01871261, 0.94612208, 0.00424953, 1.332184  ,
 -0.03037672, 0.94350657, 0.01691939, 1.33773886,-0.0235473 , 0.95534519,
  1.35158673,-0.00340634, 1.12822696, 0.06191035,-0.0016384 ,-0.09789397,
  0.08161803, 0.54079517,-0.0110345 ,-0.00476982, 0.84106841]

qacc:
[ 4.58750095e-01, 4.04233164e-01, 2.17054599e+00,-5.20041022e+00,
  2.93045087e-02, 6.40326096e-01,-1.90052165e+00, 3.49267861e-02,
  4.34991276e-02,-2.47586972e+00, 1.00952698e+01,-1.85538641e+01,
  2.31091547e-01,-8.60192684e-01, 7.48452059e+00,-1.21638868e+01,
 -1.11680006e+00,-1.50623821e+00, 3.00023423e-01,-7.45861866e+01,
 -6.47057402e+01,-2.95942045e+00]

qfrc_actuator:
[ 4.26495843e-03, 3.65042605e-02, 1.12293602e-02, 1.69115354e-03,
  4.62088850e-05, 3.49249301e-02, 1.09294753e-02, 1.70081235e-03,
 -3.08485539e-03, 3.49096436e-02, 1.08536669e-02, 1.57963658e-03,
  4.45238752e-04,-9.40773862e-04, 0.00000000e+00,-4.64202665e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14580784, -0.08491537,  0.11852977, -0.08491537,  0.31588373,
        0.12184329,  0.11852977,  0.12184329,  0.23309705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.030399461251889e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2554634 ,  0.08729452, -0.96286973, -0.02238601,  0.99618255,
        0.08437535,  0.96655953,  0.        ,  0.25644235])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693349, -0.03831197,  0.2267258 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012914051704772042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07462694e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.07462694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03065066, -0.05971384,  0.06188534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43589879e-03, 3.52355010e-03, 6.46450321e-04, 1.74782210e-06,
  8.45307205e-06,-1.88083180e-05,-2.47472760e-05,-8.62520215e-06,
  1.25267560e-05, 3.56992009e-05, 3.37946947e-05,-4.08723640e-05,
  1.71173516e-03, 1.56046507e-03, 7.67459947e-03, 3.63345910e-03,
  1.52791388e-05, 1.23424389e-05,-1.21644522e+00, 1.58711245e-03,
  5.39722393e-04, 4.22451402e-05]


--- Step 1837 ---
qpos:
[-0.01195479, 1.33109436,-0.01871785, 0.9461201 , 0.00424998, 1.33218637,
 -0.03037659, 0.94350467, 0.01691847, 1.33774203,-0.02354633, 0.95534228,
  1.35163599,-0.00342383, 1.12826657, 0.06187557,-0.00163543,-0.09789835,
  0.08161682, 0.54084218,-0.01088811,-0.00482451, 0.84103978]

qacc:
[ 4.04215302e-01, 2.27709385e-01, 2.51136260e+00,-9.85434669e+00,
 -1.56438785e-01,-2.72730418e-02, 1.49603891e+00,-6.97025724e+00,
  1.07254495e-01,-4.07668302e+00, 1.27159429e+01,-8.43239098e+00,
  2.28442087e-01,-6.92467287e-01, 3.21870642e+00,-4.32890259e+00,
 -1.01252765e+00,-1.42676757e+00,-3.86042618e-01,-6.95231133e+01,
 -6.00576167e+01,-2.98143545e+00]

qfrc_actuator:
[ 4.29241203e-03, 3.64836487e-02, 1.12079527e-02, 1.65639341e-03,
 -3.83223125e-06, 3.49676749e-02, 1.09325464e-02, 1.67876108e-03,
 -3.06138998e-03, 3.49194422e-02, 1.09430133e-02, 1.59383400e-03,
  4.39522972e-04,-9.67031672e-04, 0.00000000e+00,-7.69037291e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14578542, -0.08497569,  0.11845893, -0.08497569,  0.26513567,
        0.08561507,  0.11845893,  0.08561507,  0.20720079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.891159913741547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25549985,  0.08729996, -0.96285957, -0.02239061,  0.99618207,
        0.08437975,  0.96654979,  0.        ,  0.25647907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693531, -0.03831536,  0.22672413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.97647603, -6.23446157, -5.97647603, 15.99957266,
       -7.05851527, -6.23446157, -7.05851527, 15.40279356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013060434905258211
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12516473e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.12516473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03063461, -0.05974168,  0.06188412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40921562e-03, 3.40458035e-03, 5.90436594e-04,-2.40799495e-05,
 -4.50525272e-05, 2.72228559e-05,-3.68242686e-06,-2.35412677e-05,
  3.08660015e-05, 3.49028207e-05, 9.89550133e-05, 1.52913358e-05,
  1.70930218e-03, 1.57475873e-03, 7.34601896e-03, 3.56697077e-03,
  4.84863629e-06, 9.67811527e-07,-1.21644068e+00, 1.58320931e-03,
  5.41993418e-04, 3.02412699e-05]


--- Step 1838 ---
qpos:
[-0.0119757 , 1.3310642 ,-0.01872361, 0.94611847, 0.00424997, 1.33218885,
 -0.03037647, 0.94350426, 0.01691767, 1.33774451,-0.02354393, 0.95533927,
  1.35168552,-0.00344149, 1.12830735, 0.06184096,-0.00163618,-0.09790816,
  0.08161175, 0.5408922 ,-0.01071778,-0.00504993, 0.84100848]

qacc:
[ 4.63107929e-01, 3.25182655e+00,-9.88112031e+00, 1.22106077e+01,
 -1.96435400e-01, 2.72775791e+00,-1.17750073e+01, 2.73546791e+01,
  5.15042469e-02,-4.91626922e+00, 1.51413196e+01,-1.37564160e+01,
  2.83240822e-01,-3.90579442e-01, 1.22491993e+00,-1.79965369e+00,
 -9.27283282e-01,-1.35928882e+00,-9.63946482e-01,-6.53138533e+01,
 -5.62122550e+01,-2.97196996e+00]

qfrc_actuator:
[ 4.31711421e-03, 3.64829388e-02, 1.11616003e-02, 1.67219188e-03,
 -3.38174116e-05, 3.49744577e-02, 1.09344320e-02, 1.75533693e-03,
 -3.06484590e-03, 3.48353427e-02, 1.09952684e-02, 1.58563337e-03,
  4.34323088e-04,-1.01095768e-03, 0.00000000e+00,-8.15938708e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14576832, -0.0833651 ,  0.11957702, -0.0833651 ,  0.2115821 ,
        0.04588317,  0.11957702,  0.04588317,  0.17775653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7822683286125045e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25553489,  0.08730517, -0.96284979, -0.02239503,  0.99618161,
        0.08438397,  0.96654042,  0.        ,  0.25651436])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693738, -0.03831876,  0.22672247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.98547954, -6.22581814, -5.98547954, 17.70315008,
       -8.71677642, -6.22581814, -8.71677642, 17.01664167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013034676318488259
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25872878e-14,  4.25872878e-14,  1.00000000e+00,  1.81367709e-27,
        1.00000000e+00, -4.25872878e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25872878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03064146, -0.05974043,  0.06188433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38621566e-03, 3.33941592e-03, 5.35986459e-04, 2.13207396e-05,
 -5.65751197e-05, 2.03930402e-05, 6.09621451e-06, 7.67417472e-05,
  1.47735760e-05,-4.50479847e-05, 7.07549885e-05,-3.91417474e-06,
  1.70652934e-03, 1.55927506e-03, 7.18259140e-03, 3.53636852e-03,
 -2.63126461e-07, 5.04759216e-07,-1.21643974e+00, 1.57934030e-03,
  5.44094176e-04, 2.99028004e-05]


--- Step 1839 ---
qpos:
[-0.01199579, 1.3310358 ,-0.01873003, 0.94611768, 0.00424969, 1.33219141,
 -0.03037634, 0.94350546, 0.01691707, 1.33774633,-0.02354224, 0.95533734,
  1.35173492,-0.0034594 , 1.12835227, 0.06180625,-0.00164365,-0.09791409,
  0.081601  , 0.54093305,-0.01075191,-0.00529193, 0.84098028]

qacc:
[ 3.47280034e-01, 5.53570165e+00,-1.69649829e+01, 2.32627187e+01,
 -1.15799070e-01, 2.79203367e+00,-1.23048132e+01, 2.93282024e+01,
  8.54291771e-02, 2.89982564e+00,-1.26750742e+01, 2.37834090e+01,
 -1.33455043e-01,-3.55627553e-02, 6.39493268e+00,-1.34829386e+01,
 -1.68203570e+00, 9.70844509e-01,-1.42167654e+00,-6.23091633e+01,
  8.14469962e+01, 5.12114123e+00]

qfrc_actuator:
[ 4.32189182e-03, 3.65117757e-02, 1.11364059e-02, 1.71761013e-03,
 -3.37742766e-05, 3.49774667e-02, 1.09355283e-02, 1.83606328e-03,
 -3.04891872e-03, 3.47487889e-02, 1.09360384e-02, 1.63522770e-03,
  4.34730473e-04,-9.94652729e-04, 0.00000000e+00,-2.12683101e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14575359, -0.08632421,  0.11744037, -0.08632421,  0.25866325,
        0.08299392,  0.11744037,  0.08299392,  0.20675803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.686442048634429e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25556955,  0.0873101 , -0.96284015, -0.02239934,  0.99618118,
        0.08438794,  0.96653115,  0.        ,  0.25654927])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693954, -0.03832221,  0.22672082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013135710336294112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45194509e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.45194509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05313217, -0.10877893,  0.06188346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33632636e-03, 3.32232069e-03, 5.36939881e-04, 4.87100761e-05,
 -3.33483151e-05, 1.77705540e-05, 8.02651771e-06, 8.33005985e-05,
  2.46512537e-05,-9.77869047e-05,-6.01103020e-05, 5.02420015e-05,
  1.69278309e-03, 1.58386517e-03, 7.12286117e-03, 3.39700698e-03,
 -1.01014293e-06, 8.94102273e-06,-1.21644171e+00, 1.57544063e-03,
  5.46113750e-04, 3.90393213e-05]


--- Step 1840 ---
qpos:
[-0.01201682, 1.33100714,-0.01873572, 0.9461158 , 0.00424925, 1.33219376,
 -0.03037652, 0.94350593, 0.01691681, 1.33774844,-0.0235422 , 0.95533529,
  1.3517831 ,-0.00347701, 1.12839518, 0.06177228,-0.0016575 ,-0.09791648,
  0.08158249, 0.5409656 ,-0.01097792,-0.00554926, 0.84095476]

qacc:
[-3.93095551e-01,-4.16038897e+00, 1.53665448e+01,-2.56621152e+01,
 -6.72822095e-02,-6.41531558e-01, 3.24615130e+00,-1.10769675e+01,
  1.45312512e-01, 4.64502007e+00,-1.44535040e+01, 1.10136529e+01,
 -1.03076126e+00, 1.17763499e+00,-5.10450941e+00, 1.37120707e+01,
 -1.59618149e+00, 8.87533679e-01,-1.94031180e+00,-5.83758562e+01,
  7.65069440e+01, 4.64181322e+00]

qfrc_actuator:
[ 4.29679780e-03, 3.65393882e-02, 1.11597615e-02, 1.65592239e-03,
 -3.34716741e-05, 3.49249435e-02, 1.09006119e-02, 1.79428956e-03,
 -3.02149104e-03, 3.48030468e-02, 1.08647478e-02, 1.62960658e-03,
  4.33203466e-04,-8.71031149e-04, 0.00000000e+00,-8.21185086e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574449, -0.08775077,  0.11636692, -0.08775077,  0.19331294,
        0.03587075,  0.11636692,  0.03587075,  0.17279415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6262044402986535e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25560316,  0.08731485, -0.9628308 , -0.02240351,  0.99618077,
        0.08439173,  0.96652217,  0.        ,  0.25658311])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06694199, -0.0383257 ,  0.22671918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.1595205 ,  4.82991129, -7.1595205 , 13.59384152,
        7.34861624,  4.82991129,  7.34861624, 19.52943506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001310073676716192
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.4745083e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.4745083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05313683, -0.10878422,  0.0618837 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27022585e-03, 3.26246108e-03, 5.93496176e-04,-5.42859334e-05,
 -1.93800008e-05,-3.86349637e-05,-2.80851926e-05,-3.90674169e-05,
  4.19821070e-05,-1.00833307e-05,-9.57538213e-05,-9.10395042e-06,
  1.69777483e-03, 1.72100687e-03, 6.91541503e-03, 3.53223430e-03,
  6.50790829e-06, 8.34491991e-06,-1.21644264e+00, 1.58149132e-03,
  5.47658203e-04, 3.81212988e-05]


--- Step 1841 ---
qpos:
[-0.01203923, 1.33097756,-0.01874053, 0.94611326, 0.00424872, 1.33219518,
 -0.0303765 , 0.94350559, 0.01691689, 1.33775091,-0.02354293, 0.95533349,
  1.35182952,-0.00349371, 1.12843452, 0.06173922,-0.00166738,-0.09791263,
  0.08157035, 0.54099846,-0.01123508,-0.00561286, 0.8409298 ]

qacc:
[-5.91690228e-01,-4.79122306e+00, 1.55237523e+01,-2.07255428e+01,
 -3.79883133e-02,-3.16944830e+00, 1.05351369e+01,-1.79626866e+01,
  1.42514368e-01, 2.94646651e+00,-9.52249661e+00, 1.08054092e+01,
 -1.77226208e+00, 2.39215878e+00,-7.89819646e+00, 2.02741875e+01,
  9.92956942e-01, 1.55789241e+00, 1.59392436e+00, 7.30352039e+01,
  6.54897009e+01, 1.16870522e+00]

qfrc_actuator:
[ 4.30845944e-03, 3.65675648e-02, 1.12111212e-02, 1.62030165e-03,
 -3.30185739e-05, 3.48393593e-02, 1.08976838e-02, 1.75171705e-03,
 -3.00513833e-03, 3.48523377e-02, 1.08407037e-02, 1.64487466e-03,
  4.35945145e-04,-7.18989158e-04, 0.00000000e+00, 6.26280544e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14573404, -0.08892834,  0.11545632, -0.08892834,  0.16761385,
        0.01685257,  0.11545632,  0.01685257,  0.15871445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5560317613001916e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2556363 ,  0.08731983, -0.96282155, -0.02240771,  0.99618033,
        0.08439578,  0.96651331,  0.        ,  0.25661649])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06694433, -0.03832907,  0.22671756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013330609791004505
  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([-0.02806226, -0.13068564,  0.06188169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32832743e-03, 3.30317926e-03, 6.08486425e-04,-3.63418389e-05,
 -1.09866225e-05,-1.13642282e-04,-1.48299319e-05,-4.54599374e-05,
  4.11442869e-05, 2.47308225e-05,-3.71662565e-05, 1.19560284e-05,
  1.76190445e-03, 1.85807629e-03, 7.01508941e-03, 3.64029492e-03,
  1.71319466e-05, 5.71739193e-06,-1.21644661e+00, 1.58605164e-03,
  5.48778274e-04, 2.60494566e-05]


--- Step 1842 ---
qpos:
[-0.01206168, 1.33094891,-0.01874554, 0.94611089, 0.00424799, 1.33219609,
 -0.03037635, 0.94350403, 0.01691725, 1.33775291,-0.02354262, 0.95533393,
  1.3518753 ,-0.00351003, 1.12847481, 0.06170646,-0.00167366,-0.09790293,
  0.08156132, 0.54103186,-0.01152087,-0.00549688, 0.84090522]

qacc:
[-1.21870330e-02, 2.07162127e+00,-5.62920117e+00, 6.33251279e+00,
 -8.21837775e-02,-3.11328462e+00, 1.18885939e+01,-2.42827482e+01,
  1.17603145e-01, 4.71470967e-01,-6.78231530e+00, 3.20488154e+01,
 -8.12415105e-01, 1.13045246e+00, 5.50172303e-01, 2.59145724e-01,
  9.02810754e-01, 1.46303876e+00, 7.77038194e-01, 6.77674581e+01,
  6.06177369e+01, 9.64042892e-01]

qfrc_actuator:
[ 4.34301488e-03, 3.66323686e-02, 1.12255749e-02, 1.63585322e-03,
 -5.02331269e-05, 3.48412573e-02, 1.09135459e-02, 1.69128959e-03,
 -2.99556127e-03, 3.48274524e-02, 1.08980361e-02, 1.76112925e-03,
  4.36013376e-04,-7.10385847e-04, 0.00000000e+00, 2.01295336e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14572036, -0.08920711,  0.11522376, -0.08920711,  0.20836782,
        0.04850214,  0.11522376,  0.04850214,  0.18327109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4625274232643064e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55669478e-01,  8.73251720e-02, -9.62812252e-01, -2.24119981e-02,
        9.96179860e-01,  8.44001659e-02,  9.66504434e-01,  3.46944695e-18,
        2.56649916e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06694643, -0.03833229,  0.22671597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.4516395 ,   5.74135216,   6.4516395 ,
        21.98889205, -15.00442706,   5.74135216, -15.00442706,
        25.49705283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013533623557338281
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56357578e-14,  8.20344248e-14,  1.00000000e+00,  2.10301464e-27,
        1.00000000e+00, -8.20344248e-14, -1.00000000e+00,  0.00000000e+00,
       -2.56357578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803943, -0.13065146,  0.06187993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43277336e-03, 3.41477326e-03, 5.78613184e-04, 1.26690230e-05,
 -2.37030165e-05,-6.52475339e-05,-9.39238040e-06,-6.53320708e-05,
  3.38750499e-05,-1.81303110e-05, 5.82836822e-05, 1.16177614e-04,
  1.84940461e-03, 1.82195661e-03, 7.19285029e-03, 3.55200732e-03,
  5.67433184e-06,-1.09423880e-06,-1.21644498e+00, 1.58966913e-03,
  5.47177471e-04, 2.10584374e-05]


--- Step 1843 ---
qpos:
[-0.01208355, 1.33092127,-0.01875032, 0.94611008, 0.00424693, 1.33219729,
 -0.03037701, 0.94350276, 0.01691767, 1.33775521,-0.02354208, 0.95533435,
  1.35192131,-0.00352591, 1.12851603, 0.0616739 ,-0.00167661,-0.09788769,
  0.08155265, 0.54106589,-0.01183323,-0.00521303, 0.84088079]

qacc:
[ 2.46396650e-01, 3.41624326e+00,-1.27095295e+01, 2.84340247e+01,
 -1.44790613e-01, 3.06525424e+00,-1.01712723e+01, 1.21411166e+01,
  2.66528119e-02,-2.65581577e-01, 1.36280064e+00,-1.55692694e+00,
 -1.66110325e-01, 5.95448755e-01, 8.28204972e-01,-8.59479771e-01,
  8.28788824e-01, 1.38329974e+00, 8.95165683e-02, 6.33929400e+01,
  5.65861510e+01, 8.17653049e-01]

qfrc_actuator:
[ 4.33723874e-03, 3.66643958e-02, 1.12363697e-02, 1.71703835e-03,
 -7.79080331e-05, 3.48955936e-02, 1.08874223e-02, 1.70965728e-03,
 -3.00787752e-03, 3.48652511e-02, 1.09139379e-02, 1.75834772e-03,
  4.23789769e-04,-7.52184783e-04, 0.00000000e+00, 7.55064616e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14570879, -0.08708763,  0.1168195 , -0.08708763,  0.1839668 ,
        0.02852091,  0.1168195 ,  0.02852091,  0.16697081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.381864964602203e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55701942e-01,  8.73305301e-02, -9.62803145e-01, -2.24162298e-02,
        9.96179391e-01,  8.44045859e-02,  9.66495747e-01, -3.46944695e-18,
        2.56682626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06694861, -0.0383355 ,  0.22671439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.48251491,   5.70646802,   6.48251491,
        24.24317047, -17.72924298,   5.70646802, -17.72924298,
        28.77668189,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013548216465279622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56081453e-14,  8.19460648e-14,  1.00000000e+00,  2.09848673e-27,
        1.00000000e+00, -8.19460648e-14, -1.00000000e+00,  0.00000000e+00,
       -2.56081453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02803912, -0.13064628,  0.06187976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42844158e-03, 3.40020158e-03, 5.99422469e-04, 8.51549172e-05,
 -4.16670814e-05, 1.44299257e-05,-4.18760025e-05, 1.46150010e-05,
  7.68680695e-06, 4.25832611e-05, 2.23819220e-05, 1.09481019e-06,
  1.86953188e-03, 1.76125761e-03, 7.14463972e-03, 3.52421158e-03,
 -5.68490115e-07, 2.49656481e-06,-1.21644678e+00, 1.59311759e-03,
  5.45175546e-04, 2.76274077e-05]


--- Step 1844 ---
qpos:
[-0.01210476, 1.33089481,-0.01875491, 0.94611092, 0.00424567, 1.33219894,
 -0.03037783, 0.94350098, 0.01691807, 1.33775863,-0.02354285, 0.95533475,
  1.35196711,-0.00354151, 1.1285596 , 0.06164143,-0.0016765 ,-0.09786719,
  0.08154203, 0.54110055,-0.01217049,-0.00477103, 0.8408563 ]

qacc:
[ 2.75575890e-01, 3.91263624e+00,-1.42544778e+01, 3.08313652e+01,
 -7.92578471e-02, 1.49251719e-01, 1.28917529e+00,-7.34256377e+00,
 -1.08970725e-02, 4.94262030e+00,-1.42884304e+01, 1.13626591e+01,
 -4.86697939e-01, 7.67244033e-01, 3.22267611e+00,-6.11619413e+00,
  7.67908961e-01, 1.31618850e+00,-4.88638555e-01, 5.97620955e+01,
  5.32522810e+01, 7.17933249e-01]

qfrc_actuator:
[ 4.37767514e-03, 3.66763111e-02, 1.12446228e-02, 1.80064826e-03,
 -7.61289233e-05, 3.49452993e-02, 1.08902486e-02, 1.68549853e-03,
 -3.01547357e-03, 3.49400925e-02, 1.08521151e-02, 1.75651965e-03,
  4.09460249e-04,-7.17921051e-04, 0.00000000e+00,-5.80908095e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1456993 , -0.08912333,  0.11526195, -0.08912333,  0.19515038,
        0.03823677,  0.11526195,  0.03823677,  0.17526489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.314553103747579e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55733216e-01,  8.73357543e-02, -9.62794365e-01, -2.24203228e-02,
        9.96178933e-01,  8.44089042e-02,  9.66487378e-01, -3.46944695e-18,
        2.56714137e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06695084, -0.03833879,  0.22671283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.48012968,   5.70917649,   6.48012968,
        27.44326781, -21.3465424 ,   5.70917649, -21.3465424 ,
        32.86549077,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013412080038389187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55208451e-14,  4.13889203e-14,  1.00000000e+00,  6.42391023e-28,
        1.00000000e+00, -4.13889203e-14, -1.00000000e+00,  0.00000000e+00,
       -1.55208451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02805668, -0.13066409,  0.06188085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43980038e-03, 3.36194564e-03, 5.96389479e-04, 9.10233053e-05,
 -2.28132421e-05, 4.99248721e-05, 1.30993995e-06,-2.46149230e-05,
 -3.05426195e-06, 1.02777394e-04,-5.09339560e-05, 1.17812508e-07,
  1.84315162e-03, 1.77372923e-03, 7.09760404e-03, 3.44922190e-03,
 -2.57015535e-06, 1.44553922e-05,-1.21645136e+00, 1.59644086e-03,
  5.42815865e-04, 4.35283887e-05]


--- Step 1845 ---
qpos:
[-0.01212506, 1.33086937,-0.01876047, 0.94611214, 0.00424447, 1.332201  ,
 -0.03037887, 0.9434979 , 0.01691841, 1.33776236,-0.02354332, 0.95533683,
  1.3520128 ,-0.00355694, 1.12860271, 0.06160883,-0.00168112,-0.09785318,
  0.08153548, 0.54113816,-0.01247816,-0.00453754, 0.84082888]

qacc:
[ 3.86366876e-01, 4.63789947e+00,-1.42997194e+01, 1.62564518e+01,
  2.06718875e-02,-1.08704401e+00, 6.87572109e+00,-2.13513070e+01,
 -2.25688831e-02, 2.52194131e+00,-1.11337165e+01, 2.89334385e+01,
 -1.91865180e-01, 3.30567056e-01,-2.96317970e-01, 5.60672396e-02,
 -1.18534552e+00,-1.62257121e+00, 1.01891481e+00,-7.96404013e+01,
 -6.88288424e+01,-3.37219022e+00]

qfrc_actuator:
[ 4.46329000e-03, 3.67288384e-02, 1.11802836e-02, 1.81398081e-03,
 -5.66952966e-05, 3.49564360e-02, 1.08746129e-02, 1.61876381e-03,
 -3.02017466e-03, 3.49474541e-02, 1.08693683e-02, 1.84404541e-03,
  4.04551342e-04,-7.09044835e-04, 0.00000000e+00,-3.12897687e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569313, -0.08834744,  0.11584997, -0.08834744,  0.20469986,
        0.04499867,  0.11584997,  0.04499867,  0.18000921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2702196200717496e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55763160e-01,  8.73408287e-02, -9.62785950e-01, -2.24242609e-02,
        9.96178488e-01,  8.44131085e-02,  9.66479363e-01, -3.46944695e-18,
        2.56744311e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06695321, -0.03834213,  0.22671129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00136574453637648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21936020e-13,  8.12906803e-14,  1.00000000e+00,  9.91226205e-27,
        1.00000000e+00, -8.12906803e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21936020e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03057351, -0.0598694 ,  0.06187874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49289032e-03, 3.35550300e-03, 5.22446603e-04, 2.16117239e-05,
  5.97060655e-06, 3.82571605e-05,-6.44514553e-06,-6.57668139e-05,
 -6.49906331e-06, 5.42313335e-05, 3.15366868e-05, 8.90861467e-05,
  1.84909856e-03, 1.76894100e-03, 6.97886590e-03, 3.47096064e-03,
 -1.05149496e-06, 3.33089197e-05,-1.21645826e+00, 1.59966127e-03,
  5.40134985e-04, 6.71544443e-05]


--- Step 1846 ---
qpos:
[-0.01214481, 1.330844  ,-0.01876688, 0.94611324, 0.00424354, 1.33220327,
 -0.03037955, 0.94349575, 0.01691855, 1.33776612,-0.02354309, 0.95533891,
  1.35205867,-0.00357194, 1.12864174, 0.06157636,-0.00169002,-0.09784526,
  0.08152977, 0.541179  ,-0.01275896,-0.00449658, 0.84079859]

qacc:
[ 2.34330738e-01, 2.18529821e+00,-6.79689140e+00, 4.56498110e+00,
  1.15920344e-01, 8.93386830e-01,-4.50136303e+00, 1.46390385e+01,
 -8.49036202e-02,-1.85069275e+00, 6.09220801e+00,-5.31255497e+00,
  5.93136362e-02, 2.57825658e-01,-6.40371206e+00, 1.36759524e+01,
 -1.06750565e+00,-1.52023192e+00, 2.11138524e-01,-7.36651768e+01,
 -6.33635380e+01,-3.39650104e+00]

qfrc_actuator:
[ 4.48672655e-03, 3.67876733e-02, 1.11267378e-02, 1.80351124e-03,
 -2.68300619e-05, 3.49798034e-02, 1.09012887e-02, 1.66950163e-03,
 -3.04085319e-03, 3.49324423e-02, 1.08974840e-02, 1.84145549e-03,
  4.05293195e-04,-7.15400360e-04, 0.00000000e+00, 1.04422796e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14568736, -0.08539445,  0.11803642, -0.08539445,  0.17629182,
        0.02214105,  0.11803642,  0.02214105,  0.1617055 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.228416165096005e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55793067e-01,  8.73456721e-02, -9.62777566e-01, -2.24281362e-02,
        9.96178063e-01,  8.44170903e-02,  9.66471358e-01, -3.46944695e-18,
        2.56774442e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06695554, -0.03834547,  0.22670977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.68455277, -6.50174105, -5.68455277, 17.03056164,
       -7.33915135, -6.50174105, -7.33915135, 15.05307461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013924648417450863
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.9865388e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.9865388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03054029, -0.05991755,  0.06187648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47070837e-03, 3.36368753e-03, 5.17702234e-04,-7.93835209e-06,
  3.33908681e-05, 4.12753947e-05, 3.14923714e-05, 5.01718101e-05,
 -2.45128014e-05, 2.37522062e-05, 4.48959902e-05, 2.01990531e-06,
  1.85543305e-03, 1.75455295e-03, 7.00178993e-03, 3.61301737e-03,
 -2.26112012e-06, 1.00613682e-05,-1.21645013e+00, 1.59634421e-03,
  5.42524340e-04, 4.06032314e-05]


--- Step 1847 ---
qpos:
[-0.01216443, 1.33081938,-0.01877294, 0.94611305, 0.00424306, 1.33220525,
 -0.03037883, 0.94349491, 0.01691862, 1.33776952,-0.02354343, 0.9553414 ,
  1.35210404,-0.0035873 , 1.12868219, 0.06154452,-0.0016973 ,-0.0978432 ,
  0.08153491, 0.54122197,-0.01291939,-0.00454894, 0.84076821]

qacc:
[ 5.20761085e-02,-2.21313139e+00, 1.10644350e+01,-2.51176707e+01,
  1.93170927e-01,-1.89983884e+00, 3.04594267e+00, 1.26958286e+01,
 -3.14723623e-02, 1.75681862e+00,-7.11914063e+00, 1.10329953e+01,
 -1.75804873e-01,-1.56556347e-01, 1.93053608e-01, 2.36392492e+00,
  4.05203728e-01,-1.46793080e+00, 2.70954415e+00,-6.64798773e+00,
 -7.58484795e+01,-1.78443399e+00]

qfrc_actuator:
[ 4.49060287e-03, 3.68153333e-02, 1.11686965e-02, 1.74359870e-03,
  9.04984731e-06, 3.49572799e-02, 1.09706016e-02, 1.73574575e-03,
 -3.03544411e-03, 3.48508980e-02, 1.08428293e-02, 1.85682137e-03,
  3.98751272e-04,-6.77958125e-04, 0.00000000e+00, 5.67356808e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14567832, -0.08938428,  0.11503314, -0.08938428,  0.24993987,
        0.08101443,  0.11503314,  0.08101443,  0.20862901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1619109985079755e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55823734e-01,  8.73503672e-02, -9.62768991e-01, -2.24320402e-02,
        9.96177651e-01,  8.44209111e-02,  9.66463150e-01,  3.46944695e-18,
        2.56805334e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06695756, -0.0383488 ,  0.22670829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.51299485,  -4.25930573,  -7.51299485,
        25.96910857, -30.57325103,  -4.25930573, -30.57325103,
        62.56456038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014020672869279882
  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([-0.00623215, -0.0767289 ,  0.06187565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44692531e-03, 3.38832289e-03, 6.02224075e-04,-6.21397063e-05,
  5.55892461e-05, 7.96257098e-06, 8.24377817e-05, 6.95711137e-05,
 -9.06293591e-06,-5.96060343e-05,-4.48564561e-05, 1.74384438e-05,
  1.83963397e-03, 1.77123463e-03, 7.20442922e-03, 3.55863983e-03,
  1.83101454e-06,-3.33044179e-08,-1.21644634e+00, 1.59308826e-03,
  5.44735300e-04, 2.83296307e-05]


--- Step 1848 ---
qpos:
[-0.01218388, 1.33079554,-0.01877858, 0.94611248, 0.00424289, 1.33220657,
 -0.03037705, 0.94349596, 0.01691882, 1.33777221,-0.0235445 , 0.9553434 ,
  1.35214854,-0.00360268, 1.12872362, 0.06151316,-0.00170301,-0.09784661,
  0.08154766, 0.54126698,-0.01296725,-0.00468875, 0.84073772]

qacc:
[ 7.68431203e-02,-7.88657656e-01, 4.55823861e+00,-8.82496449e+00,
  1.26900526e-01,-5.25162393e-01,-3.22934792e+00, 2.51192936e+01,
  5.43006803e-02, 2.20972052e-01,-8.46062371e-01,-4.44035626e+00,
 -6.70894961e-01, 5.89383730e-01, 5.75420487e-02, 2.01742774e+00,
  3.90987512e-01,-1.36655445e+00, 1.90623196e+00,-6.28544562e+00,
 -7.09795726e+01,-1.71107021e+00]

qfrc_actuator:
[ 4.53621018e-03, 3.68590694e-02, 1.11960823e-02, 1.72625780e-03,
  1.27418915e-05, 3.48898917e-02, 1.10110700e-02, 1.82830238e-03,
 -3.01442874e-03, 3.47830817e-02, 1.07927640e-02, 1.82930010e-03,
  3.87893878e-04,-6.31392487e-04, 0.00000000e+00, 5.82348176e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1456716 , -0.09081438,  0.11389892, -0.09081438,  0.21929929,
        0.05870515,  0.11389892,  0.05870515,  0.19247865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.111820428921026e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55853322e-01,  8.73550440e-02, -9.62760704e-01, -2.24358450e-02,
        9.96177241e-01,  8.44247391e-02,  9.66455229e-01,  3.46944695e-18,
        2.56835140e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0669597 , -0.03835208,  0.22670683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.40372319, -7.93734498,  3.40372319, 81.18009496,
       31.10848541, -7.93734498, 31.10848541, 21.97642551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014004284494121833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96386915e-14,  1.98193457e-14,  1.00000000e+00,  7.85612931e-28,
        1.00000000e+00, -1.98193457e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96386915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00623127, -0.07672624,  0.06187581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48640586e-03, 3.39410541e-03, 6.11898382e-04,-1.47271839e-05,
  3.65020464e-05,-4.47778933e-05, 5.34434399e-05, 9.68287987e-05,
  1.56633316e-05,-1.09039938e-04,-6.62921739e-05,-3.01851068e-05,
  1.85365986e-03, 1.83536405e-03, 7.13321014e-03, 3.52871559e-03,
  2.95773395e-06, 8.57960694e-08,-1.21644263e+00, 1.58830348e-03,
  5.44710096e-04, 3.40428550e-05]


--- Step 1849 ---
qpos:
[-0.01220339, 1.33077091,-0.01878408, 0.94611325, 0.00424247, 1.33220757,
 -0.03037541, 0.94349883, 0.01691919, 1.33777422,-0.02354497, 0.95534291,
  1.35219256,-0.003617  , 1.12876064, 0.06148222,-0.00170334,-0.09785349,
  0.08156332, 0.54131023,-0.01286145,-0.00481993, 0.84071076]

qacc:
[-2.84466414e-02, 9.03013951e-01,-6.89869969e+00, 2.19005098e+01,
 -1.02800820e-01, 3.08563888e+00,-1.43183839e+01, 3.37853256e+01,
  7.54644719e-02,-6.81968712e+00, 2.61546122e+01,-5.09150968e+01,
 -9.03061577e-01, 1.75807923e+00,-7.68657387e+00, 1.75966972e+01,
  1.34372315e+00,-8.66912362e-01, 7.23126154e-01, 4.52125875e+01,
 -6.22877782e+01, 1.39265236e+00]

qfrc_actuator:
[ 4.53573791e-03, 3.68588830e-02, 1.11790103e-02, 1.78731795e-03,
 -3.84098899e-05, 3.48670869e-02, 1.09984942e-02, 1.91779024e-03,
 -3.00197509e-03, 3.47772373e-02, 1.08346035e-02, 1.70576362e-03,
  3.74498190e-04,-5.97275400e-04, 0.00000000e+00, 2.31165236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14566678, -0.08685719,  0.11693861, -0.08685719,  0.1492706 ,
        0.00267677,  0.11693861,  0.00267677,  0.14765497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.075479879878802e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25588176,  0.08735969, -0.96275273, -0.02243954,  0.99617683,
        0.08442856,  0.96644761,  0.        ,  0.25686379])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696193, -0.03835531,  0.22670539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.41294221, -4.4311471 , -7.41294221,  9.08042357,
       -0.74287551, -4.4311471 , -0.74287551,  9.87913285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013877114074566932
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0001942e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0001942e-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([-0.03265557, -0.08890546,  0.06187694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47688076e-03, 3.35570470e-03, 5.73780258e-04, 6.51764673e-05,
 -2.96094313e-05,-3.42175057e-05,-1.24162216e-05, 9.19588064e-05,
  2.17004372e-05,-7.99947188e-05, 1.21306743e-05,-1.29402730e-04,
  1.88350041e-03, 1.87165640e-03, 7.08316240e-03, 3.67768653e-03,
  3.04675551e-06, 2.94871404e-06,-1.21644116e+00, 1.58383985e-03,
  5.44800150e-04, 4.01260087e-05]


--- Step 1850 ---
qpos:
[-0.01222319, 1.33074423,-0.01878916, 0.94611483, 0.0042418 , 1.33220806,
 -0.03037408, 0.94350244, 0.01691944, 1.33777504,-0.02354509, 0.95534238,
  1.35223675,-0.00363009, 1.12879011, 0.06145218,-0.0016986 ,-0.09786356,
  0.08157954, 0.54135194,-0.01261009,-0.00494317, 0.840687  ]

qacc:
[-1.23138073e-01,-2.36660171e+00, 2.81803161e+00, 8.34064891e+00,
 -1.04495900e-01, 1.41919770e+00,-6.94004204e+00, 1.48338737e+01,
 -5.34796972e-02,-2.57983142e+00, 6.60307026e+00,-5.42199391e+00,
 -2.91063747e-01, 1.25194131e+00,-1.38310508e+01, 3.22802564e+01,
  1.27025714e+00,-7.97938781e-01, 1.43674925e-01, 4.27277298e+01,
 -5.90621856e+01, 1.21346803e+00]

qfrc_actuator:
[ 4.52554661e-03, 3.68513441e-02, 1.11886346e-02, 1.82285051e-03,
 -5.10352898e-05, 3.48176861e-02, 1.09726242e-02, 1.95148689e-03,
 -3.03026451e-03, 3.46845747e-02, 1.08417806e-02, 1.70434009e-03,
  3.70228590e-04,-5.89479056e-04, 0.00000000e+00, 4.89074746e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14565803, -0.08253469,  0.12001786, -0.08253469,  0.13544046,
       -0.00702649,  0.12001786, -0.00702649,  0.14082601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.008728676933512e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25591082,  0.08736434, -0.96274458, -0.02244329,  0.99617643,
        0.08443238,  0.96643983,  0.        ,  0.25689307])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696384, -0.0383585 ,  0.22670397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.6268756 , -0.4047151 ,  8.6268756 ,  8.71847502,
        1.75027992, -0.4047151 ,  1.75027992, 45.94519468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001367697590481165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05872991e-14,  4.05872991e-14,  1.00000000e+00,  1.64732885e-27,
        1.00000000e+00, -4.05872991e-14, -1.00000000e+00,  0.00000000e+00,
       -4.05872991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03268557, -0.08889523,  0.06187869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47006852e-03, 3.38773347e-03, 5.76447159e-04, 3.41141201e-05,
 -3.01031572e-05,-6.79994266e-05,-3.12792492e-05, 3.44429922e-05,
 -1.54765829e-05,-1.38374350e-04,-1.08541015e-05,-6.44830773e-06,
  1.90374160e-03, 1.82590384e-03, 7.30317723e-03, 3.91485969e-03,
 -4.04703724e-07, 3.18583287e-06,-1.21644023e+00, 1.58036361e-03,
  5.43525115e-04, 4.06509722e-05]


--- Step 1851 ---
qpos:
[-0.01224285, 1.33071654,-0.01879418, 0.94611676, 0.00424123, 1.33220817,
 -0.03037274, 0.94350466, 0.01691904, 1.33777547,-0.02354663, 0.95534359,
  1.35228154,-0.00364256, 1.12881582, 0.06142308,-0.00168902,-0.0978766 ,
  0.0815944 , 0.54139226,-0.01221987,-0.00505905, 0.8406661 ]

qacc:
[ 6.02308852e-02,-9.25530274e-01, 7.04257673e-01, 3.97360731e+00,
  3.67766194e-02,-2.88563324e+00, 1.16329179e+01,-2.58229961e+01,
 -2.75499091e-01, 6.31314970e+00,-2.47081083e+01, 4.16724088e+01,
  2.68812196e-01, 2.44450289e-01,-8.41970780e+00, 2.13388835e+01,
  1.20993773e+00,-7.42589385e-01,-3.40366880e-01, 4.06808882e+01,
 -5.63999683e+01, 1.06169941e+00]

qfrc_actuator:
[ 4.54527999e-03, 3.68764657e-02, 1.12139462e-02, 1.84304047e-03,
 -2.26911488e-05, 3.48059040e-02, 1.09745073e-02, 1.88106081e-03,
 -3.10051907e-03, 3.46826216e-02, 1.07749125e-02, 1.79248210e-03,
  3.82043636e-04,-5.98049829e-04, 0.00000000e+00, 6.02036366e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14564228, -0.08146285,  0.12072895, -0.08146285,  0.15311299,
        0.00504092,  0.12072895,  0.00504092,  0.14904368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.885614263071657e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55941455e-01,  8.73690574e-02, -9.62736007e-01, -2.24472015e-02,
        9.96176012e-01,  8.44362205e-02,  9.66431630e-01,  3.46944695e-18,
        2.56923929e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696521, -0.03836167,  0.22670256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61583565, -0.59510752,  8.61583565,  8.85058436,
        3.10144047, -0.59510752,  3.10144047, 53.53833561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001337363278693958
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.15079075e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.15079075e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03273027, -0.08888187,  0.06188131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50437751e-03, 3.51502157e-03, 5.81070329e-04, 1.30256436e-05,
  1.05739861e-05,-5.44835774e-05,-1.39661935e-05,-7.25822467e-05,
 -7.93977068e-05,-8.07888653e-05,-9.53134025e-05, 8.35768417e-05,
  1.90658252e-03, 1.75655311e-03, 7.67984546e-03, 3.98257020e-03,
 -1.74036395e-06, 2.39293438e-06,-1.21644161e+00, 1.57767865e-03,
  5.42816631e-04, 3.40609537e-05]


--- Step 1852 ---
qpos:
[-0.01226239, 1.33068862,-0.01879911, 0.94611781, 0.00424098, 1.33220853,
 -0.03037252, 0.94350534, 0.0169182 , 1.33777581,-0.02354796, 0.95534366,
  1.35232668,-0.00365504, 1.12884151, 0.06139506,-0.00167801,-0.09789418,
  0.08161065, 0.54143436,-0.01173118,-0.00525173, 0.84064477]

qacc:
[ 4.91060781e-02,-2.05955580e+00, 8.16320619e+00,-1.72046803e+01,
  1.42788162e-01, 6.92443874e-01, 1.33319328e+00,-1.93004837e+01,
 -1.83651613e-01,-2.64074947e+00, 1.07859113e+01,-2.24449200e+01,
  3.61749319e-01,-3.76527718e-01,-3.32737163e+00, 1.15545654e+01,
  3.54925445e-01,-1.13650862e+00, 3.44403329e-01,-5.61507676e+00,
 -6.21700326e+01,-1.58303347e+00]

qfrc_actuator:
[ 4.54714620e-03, 3.68677258e-02, 1.12311015e-02, 1.80091993e-03,
  1.22473961e-05, 3.48345309e-02, 1.09218384e-02, 1.80323529e-03,
 -3.10661534e-03, 3.47347791e-02, 1.08072724e-02, 1.73732564e-03,
  3.87488467e-04,-5.98578693e-04, 0.00000000e+00, 6.27630927e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14562369, -0.08273843,  0.11983576, -0.08273843,  0.18848638,
        0.02959377,  0.11983576,  0.02959377,  0.16605617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.735052145578677e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55973015e-01,  8.73737259e-02, -9.62727193e-01, -2.24511783e-02,
        9.96175603e-01,  8.44399939e-02,  9.66423179e-01,  3.46944695e-18,
        2.56955716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696633, -0.03836489,  0.22670114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013014683866942808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13263541e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.13263541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00625258, -0.0766337 ,  0.06188439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49916155e-03, 3.55768058e-03, 5.95033739e-04,-4.62327326e-05,
  4.11778998e-05,-6.42704990e-06,-6.70439962e-05,-8.15511205e-05,
 -5.29833662e-05,-8.65768327e-06, 8.20027919e-06,-5.83917189e-05,
  1.88240220e-03, 1.72513645e-03, 7.86802759e-03, 3.96110350e-03,
 -1.28203729e-06, 7.15912747e-07,-1.21644494e+00, 1.57562224e-03,
  5.42589882e-04, 2.13127891e-05]


--- Step 1853 ---
qpos:
[-0.0122819 , 1.33066074,-0.01880425, 0.94611695, 0.00424097, 1.33220886,
 -0.03037351, 0.9435058 , 0.01691708, 1.33777557,-0.02354816, 0.95534307,
  1.35237176,-0.00366773, 1.12886696, 0.06136814,-0.00166348,-0.09790629,
  0.0816257 , 0.54147662,-0.01126844,-0.00528309, 0.84062369]

qacc:
[ 1.60899920e-02,-2.70870898e+00, 1.27625016e+01,-3.31707449e+01,
  9.49842386e-02, 2.89630890e+00,-9.04323519e+00, 5.34831427e+00,
 -1.18865278e-01,-4.97350204e+00, 1.66257608e+01,-2.17122118e+01,
  1.75006781e-01,-3.93466918e-01,-3.65064795e+00, 1.22311872e+01,
  8.81175761e-01, 1.36863305e+00,-2.95760076e-01, 6.07807422e+01,
  5.45765416e+01, 1.01544044e+00]

qfrc_actuator:
[ 4.57376677e-03, 3.68915360e-02, 1.12255650e-02, 1.70474925e-03,
  1.53518652e-05, 3.48159056e-02, 1.08553112e-02, 1.79270443e-03,
 -3.10967809e-03, 3.46949697e-02, 1.08625967e-02, 1.70488798e-03,
  3.78459049e-04,-5.93893500e-04, 0.00000000e+00, 6.89046149e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14560596, -0.08347286,  0.11930372, -0.08347286,  0.20869415,
        0.04414072,  0.11930372,  0.04414072,  0.17648976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5855594966160975e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56004709e-01,  8.73783646e-02, -9.62718344e-01, -2.24551594e-02,
        9.96175196e-01,  8.44437352e-02,  9.66414691e-01, -3.46944695e-18,
        2.56987636e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696748, -0.03836815,  0.2266997 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012861305239886336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07903417e-14,  8.63227335e-14,  1.00000000e+00, -9.31451790e-28,
        1.00000000e+00, -8.63227335e-14, -1.00000000e+00,  0.00000000e+00,
        1.07903417e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02816074, -0.13073179,  0.06188576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52001061e-03, 3.59286574e-03, 5.85319563e-04,-9.82655512e-05,
  2.74088737e-05,-3.77492028e-05,-7.78056561e-05,-1.45791992e-05,
 -3.43493063e-05,-4.47279956e-05, 5.28582265e-05,-3.38143203e-05,
  1.85529826e-03, 1.73085065e-03, 7.86828556e-03, 3.96816249e-03,
 -4.33207096e-06, 4.75884837e-06,-1.21644931e+00, 1.57249015e-03,
  5.43291565e-04, 1.68112537e-05]


--- Step 1854 ---
qpos:
[-0.01230093, 1.33063341,-0.01880938, 0.94611523, 0.00424095, 1.33220895,
 -0.03037496, 0.94350507, 0.01691579, 1.33777474,-0.02354797, 0.95534386,
  1.35241655,-0.00368061, 1.12889342, 0.06134214,-0.00164571,-0.09791319,
  0.08163756, 0.54151931,-0.01082993,-0.00516161, 0.8406027 ]

qacc:
[ 2.03685482e-01,-7.81432342e-01, 5.17471355e+00,-1.47968676e+01,
  5.36994063e-04,-1.14993200e+00, 5.81209962e+00,-1.86665196e+01,
 -7.44856141e-02, 5.86930112e-01,-5.62892771e+00, 2.11729754e+01,
 -8.30312507e-02,-1.15085282e-01,-1.31322434e+00, 6.76569402e+00,
  8.11135588e-01, 1.30469320e+00,-8.00135229e-01, 5.76820267e+01,
  5.15641981e+01, 7.68947631e-01]

qfrc_actuator:
[ 4.63302413e-03, 3.69347074e-02, 1.12421754e-02, 1.66628498e-03,
 -6.66281820e-07, 3.48046107e-02, 1.08342806e-02, 1.73307369e-03,
 -3.11089980e-03, 3.46537794e-02, 1.08774382e-02, 1.77482553e-03,
  3.71422192e-04,-5.85883725e-04, 0.00000000e+00, 7.00506375e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14558912, -0.08450806,  0.11855201, -0.08450806,  0.20378016,
        0.04148063,  0.11855201,  0.04148063,  0.17515798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4374679435265204e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56036568e-01,  8.73829929e-02, -9.62709452e-01, -2.24591526e-02,
        9.96174790e-01,  8.44474625e-02,  9.66406158e-01,  3.46944695e-18,
        2.57019723e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696866, -0.0383714 ,  0.22669827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  3.98515335,  7.66194033,  3.98515335, 26.36560273,
       -9.22138957,  7.66194033, -9.22138957, 13.4326228 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012694815006829493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37274204e-14,  8.74548407e-14,  1.00000000e+00,  3.82417458e-27,
        1.00000000e+00, -8.74548407e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37274204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02818522, -0.13075694,  0.06188723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57738926e-03, 3.63449928e-03, 6.12283097e-04,-4.16017966e-05,
  1.58086591e-07,-4.78365233e-05,-3.76960787e-05,-6.33860027e-05,
 -2.15064863e-05,-5.66041797e-05, 1.11241103e-05, 6.93712114e-05,
  1.85159153e-03, 1.74939693e-03, 7.87954430e-03, 3.92515880e-03,
  4.72408081e-06,-4.32340387e-06,-1.21644674e+00, 1.57470278e-03,
  5.42501888e-04, 3.19137429e-06]


--- Step 1855 ---
qpos:
[-0.01231939, 1.33060691,-0.01881418, 0.9461144 , 0.00424086, 1.33220914,
 -0.03037627, 0.94350358, 0.01691468, 1.33777395,-0.02354776, 0.95534371,
  1.35246071,-0.00369336, 1.1289218 , 0.06131687,-0.00163579,-0.09791561,
  0.08164669, 0.54155173,-0.01061278,-0.00505826, 0.84058522]

qacc:
[ 2.38287907e-01, 1.72081780e+00,-6.09737060e+00, 1.50722387e+01,
 -3.30043952e-02,-1.53896660e+00, 6.74417166e+00,-1.48303651e+01,
  7.87088669e-02,-1.64405788e+00, 7.30783994e+00,-1.71164512e+01,
 -6.37700555e-01, 7.37962804e-01, 6.74420365e-01, 1.84294558e+00,
 -1.96352744e+00, 1.11775007e+00,-6.83396319e-01,-6.76010757e+01,
  8.80831868e+01, 5.73854806e+00]

qfrc_actuator:
[ 4.67590016e-03, 3.69712090e-02, 1.12719448e-02, 1.71541960e-03,
 -1.02718993e-05, 3.48511993e-02, 1.08580105e-02, 1.69829848e-03,
 -3.07550431e-03, 3.46830099e-02, 1.08860439e-02, 1.72688076e-03,
  3.65603669e-04,-5.40301672e-04, 0.00000000e+00, 6.81717917e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14557433, -0.08606392,  0.11740906, -0.08606392,  0.18308047,
        0.02749298,  0.11740906,  0.02749298,  0.1657274 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.301921494665294e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56067887e-01,  8.73875056e-02, -9.62700712e-01, -2.24630688e-02,
        9.96174394e-01,  8.44510904e-02,  9.66397769e-01,  6.93889390e-18,
        2.57051264e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06696994, -0.03837462,  0.22669684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012706297969918706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73758059e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.73758059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05321884, -0.10888757,  0.06188719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59623843e-03, 3.64347044e-03, 6.41809334e-04, 5.04477027e-05,
 -9.51373936e-06, 1.08451944e-05, 8.22369035e-06,-3.87914779e-05,
  2.26931940e-05, 2.16105198e-06, 8.47560653e-07,-4.76803872e-05,
  1.86043092e-03, 1.80503195e-03, 7.82860514e-03, 3.85989422e-03,
  1.64562763e-05,-5.85988091e-06,-1.21644667e+00, 1.57671734e-03,
  5.41364813e-04,-1.84588677e-06]


--- Step 1856 ---
qpos:
[-0.01233751, 1.33058143,-0.01881863, 0.94611449, 0.00424082, 1.33220947,
 -0.03037713, 0.94350269, 0.01691357, 1.33777346,-0.02354723, 0.95534157,
  1.35250408,-0.00370591, 1.12895214, 0.06129223,-0.00163319,-0.097914  ,
  0.08165055, 0.54157501,-0.01060171,-0.00497144, 0.84057087]

qacc:
[ 1.43549140e-01, 2.02957977e+00,-6.88949186e+00, 1.60472912e+01,
  2.24541639e-02, 6.81953947e-03,-1.02891904e+00, 7.83045080e+00,
 -1.80227060e-03,-3.88367889e+00, 1.71288228e+01,-3.79711728e+01,
 -8.24690521e-01, 9.83899490e-01, 1.08260584e+00, 5.93181232e-01,
 -1.82814657e+00, 1.00637949e+00,-1.31477727e+00,-6.27905043e+01,
  8.21020010e+01, 5.12506603e+00]

qfrc_actuator:
[ 4.69092067e-03, 3.70032066e-02, 1.12915192e-02, 1.76245190e-03,
  1.80140744e-06, 3.48790270e-02, 1.08904519e-02, 1.73175119e-03,
 -3.08944053e-03, 3.47185891e-02, 1.09088529e-02, 1.62772170e-03,
  3.55230751e-04,-4.90180826e-04, 0.00000000e+00, 6.62365371e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14556218, -0.08755296,  0.11628769, -0.08755296,  0.18630652,
        0.03067639,  0.11628769,  0.03067639,  0.16865843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.186297898715579e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56098071e-01,  8.73918881e-02, -9.62692285e-01, -2.24668519e-02,
        9.96174010e-01,  8.44546190e-02,  9.66389683e-01,  3.46944695e-18,
        2.57081663e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06697139, -0.03837785,  0.22669542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.55413552,  1.18892486, -8.55413552,  8.89397099,
        1.85344618,  1.18892486,  1.85344618, 21.97163011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012899355270068469
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.3034051e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.3034051e-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([ 0.05317368, -0.10888285,  0.06188562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58314500e-03, 3.63391517e-03, 6.44369550e-04, 5.30234424e-05,
  6.45857213e-06, 3.42673317e-05, 3.43605738e-05, 3.31171817e-05,
 -5.36064043e-07, 3.55327370e-05, 2.19325428e-05,-1.00181068e-04,
  1.88128596e-03, 1.84870135e-03, 7.73270938e-03, 3.80426057e-03,
  6.29852738e-06,-1.06502347e-06,-1.21644157e+00, 1.58162014e-03,
  5.43076416e-04, 2.21687366e-05]


--- Step 1857 ---
qpos:
[-0.01235498, 1.33055853,-0.01882301, 0.94611468, 0.00424116, 1.33221009,
 -0.03037759, 0.94350116, 0.01691224, 1.33777266,-0.02354513, 0.95533963,
  1.35254684,-0.00371914, 1.12899003, 0.06126792,-0.00163744,-0.09790873,
  0.08164703, 0.54159004,-0.01078401,-0.00489984, 0.84055929]

qacc:
[  0.27901347,  3.3359172 , -6.98608881,  5.53701061,  0.16161365,
  -1.80044727,  7.63483861,-14.20212136, -0.08984173, -4.31477349,
  13.19794398, -9.00233816, -0.35094063, -0.18539054, 10.13077298,
 -19.23055599, -1.71500136,  0.91611557, -1.84763214,-58.79279854,
  77.1127559 ,  4.61697663]

qfrc_actuator:
[ 4.68922644e-03, 3.70142353e-02, 1.13048449e-02, 1.77232806e-03,
  4.45350023e-05, 3.48954990e-02, 1.09099876e-02, 1.69855713e-03,
 -3.11510721e-03, 3.47044547e-02, 1.09931538e-02, 1.64128608e-03,
  3.47487911e-04,-4.90721238e-04, 0.00000000e+00, 4.47202649e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555261, -0.09211228,  0.11269822, -0.09211228,  0.34560121,
        0.16350686,  0.11269822,  0.16350686,  0.2791926 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.092065723047169e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56126949e-01,  8.73961993e-02, -9.62684211e-01, -2.24705023e-02,
        9.96173632e-01,  8.44581090e-02,  9.66381944e-01, -3.46944695e-18,
        2.57110749e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06697299, -0.03838106,  0.22669402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.55413875,  1.18890167, -8.55413875,  8.94677338,
        2.23339579,  1.18890167,  2.23339579, 24.7056299 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012910483741803702
  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([ 0.05317131, -0.1088865 ,  0.06188554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56451724e-03, 3.59438945e-03, 6.40917028e-04, 1.67364101e-05,
  4.65466589e-05, 4.31440590e-05, 3.11202260e-05,-3.03901600e-05,
 -2.59815861e-05, 6.83005236e-06, 9.07979439e-05, 1.29235915e-05,
  1.91278098e-03, 1.83806855e-03, 7.63336774e-03, 3.55766640e-03,
  1.02134941e-06, 1.00529077e-06,-1.21644041e+00, 1.58477924e-03,
  5.44230764e-04, 3.14570778e-05]


--- Step 1858 ---
qpos:
[-0.01237208, 1.33053803,-0.01882702, 0.94611463, 0.00424164, 1.33221137,
 -0.03037768, 0.94349921, 0.01691096, 1.33777187,-0.02354212, 0.95533891,
  1.35258901,-0.00373293, 1.12903311, 0.06124384,-0.00164817,-0.09790009,
  0.08163431, 0.54159749,-0.01114908,-0.00484238, 0.84055006]

qacc:
[ 1.54446412e-01, 1.72955791e+00,-1.37516268e+00,-2.95826194e+00,
  5.98413756e-02,-8.29882500e-01, 4.63666302e+00,-9.31029664e+00,
  1.88947591e-02,-3.63697318e-01,-1.25756332e+00, 1.51421108e+01,
 -3.13889283e-01,-1.42141734e-01, 7.00121658e+00,-1.32992139e+01,
 -1.61994898e+00, 8.42768202e-01,-2.29734360e+00,-5.54697798e+01,
  7.29523113e+01, 4.19235212e+00]

qfrc_actuator:
[ 4.67704761e-03, 3.70639716e-02, 1.13145460e-02, 1.76037398e-03,
  3.43045477e-05, 3.49582247e-02, 1.09394053e-02, 1.67963454e-03,
 -3.09434413e-03, 3.47142262e-02, 1.10419492e-02, 1.70334208e-03,
  3.41335952e-04,-4.85337962e-04, 0.00000000e+00, 3.45380227e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14554962, -0.09387162,  0.11123314, -0.09387162,  0.32621046,
        0.15246289,  0.11123314,  0.15246289,  0.27421576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.06211118327078e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56153263e-01,  8.74003709e-02, -9.62676831e-01, -2.24738918e-02,
        9.96173266e-01,  8.44615239e-02,  9.66374891e-01, -3.46944695e-18,
        2.57137259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06697515, -0.0383843 ,  0.22669262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.56980265,  1.07016795, -8.56980265,  8.93691235,
        2.40676541,  1.07016795,  2.40676541, 27.90951099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012775607733609556
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30352667e-13,  8.69017778e-14,  1.00000000e+00,  1.13278785e-26,
        1.00000000e+00, -8.69017778e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30352667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532028 , -0.10889678,  0.06188665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51939770e-03, 3.51541172e-03, 6.46789409e-04, 2.43742600e-07,
  1.72441427e-05, 9.17627187e-05, 4.05057857e-05,-1.74190799e-05,
  5.42105481e-06, 3.16608534e-05, 6.08213677e-05, 6.52149991e-05,
  1.93730353e-03, 1.87830328e-03, 7.25592590e-03, 3.43904280e-03,
 -2.97580105e-07, 8.61203166e-07,-1.21644250e+00, 1.58663571e-03,
  5.44949946e-04, 2.88145131e-05]


--- Step 1859 ---
qpos:
[-0.01238958, 1.33051725,-0.01882984, 0.94611429, 0.00424172, 1.33221299,
 -0.03037735, 0.94349881, 0.01690981, 1.33777099,-0.0235396 , 0.95534006,
  1.35263092,-0.00374608, 1.12907082, 0.06122046,-0.00166247,-0.09789734,
  0.08161981, 0.54160909,-0.01149001,-0.00496573, 0.84053728]

qacc:
[-1.68821403e-01,-4.07332413e+00, 1.34424463e+01,-1.49272278e+01,
 -1.71813741e-01, 1.93272970e+00,-8.96301733e+00, 2.54687902e+01,
  5.58800804e-02, 4.45526657e+00,-1.84192762e+01, 3.75447854e+01,
 -3.46296892e-01, 7.97629787e-01,-1.00104945e+01, 2.35590077e+01,
 -8.91512439e-01,-1.47231974e+00,-4.46867996e-01,-6.94422633e+01,
 -5.90762744e+01,-3.77274289e+00]

qfrc_actuator:
[ 4.65860862e-03, 3.71183277e-02, 1.13394935e-02, 1.73560643e-03,
 -2.53693623e-05, 3.49594366e-02, 1.09568707e-02, 1.75807451e-03,
 -3.08140052e-03, 3.46671430e-02, 1.09984595e-02, 1.79339064e-03,
  3.30832810e-04,-4.76255241e-04, 0.00000000e+00, 5.95576278e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555157, -0.08831989,  0.11569294, -0.08831989,  0.16187003,
        0.01245749,  0.11569294,  0.01245749,  0.15506161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.081732396963133e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25617689,  0.08740448, -0.96267017, -0.02247703,  0.99617291,
        0.08446494,  0.96636855,  0.        ,  0.25716107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06697768, -0.03838755,  0.22669126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001279506042326517
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42310366e-14,  2.16924146e-14,  1.00000000e+00,  1.17640213e-27,
        1.00000000e+00, -2.16924146e-14, -1.00000000e+00,  0.00000000e+00,
       -5.42310366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0307414 , -0.05976368,  0.06188642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48272802e-03, 3.44997947e-03, 6.52875357e-04,-1.30257138e-05,
 -4.94927125e-05, 5.93640041e-05, 3.95114369e-05, 8.19824121e-05,
  1.61454471e-05,-1.57662178e-05,-2.84905978e-05, 9.42859209e-05,
  1.95633528e-03, 1.91569233e-03, 6.99513699e-03, 3.67771196e-03,
  1.66992102e-06,-1.12527387e-06,-1.21644734e+00, 1.58750914e-03,
  5.45323045e-04, 1.62932018e-05]


--- Step 1860 ---
qpos:
[-0.01240782, 1.33049537,-0.01883271, 0.94611415, 0.00424112, 1.33221437,
 -0.03037651, 0.94349939, 0.01690852, 1.33776957,-0.02353826, 0.95534304,
  1.35267265,-0.00375804, 1.12910173, 0.0611977 ,-0.0016801 ,-0.09790017,
  0.08160125, 0.5416247 ,-0.01180849,-0.00525887, 0.84052102]

qacc:
[-3.17050502e-01,-9.52453202e-01, 9.76887502e-01, 2.05886778e+00,
 -2.86493840e-01,-1.48474998e-02,-2.35911071e+00, 1.36655350e+01,
 -6.19546384e-02, 5.61203628e+00,-2.28742448e+01, 4.13681523e+01,
 -6.01251488e-01, 1.53134659e+00,-1.18505917e+01, 2.69963176e+01,
 -8.30786266e-01,-1.39431635e+00,-1.01481228e+00,-6.52608268e+01,
 -5.53881424e+01,-3.66043693e+00]

qfrc_actuator:
[ 4.63703151e-03, 3.71239170e-02, 1.13193751e-02, 1.73880855e-03,
 -7.87136740e-05, 3.49060642e-02, 1.09669663e-02, 1.80437454e-03,
 -3.10875948e-03, 3.45860367e-02, 1.09183999e-02, 1.88134601e-03,
  3.28362382e-04,-4.30424661e-04, 0.00000000e+00, 8.07885092e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555058, -0.08550607,  0.11778661, -0.08550607,  0.14836149,
        0.00204055,  0.11778661,  0.00204055,  0.1470319 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.071802952545402e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56199651e-01,  8.74086994e-02, -9.62663731e-01, -2.24801202e-02,
        9.96172535e-01,  8.44684849e-02,  9.66362449e-01, -3.46944695e-18,
        2.57184014e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06697981, -0.03839073,  0.22668995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.33604479,  -4.55732637,  -7.33604479,
        20.47087167, -19.05031021,  -4.55732637, -19.05031021,
        39.30213511,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012762918927189532
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34940875e-14,  4.34940875e-14,  1.00000000e+00,  1.89173565e-27,
        1.00000000e+00, -4.34940875e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34940875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03074566, -0.05976129,  0.06188662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48111637e-03, 3.46971945e-03, 5.73657332e-04, 4.68588954e-06,
 -8.25543702e-05,-1.03515606e-05, 2.86067919e-05, 5.11467269e-05,
 -1.78263161e-05,-9.25914642e-05,-8.36177012e-05, 8.88536045e-05,
  1.96700804e-03, 1.92973541e-03, 7.26307075e-03, 3.85501007e-03,
  1.22659288e-05,-2.46265645e-06,-1.21644710e+00, 1.58720004e-03,
  5.46059340e-04, 1.33179342e-05]


--- Step 1861 ---
qpos:
[-0.01242565, 1.3304755 ,-0.01883681, 0.94611382, 0.00424016, 1.3322145 ,
 -0.0303748 , 0.94350233, 0.01690715, 1.33776863,-0.02353853, 0.95534492,
  1.35271425,-0.00377039, 1.12913891, 0.06117499,-0.00169389,-0.09789633,
  0.08158938, 0.54164145,-0.01215728,-0.00535721, 0.84050464]

qacc:
[ 1.76225947e-01, 5.62466122e+00,-1.48077312e+01, 9.62917371e+00,
 -1.54539782e-01, 7.08560452e-02,-7.04063439e+00, 3.41694162e+01,
 -3.00326859e-02, 3.10250304e+00,-7.10297992e+00,-6.93474802e+00,
 -1.40830836e-01,-1.04440673e-01, 9.09857395e+00,-1.83604145e+01,
  9.56512187e-01, 1.66635894e+00, 1.67269886e+00, 7.36611117e+01,
  6.54954250e+01, 7.22453800e-01]

qfrc_actuator:
[ 4.66733864e-03, 3.71189291e-02, 1.12907367e-02, 1.74067250e-03,
 -7.45691614e-05, 3.47848671e-02, 1.09901272e-02, 1.92009076e-03,
 -3.10681679e-03, 3.46625453e-02, 1.08527771e-02, 1.82530565e-03,
  3.41364580e-04,-4.16608663e-04, 0.00000000e+00, 5.53445473e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14554501, -0.09161237,  0.11309519, -0.09161237,  0.33621795,
        0.15445397,  0.11309519,  0.15445397,  0.27065992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0152104872428753e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56223522e-01,  8.74130995e-02, -9.62656978e-01, -2.24833552e-02,
        9.96172149e-01,  8.44721771e-02,  9.66356045e-01,  3.46944695e-18,
        2.57208076e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06698144, -0.03839387,  0.22668867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012971318870041992
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67470639e-14,  8.55906046e-14,  1.00000000e+00,  2.28929737e-27,
        1.00000000e+00, -8.55906046e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67470639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02816089, -0.13070969,  0.06188479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54886887e-03, 3.51980918e-03, 5.47920787e-04,-3.12700940e-06,
 -4.45817565e-05,-1.19802037e-04, 2.58895246e-05, 1.17433674e-04,
 -8.58815167e-06, 1.16205886e-05,-9.06024974e-05,-5.91562811e-05,
  1.98866355e-03, 1.88428733e-03, 7.60246791e-03, 3.56954373e-03,
  2.62942077e-05, 5.02871613e-06,-1.21644968e+00, 1.58651780e-03,
  5.46908462e-04, 1.98931251e-05]


--- Step 1862 ---
qpos:
[-0.01244263, 1.3304581 ,-0.01884126, 0.94611343, 0.00423929, 1.33221373,
 -0.03037305, 0.94350526, 0.0169059 , 1.33776857,-0.02353931, 0.95534498,
  1.35275584,-0.00378355, 1.12918351, 0.06115226,-0.00170419,-0.09788629,
  0.08158089, 0.54165936,-0.01253411,-0.00527499, 0.84048808]

qacc:
[ 3.62937849e-01, 4.11097842e+00,-9.36913178e+00, 5.88659129e+00,
  4.27363460e-02,-1.33398742e+00, 2.91362698e+00,-1.99120404e+00,
  4.99269747e-02,-6.13712263e-01, 7.03394067e+00,-2.75486786e+01,
  1.90912555e-01,-7.97730572e-01, 1.10153350e+01,-2.26481917e+01,
  8.75191245e-01, 1.54977491e+00, 8.45547626e-01, 6.82962411e+01,
  6.06886266e+01, 6.35860879e-01]

qfrc_actuator:
[ 4.69240505e-03, 3.71404277e-02, 1.12759193e-02, 1.74202648e-03,
 -3.59720171e-05, 3.47305922e-02, 1.09850736e-02, 1.91592512e-03,
 -3.08731033e-03, 3.47617873e-02, 1.08499876e-02, 1.73833888e-03,
  3.47674908e-04,-4.38654508e-04, 0.00000000e+00, 3.56574857e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14554429, -0.09490918,  0.11034214, -0.09490918,  0.45632031,
        0.26730945,  0.11034214,  0.26730945,  0.37546661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.007891467105006e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25624662,  0.0874174 , -0.96265044, -0.0224865 ,  0.99617177,
        0.08447579,  0.96634985,  0.        ,  0.25723136])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06698354, -0.03839709,  0.22668738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   4.9394403 ,   7.0843988 ,   4.9394403 ,
        63.85645811, -38.50098894,   7.0843988 , -38.50098894,
        35.48032621,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013211245747576233
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25226314e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.25226314e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02813247, -0.13067179,  0.06188272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55310832e-03, 3.44078311e-03, 5.93870127e-04, 7.05375574e-06,
  1.22790591e-05,-1.11953249e-04,-2.20980204e-05,-4.28002763e-06,
  1.44352432e-05, 8.62313875e-05,-1.25433400e-05,-9.06493393e-05,
  2.00125213e-03, 1.88180795e-03, 7.28842943e-03, 3.36991087e-03,
  1.08027928e-05,-2.79446876e-06,-1.21644747e+00, 1.58896700e-03,
  5.46107526e-04, 1.46170041e-05]


--- Step 1863 ---
qpos:
[-0.0124597 , 1.33043995,-0.01884532, 0.94611331, 0.00423868, 1.33221318,
 -0.03037233, 0.94350635, 0.01690497, 1.33776877,-0.02353942, 0.95534433,
  1.35279741,-0.00379595, 1.12922294, 0.06112993,-0.00170857,-0.09787971,
  0.08158112, 0.54167602,-0.012734  ,-0.00518408, 0.8404749 ]

qacc:
[-4.20854427e-02,-1.60278307e+00, 3.48246365e+00, 5.22497888e-01,
  1.06389791e-01,-5.60586673e-02, 4.33171419e+00,-2.52828091e+01,
  1.33269062e-01,-2.67020651e+00, 1.05503035e+01,-1.74520138e+01,
 -2.74313501e-01, 8.66603368e-01,-8.83523768e+00, 1.98670972e+01,
  1.47784633e+00,-8.63942016e-01, 2.17966942e+00, 5.15730510e+01,
 -7.20247983e+01, 1.02321040e+00]

qfrc_actuator:
[ 4.69596710e-03, 3.71588027e-02, 1.12512742e-02, 1.74303366e-03,
 -1.25284340e-05, 3.47876473e-02, 1.09458052e-02, 1.82349169e-03,
 -3.05742598e-03, 3.47675756e-02, 1.08844341e-02, 1.70497564e-03,
  3.49964711e-04,-4.10620601e-04, 0.00000000e+00, 6.02613101e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14554956, -0.08914447,  0.11505624, -0.08914447,  0.15682616,
        0.008737  ,  0.11505624,  0.008737  ,  0.15231891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.061508880171371e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25626769,  0.08742151, -0.96264446, -0.02248941,  0.99617141,
        0.08447927,  0.96634419,  0.        ,  0.2572526 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06698617, -0.03840038,  0.22668609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013375530967523197
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15020169e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.15020169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03272468, -0.08886938,  0.06188131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51381422e-03, 3.33574178e-03, 5.87309018e-04, 1.13051201e-05,
  3.06870122e-05,-9.32106191e-06,-6.38070344e-05,-9.65420049e-05,
  3.84116655e-05, 4.83399453e-05, 4.72088657e-05,-3.32876536e-05,
  2.00429270e-03, 1.95104151e-03, 6.91633095e-03, 3.61707231e-03,
  9.41743600e-07,-7.08466976e-08,-1.21644879e+00, 1.59143683e-03,
  5.44773585e-04, 2.10218963e-05]


--- Step 1864 ---
qpos:
[-0.01247598, 1.33042244,-0.01884995, 0.94611348, 0.00423818, 1.33221298,
 -0.03037258, 0.94350665, 0.01690423, 1.33776892,-0.02353888, 0.95534194,
  1.35283905,-0.00380832, 1.12926298, 0.06110766,-0.00170742,-0.09787633,
  0.08158682, 0.54169161,-0.01276909,-0.00508512, 0.84046492]

qacc:
[ 3.36165465e-01, 2.90136840e+00,-9.01690645e+00, 1.07728302e+01,
  5.02447446e-02, 1.73018905e+00,-3.46358628e+00,-6.34528038e+00,
  8.00480295e-02,-4.83276700e+00, 1.91805959e+01,-3.67197659e+01,
  5.22031244e-03, 2.67272565e-02, 7.27757638e-01,-1.22969913e+00,
  1.38347312e+00,-7.98932103e-01, 1.36764912e+00, 4.80203163e+01,
 -6.71033287e+01, 9.47294281e-01]

qfrc_actuator:
[ 4.77600376e-03, 3.71775471e-02, 1.12378737e-02, 1.76127876e-03,
 -1.61206850e-05, 3.48219658e-02, 1.09048277e-02, 1.78645445e-03,
 -3.05706381e-03, 3.47353009e-02, 1.09047455e-02, 1.61462915e-03,
  3.55168834e-04,-4.07055741e-04, 0.00000000e+00, 5.45892327e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555149, -0.09104152,  0.11356354, -0.09104152,  0.20328971,
        0.04628753,  0.11356354,  0.04628753,  0.18265923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.080859096596042e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2562891 ,  0.08742564, -0.96263838, -0.02249236,  0.99617105,
        0.08448275,  0.96633844,  0.        ,  0.25727419])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06698842, -0.03840364,  0.22668482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013486879508206318
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.23187472e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.23187472e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03270816, -0.0888726 ,  0.06188038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59884435e-03, 3.39267841e-03, 5.54201945e-04, 1.61514647e-05,
  1.45201389e-05, 1.37821052e-05,-5.28923527e-05,-4.14251796e-05,
  2.30461021e-05, 2.68831831e-06, 3.41410435e-05,-8.83093580e-05,
  2.01036473e-03, 1.91644839e-03, 7.17436357e-03, 3.53999427e-03,
 -5.42522423e-07, 1.45693265e-06,-1.21644313e+00, 1.58837319e-03,
  5.43420128e-04, 3.50659455e-05]


--- Step 1865 ---
qpos:
[-0.01249117, 1.33040591,-0.01885455, 0.94611311, 0.0042376 , 1.33221324,
 -0.03037344, 0.94350579, 0.01690331, 1.33776901,-0.02353778, 0.95533849,
  1.35288067,-0.00382119, 1.12930426, 0.06108562,-0.00170105,-0.09787592,
  0.08159527, 0.54170622,-0.01264938,-0.00497864, 0.84045796]

qacc:
[ 4.61007293e-01, 2.74291238e-01, 1.73599471e+00,-8.31408239e+00,
 -3.90310126e-02, 2.29363735e-01, 2.36951523e+00,-1.58674457e+01,
 -7.44204739e-02,-3.43428158e+00, 1.32410465e+01,-2.36525764e+01,
  2.97443230e-01,-7.29019896e-01, 1.11665955e+00,-1.31488230e+00,
  1.30524627e+00,-7.45883863e-01, 6.86894811e-01, 4.50835604e+01,
 -6.30318083e+01, 8.78325100e-01]

qfrc_actuator:
[ 4.84781357e-03, 3.72309096e-02, 1.12497811e-02, 1.73648322e-03,
 -3.59025258e-05, 3.48601747e-02, 1.08809216e-02, 1.72907775e-03,
 -3.09216760e-03, 3.47336639e-02, 1.09340828e-02, 1.56242599e-03,
  3.40811909e-04,-4.35484083e-04, 0.00000000e+00, 5.20732211e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555417, -0.09191726,  0.11285935, -0.09191726,  0.23515765,
        0.07297673,  0.11285935,  0.07297673,  0.20498939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1076255272363684e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25631045,  0.08742957, -0.96263234, -0.02249525,  0.9961707 ,
        0.08448605,  0.96633272,  0.        ,  0.25729571])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06699072, -0.03840693,  0.22668357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013433372695870957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13233166e-14,  8.26466331e-14,  1.00000000e+00,  3.41523298e-27,
        1.00000000e+00, -8.26466331e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13233166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03271568, -0.08886996,  0.06188085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63096977e-03, 3.41356217e-03, 5.94717248e-04,-2.29703360e-05,
 -1.12109451e-05, 3.42427923e-05,-2.84430368e-05,-5.94739382e-05,
 -2.14943314e-05, 3.89697298e-06, 3.11541396e-05,-5.31826287e-05,
  1.99292308e-03, 1.88729104e-03, 7.14300332e-03, 3.51180368e-03,
  5.05049791e-07, 1.54671519e-06,-1.21644071e+00, 1.58619265e-03,
  5.42698496e-04, 3.91539232e-05]


--- Step 1866 ---
qpos:
[-0.01250548, 1.33039042,-0.0188588 , 0.94611242, 0.00423686, 1.33221362,
 -0.03037425, 0.94350493, 0.01690212, 1.33776947,-0.02353718, 0.95533722,
  1.3529216 ,-0.00383449, 1.12934687, 0.0610638 ,-0.00168972,-0.09787833,
  0.08160418, 0.54171992,-0.01238318,-0.00486508, 0.84045376]

qacc:
[ 3.71294947e-01,-1.37292455e-01, 2.74567572e+00,-6.73065680e+00,
 -6.31704777e-02, 6.59411546e-02,-3.03428107e-02, 7.49532781e-03,
 -1.15560224e-01, 5.61718619e+00,-2.21300680e+01, 4.41114066e+01,
 -2.88626090e-01,-1.20723315e-01, 1.30060277e+00,-1.65668734e+00,
  1.24047468e+00,-7.02685080e-01, 1.16938851e-01, 4.26590064e+01,
 -5.96677958e+01, 8.14867494e-01]

qfrc_actuator:
[ 4.91407521e-03, 3.72867077e-02, 1.12765030e-02, 1.72207577e-03,
 -4.74821885e-05, 3.48649725e-02, 1.08850341e-02, 1.73120179e-03,
 -3.11275640e-03, 3.47681833e-02, 1.09153974e-02, 1.67514132e-03,
  3.20048362e-04,-4.11590494e-04, 0.00000000e+00, 4.96565051e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14555842, -0.09395405,  0.11117505, -0.09395405,  0.23315299,
        0.07402619,  0.11117505,  0.07402619,  0.20811796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.149637899086191e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56330823e-01,  8.74332260e-02, -9.62626584e-01, -2.24979894e-02,
        9.96170383e-01,  8.44891086e-02,  9.66327248e-01,  3.46944695e-18,
        2.57316246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0669931 , -0.0384102 ,  0.22668234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013248958242597642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.18985027e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.18985027e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274217, -0.0888627 ,  0.06188244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64282173e-03, 3.42079217e-03, 6.20103774e-04,-1.06251551e-05,
 -1.81951484e-05, 1.63857194e-05, 5.82986247e-06, 9.38963629e-07,
 -3.32802574e-05, 4.11752554e-05,-1.59462273e-05, 1.12501319e-04,
  1.97263403e-03, 1.93623885e-03, 7.08031999e-03, 3.47623293e-03,
  3.62123730e-06, 4.57885081e-07,-1.21644095e+00, 1.58472393e-03,
  5.42509253e-04, 3.50322425e-05]


--- Step 1867 ---
qpos:
[-0.01251922, 1.33037498,-0.01886245, 0.94611198, 0.00423613, 1.33221396,
 -0.03037436, 0.94350374, 0.01690096, 1.33776978,-0.02353664, 0.95533802,
  1.35296174,-0.00384765, 1.12938829, 0.06104231,-0.00167681,-0.09788566,
  0.0816176 , 0.54173566,-0.01201119,-0.00483415, 0.84044919]

qacc:
[ 2.43862989e-01,-1.12647449e+00, 3.24432119e+00, 5.42342138e-02,
  1.66849804e-03,-2.52926037e+00, 8.87652138e+00,-1.15543860e+01,
  1.43232482e-02, 3.52095575e+00,-1.58780872e+01, 3.77291462e+01,
 -6.28755205e-01, 6.65878285e-01,-2.72116245e+00, 7.03812006e+00,
  3.95357959e-01,-1.23085867e+00, 1.12433978e+00,-6.06124438e+00,
 -6.68260967e+01,-1.72889264e+00]

qfrc_actuator:
[ 4.95903181e-03, 3.72902523e-02, 1.12940257e-02, 1.73165119e-03,
 -3.62939284e-05, 3.48676250e-02, 1.09233098e-02, 1.71506382e-03,
 -3.08896399e-03, 3.47352363e-02, 1.09042538e-02, 1.77747369e-03,
  3.11479647e-04,-3.73929258e-04, 0.00000000e+00, 5.61666185e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14556451, -0.09341141,  0.11163931, -0.09341141,  0.18368888,
        0.03189962,  0.11163931,  0.03189962,  0.17225572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.208812389913704e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25634986,  0.08743668, -0.9626212 , -0.02250056,  0.99617008,
        0.084492  ,  0.96632214,  0.        ,  0.25733543])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06699559, -0.0384134 ,  0.22668114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013030956366854168
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.38991679e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.38991679e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.006235  , -0.07664252,  0.0618843 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64396149e-03, 3.37239123e-03, 6.20069920e-04, 1.48603004e-05,
  4.49600404e-07, 1.28822641e-05, 4.21714864e-05,-1.54542018e-05,
  4.14213098e-06,-9.96752363e-06,-1.62638739e-06, 1.05703828e-04,
  1.99845952e-03, 1.99541390e-03, 7.01272091e-03, 3.52991230e-03,
  8.46825394e-06,-1.61971501e-06,-1.21644342e+00, 1.58383660e-03,
  5.42777292e-04, 2.39756215e-05]


--- Step 1868 ---
qpos:
[-0.012533  , 1.33035895,-0.01886537, 0.94611136, 0.00423561, 1.33221416,
 -0.03037396, 0.94350307, 0.01690009, 1.33776875,-0.02353513, 0.95534114,
  1.35300143,-0.00386041, 1.12942663, 0.06102138,-0.0016672 ,-0.09789854,
  0.08162657, 0.54175545,-0.01161716,-0.00497102, 0.84044117]

qacc:
[-1.88549608e-02,-3.03413001e+00, 9.32553423e+00,-9.80552251e+00,
  8.69360464e-02,-6.68653193e-01, 8.70656774e-01, 5.43815865e+00,
  1.21300732e-01,-3.70928097e-01,-5.55384940e+00, 3.22597404e+01,
 -4.53376511e-01, 7.24208980e-01,-6.17588109e+00, 1.50973711e+01,
 -8.25875181e-01,-1.38739512e+00,-1.10879811e+00,-6.45269892e+01,
 -5.46801503e+01,-3.69414240e+00]

qfrc_actuator:
[ 4.93789793e-03, 3.72985241e-02, 1.13233891e-02, 1.71966729e-03,
 -1.15380682e-05, 3.48513522e-02, 1.09458951e-02, 1.74156397e-03,
 -3.05649298e-03, 3.46089152e-02, 1.09328867e-02, 1.89056677e-03,
  3.15587629e-04,-3.46143919e-04, 0.00000000e+00, 6.80136214e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14557026, -0.09176447,  0.11300434, -0.09176447,  0.17266742,
        0.02200408,  0.11300434,  0.02200408,  0.16343854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2636565524966216e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25636826,  0.08743999, -0.962616  , -0.02250303,  0.99616979,
        0.08449477,  0.9663172 ,  0.        ,  0.25735398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.066998  , -0.03841652,  0.22667996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.09529206,   3.00882423,   8.09529206,
        13.31352168, -12.58397217,   3.00882423, -12.58397217,
        42.49375181,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001284865269300009
  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([ 0.03074573, -0.05978967,  0.06188589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59406364e-03, 3.37824174e-03, 6.19281677e-04,-9.77746472e-06,
  2.50216718e-05,-1.36509298e-06, 2.94495432e-05, 2.77646912e-05,
  3.49163941e-05,-1.29022291e-04, 2.95944709e-05, 1.15213243e-04,
  2.04206844e-03, 2.01702415e-03, 7.07203232e-03, 3.63188526e-03,
  6.60319457e-06,-3.77149405e-06,-1.21644574e+00, 1.58270492e-03,
  5.43307119e-04, 1.36774711e-05]


--- Step 1869 ---
qpos:
[-0.01254693, 1.33034298,-0.01886816, 0.94611093, 0.00423532, 1.3322143 ,
 -0.03037357, 0.94350309, 0.01689954, 1.33776711,-0.02353437, 0.95534699,
  1.35304074,-0.00387278, 1.12946399, 0.0610008 ,-0.0016607 ,-0.09791672,
  0.08162928, 0.54177909,-0.0112023 ,-0.00526692, 0.84042976]

qacc:
[-6.10545462e-02, 5.92443041e-03,-2.97886458e-01, 2.30533273e+00,
  1.03121597e-01, 1.15703510e+00,-5.27529580e+00, 1.25915053e+01,
  1.39542959e-01, 5.92316972e+00,-2.57844622e+01, 5.42816151e+01,
 -5.06994610e-01, 8.17171048e-01,-2.46809392e+00, 6.61804036e+00,
 -7.77990106e-01,-1.32445089e+00,-1.56836919e+00,-6.11689565e+01,
 -5.18079376e+01,-3.51435607e+00]

qfrc_actuator:
[ 4.93075785e-03, 3.73280048e-02, 1.13417440e-02, 1.73058008e-03,
  3.40285694e-06, 3.48415966e-02, 1.09412263e-02, 1.77516776e-03,
 -3.03683313e-03, 3.45875936e-02, 1.08956303e-02, 2.02680220e-03,
  3.21973950e-04,-3.06860107e-04, 0.00000000e+00, 7.05999765e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14557403, -0.09227529,  0.11259249, -0.09227529,  0.18724334,
        0.03415012,  0.11259249,  0.03415012,  0.17356179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.299108834813741e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56386534e-01,  8.74433151e-02, -9.62610831e-01, -2.25054959e-02,
        9.96169497e-01,  8.44975503e-02,  9.66312293e-01, -3.46944695e-18,
        2.57372400e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700019, -0.03841958,  0.22667881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.0529571 ,  -3.12036197,  -8.0529571 ,
        18.25583701, -24.82571166,  -3.12036197, -24.82571166,
        72.70597902,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012669963864166967
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19065941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19065941e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03077223, -0.05976031,  0.06188744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58917816e-03, 3.43732070e-03, 6.01547542e-04, 9.88232133e-06,
  2.97091486e-05,-3.91657528e-06,-7.71889114e-07, 3.50698387e-05,
  4.02720726e-05,-8.34672415e-05,-5.57141728e-05, 1.35967328e-04,
  2.07108132e-03, 2.03627342e-03, 7.22479804e-03, 3.62984965e-03,
 -1.93454486e-06, 1.99949717e-06,-1.21644701e+00, 1.58084211e-03,
  5.43860835e-04, 2.09465736e-05]


--- Step 1870 ---
qpos:
[-0.01256089, 1.33032594,-0.01887076, 0.94611073, 0.00423526, 1.33221474,
 -0.03037316, 0.94350486, 0.01689915, 1.33776615,-0.02353474, 0.95535053,
  1.35308017,-0.00388439, 1.12949638, 0.06098077,-0.00165069,-0.09792898,
  0.08163412, 0.54180349,-0.01081488,-0.00538702, 0.84041834]

qacc:
[-1.26714631e-02,-1.49892588e+00, 2.73500071e+00, 9.46770588e-01,
  9.18120896e-02, 3.29688572e+00,-1.38844685e+01, 3.21555020e+01,
  6.16730925e-02,-2.97415530e-02, 5.79725052e+00,-3.19975445e+01,
 -1.49484640e-01, 7.28440333e-01,-9.00065692e+00, 2.08488904e+01,
  8.77103840e-01, 1.48147209e+00, 5.33595699e-01, 6.64451927e+01,
  5.91634694e+01, 7.34106397e-01]

qfrc_actuator:
[ 4.94988390e-03, 3.73342972e-02, 1.13360345e-02, 1.73719306e-03,
  1.23343760e-05, 3.48889758e-02, 1.09560358e-02, 1.86591926e-03,
 -3.04277088e-03, 3.46823362e-02, 1.08556633e-02, 1.90928131e-03,
  3.13759294e-04,-3.14089085e-04, 0.00000000e+00, 8.89314316e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14557738, -0.08843624,  0.11563652, -0.08843624,  0.1576275 ,
        0.00921567,  0.11563652,  0.00921567,  0.15262532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3303542827815835e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25640462,  0.08744668, -0.96260571, -0.02250796,  0.9961692 ,
        0.08450038,  0.96630744,  0.        ,  0.25739063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700231, -0.03842263,  0.22667766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012641713792932857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39110963e-14,  4.39110963e-14,  1.00000000e+00,  1.92818438e-27,
        1.00000000e+00, -4.39110963e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39110963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02821529, -0.13075554,  0.06188769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61552247e-03, 3.44099847e-03, 5.88853429e-04, 7.47308208e-06,
  2.64663494e-05, 4.61158275e-05, 1.49832769e-05, 9.14247224e-05,
  1.78379405e-05, 4.17528644e-05,-5.86106684e-05,-1.18450902e-04,
  2.08164457e-03, 2.00943256e-03, 7.27324816e-03, 3.79555511e-03,
 -6.46742527e-06, 1.51085679e-05,-1.21645063e+00, 1.57865531e-03,
  5.44564410e-04, 3.58938435e-05]


--- Step 1871 ---
qpos:
[-0.01257478, 1.33031076,-0.01887438, 0.94610972, 0.00423551, 1.3322153 ,
 -0.03037284, 0.94350911, 0.01689881, 1.33776551,-0.02353495, 0.95535088,
  1.35311922,-0.00389666, 1.12953547, 0.06096081,-0.00164819,-0.09793744,
  0.0816351 , 0.54181942,-0.01064339,-0.00552347, 0.84040938]

qacc:
[ 2.71941416e-02, 3.80272983e+00,-7.82224548e+00,-3.66307983e+00,
  1.34027514e-01, 4.63308263e+00,-2.00269404e+01, 4.60374335e+01,
  2.44810158e-02,-5.53947457e+00, 2.50016197e+01,-5.87330703e+01,
 -1.70964864e-01,-3.25454787e-01, 9.71064379e+00,-1.95678922e+01,
 -1.87612238e+00, 9.47091954e-01,-9.64813468e-01,-6.54079473e+01,
  8.62615212e+01, 4.71750835e+00]

qfrc_actuator:
[ 4.91370278e-03, 3.73277745e-02, 1.13157851e-02, 1.70559764e-03,
  3.53420966e-05, 3.48815425e-02, 1.09469841e-02, 1.98962257e-03,
 -3.04626267e-03, 3.47036585e-02, 1.08680160e-02, 1.74996958e-03,
  3.07404533e-04,-2.96472873e-04, 0.00000000e+00, 6.34177299e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14557693, -0.09540073,  0.10996065, -0.09540073,  0.48543838,
        0.29486028,  0.10996065,  0.29486028,  0.40139467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3262127190760576e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56423556e-01,  8.74500435e-02, -9.62600358e-01, -2.25104909e-02,
        9.96168906e-01,  8.45031828e-02,  9.66302353e-01,  3.46944695e-18,
        2.57409717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700408, -0.03842566,  0.22667653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012660214992525065
  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([ 0.05322143, -0.10893464,  0.06188756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58086039e-03, 3.48785977e-03, 5.59362409e-04,-3.57103497e-05,
  3.86301425e-05, 2.37580034e-05, 4.35749556e-06, 1.27652408e-04,
  7.04244887e-06, 2.94698787e-05, 1.03862653e-05,-1.62544209e-04,
  2.06925359e-03, 1.99011158e-03, 7.52156235e-03, 3.51267446e-03,
 -1.35518984e-06, 1.06620975e-06,-1.21644617e+00, 1.57955851e-03,
  5.44551416e-04, 1.71604396e-05]


--- Step 1872 ---
qpos:
[-0.01258902, 1.33029704,-0.01887785, 0.94610866, 0.00423606, 1.33221603,
 -0.03037336, 0.94351277, 0.01689892, 1.33776501,-0.02353476, 0.9553507 ,
  1.35315741,-0.00390925, 1.12958018, 0.06094098,-0.00165271,-0.09794242,
  0.08162987, 0.54182763,-0.01067341,-0.00567509, 0.8404027 ]

qacc:
[ -0.14429211,  1.39159939, -2.13709681,  0.33949429,  0.12593682,
   1.50840965, -3.44099931, -3.93046546,  0.19222862, -1.79155499,
   7.13096999,-12.35325532, -0.72997929,  0.49086309,  7.92501135,
 -15.54582287, -1.75603704,  0.87118418, -1.5511452 ,-60.99792173,
  80.53831724,  4.34251588]

qfrc_actuator:
[ 4.87975964e-03, 3.73288152e-02, 1.13234491e-02, 1.70528140e-03,
  4.88564483e-05, 3.48590348e-02, 1.08882200e-02, 1.95414338e-03,
 -2.99499900e-03, 3.47165181e-02, 1.08931640e-02, 1.72717319e-03,
  3.02206592e-04,-2.45097793e-04, 0.00000000e+00, 5.06794984e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14558205, -0.09872456,  0.10699343, -0.09872456,  0.32586996,
        0.16635455,  0.10699343,  0.16635455,  0.29908007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.373386039288995e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56441680e-01,  8.74533998e-02, -9.62595225e-01, -2.25129526e-02,
        9.96168612e-01,  8.45060004e-02,  9.66297486e-01, -3.46944695e-18,
        2.57427986e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700636, -0.03842873,  0.22667538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.60303396,  4.09641935, -7.60303396, 19.5926065 ,
       20.33499978,  4.09641935, 20.33499978, 46.3785186 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012780630982942298
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34338111e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.34338111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0531922 , -0.10893029,  0.06188656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54368465e-03, 3.39596247e-03, 6.18090619e-04, 4.32484715e-06,
  3.63152489e-05,-4.67067233e-06,-4.98722225e-05,-3.16708257e-05,
  5.54233667e-05, 2.63757737e-05, 2.73288103e-05,-2.54040529e-05,
  2.08315755e-03, 2.07442731e-03, 7.18554476e-03, 3.38197516e-03,
 -1.22391479e-06, 3.23255053e-06,-1.21644173e+00, 1.58259546e-03,
  5.45179894e-04, 3.16883144e-05]


--- Step 1873 ---
qpos:
[-0.01260319, 1.33028197,-0.01888015, 0.94610917, 0.0042367 , 1.33221678,
 -0.03037443, 0.94351356, 0.01689941, 1.33776536,-0.02353487, 0.95535057,
  1.35319546,-0.00392071, 1.12961922, 0.06092158,-0.00165392,-0.09794117,
  0.08162705, 0.5418376 ,-0.0107299 ,-0.00565053, 0.84039571]

qacc:
[ 2.31299489e-02,-2.15460236e+00, 1.70382693e+00, 1.76187961e+01,
  3.95210142e-02,-3.40233832e+00, 1.70251605e+01,-4.80733825e+01,
  1.57334387e-01, 2.02818618e+00,-5.35176198e+00, 4.63847492e+00,
 -5.85799554e-01, 1.47608637e+00,-9.60170508e+00, 2.15491222e+01,
  8.28102884e-01, 1.55766519e+00, 6.00672973e-01, 6.68637732e+01,
  5.88531963e+01, 1.90030499e-01]

qfrc_actuator:
[ 4.93630174e-03, 3.73340624e-02, 1.13470941e-02, 1.77656009e-03,
  3.88144772e-05, 3.48451339e-02, 1.08536791e-02, 1.80747494e-03,
 -2.98231189e-03, 3.47953580e-02, 1.08901861e-02, 1.73163674e-03,
  2.87108032e-04,-2.44558811e-04, 0.00000000e+00, 7.57758014e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14559219, -0.09147652,  0.11326577, -0.09147652,  0.14412762,
       -0.00118283,  0.11326577, -0.00118283,  0.14463691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.464979619541286e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56458253e-01,  8.74568599e-02, -9.62590495e-01, -2.25153052e-02,
        9.96168308e-01,  8.45089544e-02,  9.66293033e-01, -3.46944695e-18,
        2.57444702e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700906, -0.03843179,  0.22667423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012948914092108382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.57386972e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.57386972e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02818182, -0.1307079 ,  0.06188512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61725381e-03, 3.32890450e-03, 6.34031708e-04, 7.82818096e-05,
  1.13922477e-05,-2.71917349e-05,-4.20543046e-05,-1.49000474e-04,
  4.54151244e-05, 9.80146803e-05, 4.53514095e-06, 5.45198034e-06,
  2.11108730e-03, 2.09080943e-03, 6.90352981e-03, 3.62577121e-03,
  2.79772904e-06, 2.99293709e-06,-1.21644112e+00, 1.58441134e-03,
  5.45483825e-04, 3.28277019e-05]


--- Step 1874 ---
qpos:
[-0.01261673, 1.3302666 ,-0.01888255, 0.94611017, 0.00423734, 1.33221704,
 -0.03037582, 0.94351366, 0.01689989, 1.33776661,-0.02353539, 0.95535083,
  1.35323409,-0.00393187, 1.12965627, 0.06090241,-0.00165205,-0.09793408,
  0.08162402, 0.54184925,-0.01081117,-0.00546083, 0.84038841]

qacc:
[ 2.73199120e-01, 7.05549607e-01,-3.75410924e+00, 9.02197853e+00,
  1.36494133e-03,-9.98366799e-01, 3.92011207e+00,-1.11632357e+01,
 -5.33279775e-03, 2.95507672e+00,-9.02504123e+00, 1.18884479e+01,
  3.51641143e-01,-8.19364120e-02,-3.62709419e+00, 8.36836972e+00,
  7.70713981e-01, 1.45885571e+00,-5.16076538e-02, 6.26907393e+01,
  5.51623252e+01, 1.62446435e-01]

qfrc_actuator:
[ 4.95811357e-03, 3.73262861e-02, 1.13437511e-02, 1.80041918e-03,
  3.24765440e-05, 3.48009840e-02, 1.08337154e-02, 1.77413717e-03,
 -3.01062290e-03, 3.48420068e-02, 1.08708761e-02, 1.75209372e-03,
  2.82011827e-04,-2.93577061e-04, 0.00000000e+00, 7.91570723e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14559803, -0.09019186,  0.1142988 , -0.09019186,  0.17757224,
        0.02523048,  0.1142988 ,  0.02523048,  0.16550711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.516636949580168e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56474993e-01,  8.74603049e-02, -9.62585722e-01, -2.25176687e-02,
        9.96168005e-01,  8.45118899e-02,  9.66288535e-01,  3.46944695e-18,
        2.57461585e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06701134, -0.03843483,  0.2266731 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001296083907882703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.56598109e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.56598109e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02818084, -0.13070595,  0.06188501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63637365e-03, 3.38805693e-03, 5.72505483e-04, 2.30687731e-05,
  3.85671514e-07,-7.19023808e-05,-3.44371657e-05,-3.88423031e-05,
 -1.48994389e-06, 1.01895671e-04, 5.04671805e-07, 2.36190537e-05,
  2.11251596e-03, 1.98621480e-03, 7.18630344e-03, 3.63816873e-03,
 -8.84184715e-09, 1.28940759e-07,-1.21644031e+00, 1.58522658e-03,
  5.45150235e-04, 3.02102779e-05]


--- Step 1875 ---
qpos:
[-0.01262927, 1.33025318,-0.01888577, 0.94611094, 0.00423796, 1.33221716,
 -0.03037734, 0.94351366, 0.01690036, 1.33776811,-0.02353623, 0.95535312,
  1.35327301,-0.00394396, 1.12969985, 0.06088305,-0.00164728,-0.09792149,
  0.0816186 , 0.54186246,-0.01091582,-0.00511511, 0.84038072]

qacc:
[ 4.18620983e-01, 4.35759345e+00,-1.06837070e+01, 5.46118913e+00,
 -1.33232144e-02, 3.65794554e-02,-1.31070873e-01,-9.19990557e-01,
 -1.13419731e-03, 4.69718051e+00,-1.89965650e+01, 3.96342954e+01,
  5.30058514e-01,-1.22123821e+00, 1.01375899e+01,-2.15519420e+01,
  7.23095657e-01, 1.37702179e+00,-5.99698261e-01, 5.92299775e+01,
  5.21039330e+01, 1.51871709e-01]

qfrc_actuator:
[ 4.97622735e-03, 3.73279461e-02, 1.13250109e-02, 1.79629433e-03,
  2.84138487e-05, 3.48279390e-02, 1.08402259e-02, 1.77226599e-03,
 -3.01003949e-03, 3.48157011e-02, 1.08419863e-02, 1.85278403e-03,
  2.88183662e-04,-3.18703593e-04, 0.00000000e+00, 5.53107423e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14560238, -0.09574298,  0.10969655, -0.09574298,  0.47941409,
        0.29135035,  0.10969655,  0.29135035,  0.3998925 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5545434828993666e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25649212,  0.08746358, -0.96258086, -0.02252002,  0.99616772,
        0.08451465,  0.96628393,  0.        ,  0.25747885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06701346, -0.03843792,  0.22667197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012830079255787621
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32664133e-14,  4.32664133e-14,  1.00000000e+00,  1.87198252e-27,
        1.00000000e+00, -4.32664133e-14, -1.00000000e+00,  0.00000000e+00,
       -4.32664133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02819712, -0.13072528,  0.06188609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62225104e-03, 3.40481345e-03, 5.58643330e-04,-5.11840524e-06,
 -3.83744115e-06,-2.07260298e-05,-1.26121358e-05,-5.94514249e-06,
 -2.92283106e-07, 3.08315626e-05,-8.24361254e-06, 1.04273678e-04,
  2.08972636e-03, 1.94625321e-03, 7.28526258e-03, 3.38858429e-03,
  1.15868059e-06, 5.72303705e-06,-1.21644235e+00, 1.58623886e-03,
  5.44283771e-04, 3.70842646e-05]


--- Step 1876 ---
qpos:
[-0.01264112, 1.3302406 ,-0.01888923, 0.94611241, 0.00423853, 1.33221752,
 -0.03037836, 0.94351253, 0.01690098, 1.33776862,-0.02353636, 0.95535873,
  1.35331195,-0.00395618, 1.12974499, 0.0608635 ,-0.00164969,-0.09790526,
  0.0816067 , 0.5418675 ,-0.01121966,-0.0047846 , 0.84037541]

qacc:
[ 2.97249000e-01, 3.00728717e+00,-9.89720342e+00, 1.62123147e+01,
 -1.70516551e-02,-2.95412758e+00, 1.23287929e+01,-2.39094311e+01,
  6.16579326e-02, 2.49361053e+00,-1.63517459e+01, 5.29904735e+01,
  3.71806189e-02,-1.34281843e-01, 2.87917802e+00,-6.74770449e+00,
 -1.79260836e+00, 9.09591658e-01,-1.61649880e+00,-6.03978387e+01,
  7.95373133e+01, 4.49869601e+00]

qfrc_actuator:
[ 5.00927307e-03, 3.73509025e-02, 1.12977912e-02, 1.82915574e-03,
  2.57496569e-05, 3.48796460e-02, 1.08803289e-02, 1.71794329e-03,
 -2.99212436e-03, 3.47104084e-02, 1.08606924e-02, 2.01758392e-03,
  2.95796620e-04,-3.10643357e-04, 0.00000000e+00, 5.42147671e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14561269, -0.09509355,  0.11027362, -0.09509355,  0.2251129 ,
        0.06855636,  0.11027362,  0.06855636,  0.2047317 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.64298342058339e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25650816,  0.08746662, -0.96257631, -0.02252222,  0.99616745,
        0.08451721,  0.96627962,  0.        ,  0.25749503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06701606, -0.03844109,  0.22667083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012821693353894797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32947113e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.32947113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317983, -0.10893727,  0.06188612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60586525e-03, 3.33096345e-03, 5.72303125e-04, 3.92343361e-05,
 -4.92984642e-06, 3.75961342e-05, 3.44404143e-05,-5.54555450e-05,
  1.77437715e-05,-8.67709861e-05, 2.68434509e-05, 1.67902991e-04,
  2.08334610e-03, 2.00051291e-03, 6.95781650e-03, 3.38644822e-03,
  5.63974655e-06, 1.83615179e-05,-1.21644679e+00, 1.58740318e-03,
  5.42959670e-04, 5.18922035e-05]


--- Step 1877 ---
qpos:
[-0.01265282, 1.33022725,-0.01889227, 0.94611299, 0.00423892, 1.33221832,
 -0.03037932, 0.94351146, 0.01690177, 1.33776736,-0.02353449, 0.95536316,
  1.35335136,-0.00396827, 1.12978504, 0.06084433,-0.00165608,-0.09789558,
  0.08159713, 0.54187708,-0.01149683,-0.00465437, 0.84036622]

qacc:
[ 5.96121847e-02,-3.72503495e+00, 1.27581724e+01,-2.09573839e+01,
 -7.80247496e-02, 5.03599263e-01,-1.05227306e+00, 1.23945290e+00,
  7.29349350e-02,-9.76022274e+00, 3.13608922e+01,-3.95842588e+01,
  5.45667415e-01,-4.85182997e-01,-8.68187789e+00, 1.93786104e+01,
 -9.96494800e-01,-1.63778296e+00, 5.79993525e-01,-7.69118529e+01,
 -6.54336776e+01,-4.14469143e+00]

qfrc_actuator:
[ 5.01566400e-03, 3.73869535e-02, 1.13007487e-02, 1.77685456e-03,
  6.19350616e-06, 3.49103849e-02, 1.08867502e-02, 1.72198127e-03,
 -2.98170969e-03, 3.45766038e-02, 1.09425482e-02, 1.95245860e-03,
  3.09612249e-04,-3.36334615e-04, 0.00000000e+00, 7.38788602e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14562499, -0.09072952,  0.11390694, -0.09072952,  0.18014476,
        0.0274958 ,  0.11390694,  0.0274958 ,  0.16752603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.745763044360473e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25652363,  0.08746948, -0.96257193, -0.02252432,  0.9961672 ,
        0.08451961,  0.96627547,  0.        ,  0.25751062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06701877, -0.03844427,  0.2266697 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001311842290373677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05788538e-14,  2.11577076e-14,  1.00000000e+00, -2.23824296e-28,
        1.00000000e+00, -2.11577076e-14, -1.00000000e+00,  0.00000000e+00,
        1.05788538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071821, -0.0598491 ,  0.06188358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57716563e-03, 3.32480241e-03, 5.87779441e-04,-4.81082397e-05,
 -2.24643971e-05, 5.66038147e-05, 1.60684518e-05, 4.89054257e-06,
  2.08882530e-05,-1.71567660e-04, 7.28817085e-05,-6.29929267e-05,
  2.09551210e-03, 1.98236600e-03, 6.87931854e-03, 3.59272852e-03,
 -2.95588753e-06, 1.88033064e-05,-1.21645034e+00, 1.58748259e-03,
  5.43488289e-04, 4.82095060e-05]


--- Step 1878 ---
qpos:
[-0.01266477, 1.33021451,-0.01889565, 0.94611147, 0.00423896, 1.33221974,
 -0.03038058, 0.94351079, 0.0169027 , 1.33776583,-0.02353236, 0.95536501,
  1.35339049,-0.00398091, 1.12982587, 0.06082543,-0.00166614,-0.09789202,
  0.08158694, 0.54189109,-0.01174946,-0.00471   , 0.84035338]

qacc:
[-1.06607874e-01,-1.91886953e+00, 1.14538602e+01,-3.45453185e+01,
 -1.48652297e-01, 2.30108398e+00,-7.36422480e+00, 1.06948089e+01,
  6.30880413e-02,-5.51036317e+00, 2.27523317e+01,-4.93377708e+01,
  1.56006560e-01,-6.72299372e-01, 2.99013634e-01, 5.79488531e-01,
 -9.17984062e-01,-1.53093715e+00,-1.53638661e-01,-7.14267834e+01,
 -6.06408856e+01,-3.97490969e+00]

qfrc_actuator:
[ 5.00634289e-03, 3.74143788e-02, 1.13034762e-02, 1.67476631e-03,
 -2.33379328e-05, 3.49459964e-02, 1.08731995e-02, 1.74255523e-03,
 -2.97587925e-03, 3.46221643e-02, 1.09719616e-02, 1.82354960e-03,
  3.11131878e-04,-3.11496788e-04, 0.00000000e+00, 6.86689402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14563346, -0.09458325,  0.11073894, -0.09458325,  0.3220046 ,
        0.15064038,  0.11073894,  0.15064038,  0.27429694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.814923211420407e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25653942,  0.0874723 , -0.96256746, -0.02252644,  0.99616695,
        0.08452197,  0.96627123,  0.        ,  0.25752653])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06702109, -0.03844742,  0.2266686 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.18323292,  -4.79457419,  -7.18323292,
        23.06477212, -21.61664718,  -4.79457419, -21.61664718,
        41.02243283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013312072182832119
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16998574e-14, -4.16998574e-14,  1.00000000e+00, -1.73887811e-27,
        1.00000000e+00,  4.16998574e-14, -1.00000000e+00,  0.00000000e+00,
       -4.16998574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03069165, -0.05988354,  0.06188191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56083535e-03, 3.39045589e-03, 5.68835836e-04,-1.05706519e-04,
 -4.27885142e-05, 7.02082388e-05,-5.06641704e-07, 2.28591033e-05,
  1.81578269e-05,-3.69326631e-05, 2.35466006e-06,-1.33316706e-04,
  2.07365551e-03, 2.00029376e-03, 7.13262187e-03, 3.52161762e-03,
 -1.43572839e-06, 2.80594717e-06,-1.21644526e+00, 1.58738843e-03,
  5.44219794e-04, 2.96935584e-05]


--- Step 1879 ---
qpos:
[-0.012677  , 1.33020285,-0.01889956, 0.9461094 , 0.00423879, 1.33222113,
 -0.03038142, 0.9435097 , 0.01690361, 1.33776534,-0.02353141, 0.9553663 ,
  1.35342877,-0.00399379, 1.12986912, 0.06080646,-0.00167962,-0.09789423,
  0.08157367, 0.54190937,-0.01197928,-0.00493952, 0.84033703]

qacc:
[-1.15840150e-01, 1.89947318e+00,-3.34230077e+00,-4.19918145e+00,
 -8.67964698e-02,-1.89068021e+00, 6.99162808e+00,-1.09118210e+01,
 -1.41327097e-02, 3.59745929e+00,-8.96309995e+00, 6.47253091e-01,
 -6.23000795e-01, 3.99230743e-01, 3.80377502e+00,-8.04908342e+00,
 -8.52647053e-01,-1.44139855e+00,-7.71923978e-01,-6.68695402e+01,
 -5.66632897e+01,-3.81880431e+00]

qfrc_actuator:
[ 5.00568295e-03, 3.74533286e-02, 1.12889198e-02, 1.65087862e-03,
 -2.31090473e-05, 3.49131692e-02, 1.08835042e-02, 1.71941947e-03,
 -2.99059799e-03, 3.47390302e-02, 1.09353398e-02, 1.80027226e-03,
  2.94673073e-04,-2.73448803e-04, 0.00000000e+00, 6.09566045e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14564326, -0.09712378,  0.10853078, -0.09712378,  0.30548221,
        0.14303926,  0.10853078,  0.14303926,  0.27364855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.893373420634991e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56554971e-01,  8.74751953e-02, -9.62563056e-01, -2.25285549e-02,
        9.96166698e-01,  8.45243989e-02,  9.66267050e-01, -3.46944695e-18,
        2.57542208e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0670235 , -0.03845051,  0.22666751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.12531696,  -4.880229  ,  -7.12531696,
        25.85392157, -25.13827886,  -4.880229  , -25.13827886,
        45.33919144,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013320019790786508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16749765e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16749765e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03069065, -0.0598871 ,  0.06188179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57276209e-03, 3.39973935e-03, 5.71623230e-04,-2.50619380e-05,
 -2.50235409e-05, 6.58918019e-06, 2.46510853e-05,-2.05099763e-05,
 -3.99842992e-06, 9.29664610e-05,-4.74650148e-05,-2.74020989e-05,
  2.07135424e-03, 2.06659311e-03, 7.09283583e-03, 3.43061421e-03,
  4.88180745e-06,-1.49735969e-06,-1.21644394e+00, 1.58681706e-03,
  5.45046185e-04, 2.38405193e-05]


--- Step 1880 ---
qpos:
[-0.01268894, 1.33019109,-0.01890273, 0.94610848, 0.00423851, 1.33222202,
 -0.03038102, 0.94350834, 0.01690427, 1.33776613,-0.02353089, 0.95536724,
  1.35346675,-0.00400628, 1.12991107, 0.06078763,-0.00169628,-0.0979019 ,
  0.08155522, 0.5419317 ,-0.01218775,-0.00533299, 0.84031723]

qacc:
[ 1.23472638e-01,-1.40993270e-01,-2.03613443e+00, 1.51220693e+01,
 -4.98994971e-02,-4.47573823e+00, 1.43488663e+01,-1.52349129e+01,
 -1.01737384e-01, 2.21872390e+00,-4.48726149e+00,-9.79860435e-01,
 -4.31402104e-01, 7.36171380e-01,-2.27944819e+00, 5.28463104e+00,
 -7.98021254e-01,-1.36617967e+00,-1.29265718e+00,-6.30851579e+01,
 -5.33629797e+01,-3.67583119e+00]

qfrc_actuator:
[ 5.04584715e-03, 3.74629559e-02, 1.13175744e-02, 1.70871895e-03,
 -2.27819466e-05, 3.48751787e-02, 1.09430261e-02, 1.70622505e-03,
 -3.01752419e-03, 3.48442325e-02, 1.09314542e-02, 1.78612835e-03,
  2.83465735e-04,-2.80832269e-04, 0.00000000e+00, 6.77436239e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.145656  , -0.09434846,  0.11096863, -0.09434846,  0.18038894,
        0.02953087,  0.11096863,  0.02953087,  0.17076392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.993058254005144e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25656998,  0.08747816, -0.96255879, -0.02253064,  0.99616644,
        0.08452691,  0.96626302,  0.        ,  0.25755734])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06702608, -0.03845355,  0.22666644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.9558664 ,  -5.11885724,  -6.9558664 ,
        30.73166904, -30.02466868,  -5.11885724, -30.02466868,
        49.43601373,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013179316362853521
  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([ 0.03070991, -0.05986619,  0.0618829 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62658880e-03, 3.35500357e-03, 6.26858878e-04, 6.06080205e-05,
 -1.44421631e-05,-3.01508725e-05, 6.30126574e-05,-1.27494652e-05,
 -2.92842447e-05, 1.46535238e-04, 8.07459210e-06,-1.34151224e-05,
  2.10259800e-03, 2.07130133e-03, 6.97158301e-03, 3.50181861e-03,
  1.50834105e-05, 3.66099200e-06,-1.21644565e+00, 1.58582877e-03,
  5.45987686e-04, 2.82056025e-05]


--- Step 1881 ---
qpos:
[-0.01270077, 1.33017835,-0.01890535, 0.94610835, 0.00423815, 1.33222246,
 -0.03037992, 0.94350859, 0.01690481, 1.33776782,-0.02353029, 0.95536731,
  1.35350411,-0.00401811, 1.1299495 , 0.0607691 ,-0.00170887,-0.09790288,
  0.08154506, 0.54195466,-0.01242816,-0.00552504, 0.84029766]

qacc:
[ 4.25351785e-02,-1.39246255e+00, 1.39964711e+00, 8.49720419e+00,
 -2.81539960e-02, 2.97201745e-01,-4.95651002e+00, 2.31549955e+01,
 -5.48972667e-02,-5.12969136e-01, 4.81053267e+00,-1.46225804e+01,
 -7.60303595e-01, 1.24335213e+00,-6.05109896e+00, 1.37471750e+01,
  1.01924760e+00, 1.67373688e+00, 2.07287647e+00, 7.59794760e+01,
  6.79943919e+01, 1.11685499e+00]

qfrc_actuator:
[ 5.11005071e-03, 3.74557460e-02, 1.13355904e-02, 1.74310246e-03,
 -2.24006305e-05, 3.48523360e-02, 1.09778320e-02, 1.78777503e-03,
 -3.01604934e-03, 3.48707592e-02, 1.09291659e-02, 1.74197525e-03,
  2.80715508e-04,-2.09487261e-04, 0.00000000e+00, 7.96620270e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14566819, -0.09372151,  0.11151458, -0.09372151,  0.16577177,
        0.01689588,  0.11151458,  0.01689588,  0.1598682 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.086179527912348e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56584370e-01,  8.74810616e-02, -9.62554687e-01, -2.25326592e-02,
        9.96166183e-01,  8.45293760e-02,  9.66259148e-01,  3.46944695e-18,
        2.57571853e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06702857, -0.03845658,  0.22666538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013537708256137482
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02512091e-14,  8.20096728e-14,  1.00000000e+00,  8.40698304e-28,
        1.00000000e+00, -8.20096728e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02512091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02811461, -0.1306083 ,  0.06187982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67623724e-03, 3.35302261e-03, 6.07835837e-04, 3.75267771e-05,
 -8.14396737e-06,-2.75874984e-05, 3.57012283e-05, 8.21955927e-05,
 -1.58118955e-05, 1.08732462e-04, 2.68521634e-05,-3.98866201e-05,
  2.11442249e-03, 2.12357988e-03, 7.03532867e-03, 3.61410663e-03,
  2.85163579e-05, 1.66565683e-05,-1.21644984e+00, 1.58447424e-03,
  5.47053756e-04, 4.10045319e-05]


--- Step 1882 ---
qpos:
[-0.01271291, 1.33016521,-0.01890828, 0.94610759, 0.00423791, 1.33222234,
 -0.03037823, 0.94350879, 0.01690527, 1.33776933,-0.02352889, 0.95536519,
  1.35354059,-0.00402962, 1.12998617, 0.06075085,-0.00171776,-0.09789763,
  0.08153962, 0.54197843,-0.01269788,-0.00553116, 0.84027826]

qacc:
[-1.28031872e-01,-7.95847327e-01, 3.23970349e+00,-9.83996545e+00,
  4.65041131e-02,-2.41769862e+00, 7.07056830e+00,-6.27248240e+00,
 -2.95807956e-02,-6.18025928e+00, 2.42965238e+01,-4.62926629e+01,
 -8.13799504e-01, 1.01525222e+00,-3.38470828e+00, 8.19210898e+00,
  9.25356604e-01, 1.55627441e+00, 1.17700487e+00, 7.01767051e+01,
  6.26989663e+01, 9.37835729e-01]

qfrc_actuator:
[ 5.11774202e-03, 3.74748516e-02, 1.13293669e-02, 1.71005493e-03,
 -4.23843882e-06, 3.48032074e-02, 1.09978611e-02, 1.78238839e-03,
 -3.01530088e-03, 3.47967037e-02, 1.09452612e-02, 1.62720588e-03,
  2.72428511e-04,-1.44587212e-04, 0.00000000e+00, 8.39856226e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14567718, -0.09503744,  0.11040709, -0.09503744,  0.20337536,
        0.04966608,  0.11040709,  0.04966608,  0.1884293 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.153480428332329e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25659917,  0.08748393, -0.96255048, -0.0225347 ,  0.99616593,
        0.0845318 ,  0.96625517,  0.        ,  0.25758678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0670308 , -0.03845953,  0.22666434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.74425691,   6.44905337,   5.74425691,
        34.00719028, -22.59812995,   6.44905337, -22.59812995,
        28.76481607,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013833696370872187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50478087e-14,  8.02549799e-14,  1.00000000e+00,  1.20766159e-27,
        1.00000000e+00, -8.02549799e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50478087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02808031, -0.13056144,  0.0618773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67893200e-03, 3.42094535e-03, 5.74210316e-04,-3.49615339e-05,
  1.33540635e-05,-5.49384113e-05, 2.11041138e-05,-3.26132409e-06,
 -8.58353325e-06,-9.87794734e-06, 3.92107324e-05,-1.11689030e-04,
  2.13737704e-03, 2.15592182e-03, 7.21070110e-03, 3.64214256e-03,
  1.28526430e-05, 1.82846188e-06,-1.21644538e+00, 1.58728849e-03,
  5.46269095e-04, 2.70566700e-05]


--- Step 1883 ---
qpos:
[-0.01272512, 1.33015176,-0.01891075, 0.94610639, 0.00423768, 1.33222192,
 -0.03037631, 0.94350754, 0.01690541, 1.3377698 ,-0.02352724, 0.95536423,
  1.35357679,-0.00404094, 1.13002162, 0.06073308,-0.00172083,-0.0978959 ,
  0.08154206, 0.54200082,-0.01279445,-0.00552864, 0.84026237]

qacc:
[-2.77325552e-02,-2.40181059e+00, 8.23027515e+00,-1.20533644e+01,
  3.75862158e-03,-3.51579405e+00, 1.39814454e+01,-2.87842172e+01,
 -1.39500226e-01,-3.14087819e-02,-3.88999084e+00, 1.74497032e+01,
 -2.58247683e-01, 3.83444089e-01,-3.25443387e+00, 8.81071353e+00,
  1.45380019e+00,-8.78275564e-01, 1.97317546e+00, 5.05528849e+01,
 -7.04279028e+01, 1.10450588e+00]

qfrc_actuator:
[ 5.10964091e-03, 3.74918091e-02, 1.13624906e-02, 1.69090770e-03,
 -1.10624986e-05, 3.47918753e-02, 1.10088488e-02, 1.70809108e-03,
 -3.05050097e-03, 3.46807613e-02, 1.09361271e-02, 1.68478164e-03,
  2.66190518e-04,-1.54498468e-04, 0.00000000e+00, 8.90683671e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14568457, -0.09396286,  0.11133272, -0.09396286,  0.20096619,
        0.04665672,  0.11133272,  0.04665672,  0.18506202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.207965197552607e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25661466,  0.08748687, -0.96254609, -0.02253683,  0.99616567,
        0.08453428,  0.96625101,  0.        ,  0.25760239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06703293, -0.0384624 ,  0.2266633 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00139463171407464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99017241e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99017241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03263584, -0.08887341,  0.06187633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68595132e-03, 3.45799300e-03, 6.22551143e-04,-2.27324390e-05,
  1.05585307e-06,-3.76937596e-05, 2.54466856e-06,-7.54037370e-05,
 -4.02674390e-05,-1.17069749e-04,-9.88088727e-06, 5.58317133e-05,
  2.17502063e-03, 2.12988481e-03, 7.29812202e-03, 3.67893737e-03,
  3.13235827e-06,-1.24330137e-06,-1.21644484e+00, 1.59000889e-03,
  5.44989902e-04, 2.61711619e-05]


--- Step 1884 ---
qpos:
[-0.01273734, 1.33013758,-0.01891303, 0.94610536, 0.00423756, 1.33222182,
 -0.03037483, 0.94350539, 0.01690518, 1.33776981,-0.02352678, 0.95536503,
  1.35361304,-0.00405171, 1.13005415, 0.06071576,-0.00171845,-0.0978974 ,
  0.08154927, 0.54202202,-0.01272942,-0.00551817, 0.84024975]

qacc:
[-9.37721922e-03,-1.18245706e+00, 2.33679090e+00, 4.45448179e-01,
  4.97952744e-02, 9.41788982e-02, 2.06619275e+00,-1.24519804e+01,
 -1.55349923e-01, 5.63654092e+00,-2.26292964e+01, 4.01419305e+01,
 -1.79270896e-01, 6.11655010e-01,-5.60040122e+00, 1.33902434e+01,
  1.36214866e+00,-8.09407681e-01, 1.18889296e+00, 4.71410632e+01,
 -6.57644781e+01, 9.93559087e-01]

qfrc_actuator:
[ 5.10970136e-03, 3.74897999e-02, 1.13653292e-02, 1.69791441e-03,
  2.68396907e-06, 3.48386849e-02, 1.09967767e-02, 1.66488400e-03,
 -3.07147740e-03, 3.46648912e-02, 1.08765801e-02, 1.77226886e-03,
  2.61158914e-04,-1.56036060e-04, 0.00000000e+00, 9.99003578e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569104, -0.09165243,  0.11325066, -0.09165243,  0.17737951,
        0.02564511,  0.11325066,  0.02564511,  0.16644533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.255166235102997e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25663   ,  0.08748983, -0.96254172, -0.02253894,  0.99616541,
        0.08453678,  0.96624688,  0.        ,  0.25761786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06703498, -0.03846524,  0.22666227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013984936349107913
  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([-0.03263004, -0.08887339,  0.06187603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68930642e-03, 3.47181701e-03, 6.02743507e-04, 6.14564723e-06,
  1.43685677e-05, 2.41868164e-05,-2.13712029e-05,-4.60136495e-05,
 -4.47579276e-05,-8.08914189e-05,-8.19010379e-05, 8.50327321e-05,
  2.18351786e-03, 2.11889871e-03, 7.35847877e-03, 3.76278544e-03,
  4.56339314e-07, 2.35121093e-09,-1.21644089e+00, 1.58700303e-03,
  5.43717692e-04, 3.58894174e-05]


--- Step 1885 ---
qpos:
[-0.01275016, 1.33012249,-0.01891555, 0.94610412, 0.00423773, 1.33222191,
 -0.03037353, 0.94350308, 0.01690492, 1.33777028,-0.02352739, 0.95536471,
  1.35364953,-0.00406177, 1.13008297, 0.06069894,-0.00171093,-0.09790192,
  0.08155859, 0.54204215,-0.01251232,-0.00550029, 0.84024015]

qacc:
[-2.49934766e-01,-9.13369261e-01, 1.98644445e+00,-3.66137805e+00,
  1.19570833e-01, 4.74996871e-01,-9.21098311e-01,-1.15590318e+00,
 -1.12718498e-02, 1.56969059e+00,-2.15943413e+00,-1.12668202e+01,
 -1.04318374e-01, 6.81085584e-01,-6.99411825e+00, 1.65207833e+01,
  1.28628087e+00,-7.53473144e-01, 5.31724347e-01, 4.43219800e+01,
 -6.19067972e+01, 8.96246878e-01]

qfrc_actuator:
[ 5.04363111e-03, 3.74947105e-02, 1.13500762e-02, 1.68467002e-03,
  2.86602223e-05, 3.48488606e-02, 1.09892100e-02, 1.65811347e-03,
 -3.04824568e-03, 3.47443986e-02, 1.08413787e-02, 1.71687184e-03,
  2.56832603e-04,-1.52976500e-04, 0.00000000e+00, 1.12392085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569466, -0.0895264 ,  0.11494327, -0.0895264 ,  0.17736162,
        0.02466459,  0.11494327,  0.02466459,  0.16490528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2812653296975256e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25664588,  0.08749279, -0.96253722, -0.02254111,  0.99616515,
        0.08453926,  0.96624262,  0.        ,  0.25763386])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06703683, -0.03846809,  0.22666124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013867992962770873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00141258e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00141258e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0326468 , -0.08886798,  0.06187704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62436181e-03, 3.51363425e-03, 5.77891400e-04,-1.58961149e-05,
  3.44580248e-05, 1.79878455e-05,-6.62126851e-06,-7.73771763e-06,
 -3.20068600e-06, 2.12992295e-05,-5.78164871e-05,-5.82073883e-05,
  2.17698769e-03, 2.09502092e-03, 7.50342320e-03, 3.86571850e-03,
  3.06375547e-07,-1.16249492e-07,-1.21643995e+00, 1.58487098e-03,
  5.43069850e-04, 3.62800828e-05]


--- Step 1886 ---
qpos:
[-0.01276286, 1.33010868,-0.01891826, 0.94610254, 0.00423804, 1.33222204,
 -0.03037259, 0.94350107, 0.01690476, 1.33777037,-0.02352705, 0.95536335,
  1.35368597,-0.00407227, 1.13011645, 0.0606824 ,-0.00170034,-0.09790098,
  0.08156615, 0.54206335,-0.01231974,-0.00532405, 0.84023044]

qacc:
[ 5.11561721e-02, 1.60570877e+00,-2.50275376e+00,-2.63068703e+00,
  6.22025380e-02, 1.52442841e+00,-5.53760968e+00, 8.31120008e+00,
  4.23946100e-02,-4.86750782e+00, 1.73698903e+01,-2.68124190e+01,
  6.30552438e-02,-3.80710036e-01, 5.99664126e+00,-1.09887964e+01,
  7.66034406e-01, 1.36344083e+00,-4.42309170e-01, 5.98929271e+01,
  5.32320768e+01, 5.77174664e-01]

qfrc_actuator:
[ 5.06272756e-03, 3.75219877e-02, 1.13775815e-02, 1.67734819e-03,
  2.62573386e-05, 3.48370613e-02, 1.09665091e-02, 1.67282241e-03,
 -3.03418801e-03, 3.47206360e-02, 1.08921578e-02, 1.66667739e-03,
  2.58236797e-04,-1.47539852e-04, 0.00000000e+00, 9.56762178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569441, -0.09416257,  0.11117675, -0.09416257,  0.32202211,
        0.14934301,  0.11117675,  0.14934301,  0.27218238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.279473827280972e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25666285,  0.08749589, -0.96253241, -0.0225434 ,  0.99616488,
        0.08454186,  0.96623805,  0.        ,  0.25765098])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06703841, -0.03847094,  0.22666022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001368550390254436
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07025094e-15,  8.11240151e-14,  1.00000000e+00, -4.11319114e-28,
        1.00000000e+00, -8.11240151e-14, -1.00000000e+00,  0.00000000e+00,
        5.07025094e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02810606, -0.13058088,  0.06187861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67297208e-03, 3.58621236e-03, 6.17412512e-04,-1.24793506e-05,
  1.79358206e-05,-3.38061710e-06,-2.01672953e-05, 1.48749273e-05,
  1.21690069e-05,-2.50017363e-05, 4.66647666e-05,-5.26108178e-05,
  2.16679894e-03, 2.06531088e-03, 7.68897123e-03, 3.67336901e-03,
  2.22664991e-06,-1.35758652e-06,-1.21644149e+00, 1.58343333e-03,
  5.42945950e-04, 2.89375261e-05]


--- Step 1887 ---
qpos:
[-0.01277473, 1.33009594,-0.01892027, 0.94610084, 0.00423828, 1.33222246,
 -0.03037201, 0.94349855, 0.01690459, 1.33777056,-0.02352657, 0.95536175,
  1.35372222,-0.0040834 , 1.13015386, 0.06066623,-0.00168689,-0.09789485,
  0.08156998, 0.54208564,-0.0121503 ,-0.00499755, 0.84022054]

qacc:
[ 3.49692464e-01,-7.04464411e-01, 4.20671814e+00,-5.57953092e+00,
 -3.06969938e-02, 4.65506967e-01, 3.83020521e-03,-6.21878549e+00,
 -7.37025682e-03,-6.72265800e-01, 2.84463055e+00,-5.36032981e+00,
  1.16037082e-01,-6.37575111e-01, 4.71456298e+00,-8.09156075e+00,
  7.17972665e-01, 1.29783051e+00,-9.32494433e-01, 5.68611470e+01,
  5.04441007e+01, 4.77023954e-01]

qfrc_actuator:
[ 5.15020156e-03, 3.75253551e-02, 1.14130393e-02, 1.67379830e-03,
  6.84940907e-06, 3.48654099e-02, 1.09527233e-02, 1.64676180e-03,
 -3.04350281e-03, 3.47420723e-02, 1.09041619e-02, 1.65548048e-03,
  2.52443348e-04,-1.57571159e-04, 0.00000000e+00, 8.80657600e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569932, -0.09597893,  0.10961906, -0.09597893,  0.28440899,
        0.12144972,  0.10961906,  0.12144972,  0.2520368 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.314755388291902e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25667878,  0.08749897, -0.96252789, -0.0225456 ,  0.99616461,
        0.08454446,  0.96623377,  0.        ,  0.25766703])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704035, -0.03847385,  0.22665918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.21578291,   6.88348643,   5.21578291,
        52.43349721, -33.18613948,   6.88348643, -33.18613948,
        33.78229817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013434676852753097
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58245657e-14,  8.26386103e-14,  1.00000000e+00,  2.13410622e-27,
        1.00000000e+00, -8.26386103e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58245657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02813825, -0.13061848,  0.06188074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75440307e-03, 3.52556722e-03, 6.62591170e-04, 1.32408335e-06,
 -8.82187923e-06, 2.29762751e-05,-1.63099737e-05,-2.64101973e-05,
 -2.12957776e-06, 1.51628844e-05, 1.08830757e-05,-1.17979264e-05,
  2.16273786e-03, 2.07723238e-03, 7.45518581e-03, 3.58260988e-03,
  9.66775073e-06, 1.38402303e-06,-1.21644261e+00, 1.58438717e-03,
  5.42134780e-04, 3.04504667e-05]


--- Step 1888 ---
qpos:
[-0.01278562, 1.33008436,-0.01892207, 0.94610086, 0.00423839, 1.33222314,
 -0.03037164, 0.94349572, 0.01690436, 1.33777132,-0.0235268 , 0.95536175,
  1.35375841,-0.00409457, 1.13019371, 0.06064988,-0.00167199,-0.09789388,
  0.08158118, 0.54210981,-0.01186754,-0.00475916, 0.84021037]

qacc:
[ 4.13583882e-01, 3.96390993e+00,-1.45792933e+01, 3.18256717e+01,
 -5.87312197e-02, 3.83311785e-01,-2.21511351e-01,-3.44146626e+00,
 -2.36585219e-02, 5.45190358e+00,-2.01090530e+01, 3.56057051e+01,
 -1.44684218e-01, 1.47356650e-01, 4.12281285e+00,-9.16968097e+00,
  3.58495631e-01,-1.29019087e+00, 1.84261717e+00,-6.28924527e+00,
 -7.14808428e+01,-1.67968777e+00]

qfrc_actuator:
[ 5.17143352e-03, 3.75495854e-02, 1.14169379e-02, 1.76117370e-03,
 -4.84840048e-06, 3.48820807e-02, 1.09444384e-02, 1.63244762e-03,
 -3.04901122e-03, 3.47903030e-02, 1.08755812e-02, 1.73831430e-03,
  2.42347552e-04,-1.76512053e-04, 0.00000000e+00, 8.23499234e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.145709  , -0.09550658,  0.11004366, -0.09550658,  0.22059771,
        0.0649957 ,  0.11004366,  0.0649957 ,  0.20211858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3833573342814264e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56692991e-01,  8.75018549e-02, -9.62523835e-01, -2.25475974e-02,
        9.96164357e-01,  8.45469128e-02,  9.66229949e-01, -3.46944695e-18,
        2.57681365e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704259, -0.03847676,  0.22665814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013251601279383601
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23626825e-15,  1.04725365e-14,  1.00000000e+00, -5.48370104e-29,
        1.00000000e+00, -1.04725365e-14, -1.00000000e+00,  0.00000000e+00,
        5.23626825e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00621276, -0.07666732,  0.06188228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73437324e-03, 3.49660010e-03, 6.31051986e-04, 9.40518212e-05,
 -1.69037686e-05, 2.53889397e-05,-6.42534541e-06,-1.47158506e-05,
 -6.76500181e-06, 5.83871748e-05,-2.47311357e-05, 8.33253518e-05,
  2.16268378e-03, 2.09013562e-03, 7.25785543e-03, 3.50755456e-03,
  1.98234115e-05, 1.07965981e-05,-1.21644599e+00, 1.58538004e-03,
  5.40942234e-04, 3.95509772e-05]


--- Step 1889 ---
qpos:
[-0.0127963 , 1.33007267,-0.01892381, 0.9461024 , 0.0042385 , 1.332224  ,
 -0.03037139, 0.94349344, 0.01690421, 1.33777215,-0.0235266 , 0.95536204,
  1.35379423,-0.00410506, 1.13023052, 0.06063347,-0.00166094,-0.09789882,
  0.08159137, 0.54213771,-0.01155988,-0.00470498, 0.84019696]

qacc:
[ 9.20030593e-02, 2.31267118e+00,-1.07951216e+01, 2.69839186e+01,
  2.72911522e-03, 1.50309057e+00,-5.73199819e+00, 1.11623908e+01,
  3.67320442e-02,-5.75013619e-01, 1.42236922e+00, 2.00477458e+00,
 -6.27911749e-01, 1.16775220e+00,-4.24430352e+00, 8.45642490e+00,
 -9.58096822e-01,-1.47525296e+00,-2.53059812e-01,-7.06273065e+01,
 -6.03598085e+01,-3.59822414e+00]

qfrc_actuator:
[ 5.18794420e-03, 3.75858112e-02, 1.14021245e-02, 1.83031485e-03,
  5.92765659e-06, 3.48916550e-02, 1.09394405e-02, 1.66067344e-03,
 -3.03443818e-03, 3.47830906e-02, 1.08944596e-02, 1.75154304e-03,
  2.29664299e-04,-1.30121645e-04, 0.00000000e+00, 9.37866442e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14572212, -0.09340175,  0.11185279, -0.09340175,  0.17365222,
        0.02332281,  0.11185279,  0.02332281,  0.16519763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.474646587211001e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56705889e-01,  8.75045059e-02, -9.62520155e-01, -2.25494187e-02,
        9.96164124e-01,  8.45491707e-02,  9.66226480e-01,  3.46944695e-18,
        2.57694372e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704498, -0.03847971,  0.22665712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.32308071,   2.3050172 ,   8.32308071,
        12.8911576 , -15.36344008,   2.3050172 , -15.36344008,
        64.11150369,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001330638577314261
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.34353553e-14,  4.17176776e-14,  1.00000000e+00,  3.48072926e-27,
        1.00000000e+00, -4.17176776e-14, -1.00000000e+00,  0.00000000e+00,
       -8.34353553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071105, -0.05990497,  0.06188188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70206429e-03, 3.47482891e-03, 6.06162391e-04, 7.74548612e-05,
  7.99985072e-07, 2.19102015e-05,-1.19899194e-06, 2.84573663e-05,
  1.05805728e-05, 2.27075174e-05, 2.99071991e-05, 1.61745543e-05,
  2.15264150e-03, 2.13906247e-03, 7.13532214e-03, 3.63033719e-03,
  1.88877163e-05, 1.99653546e-06,-1.21644547e+00, 1.58307755e-03,
  5.41518338e-04, 2.25463273e-05]


--- Step 1890 ---
qpos:
[-0.01280768, 1.33005934,-0.01892513, 0.94610383, 0.00423866, 1.33222432,
 -0.03037096, 0.94349329, 0.01690419, 1.33777265,-0.0235262 , 0.95536185,
  1.35382955,-0.00411456, 1.13025975, 0.06061765,-0.00165342,-0.09790934,
  0.08159815, 0.54216931,-0.01122908,-0.00482336, 0.84018038]

qacc:
[-2.98200524e-01,-3.45303722e+00, 8.87216971e+00,-7.86645331e+00,
  2.39695378e-02, 2.44485868e+00,-1.32312570e+01, 3.65605760e+01,
  5.20827263e-02,-1.80916529e+00, 6.33466517e+00,-1.08615727e+01,
 -6.75758695e-01, 1.39744731e+00,-1.29100134e+01, 2.90218856e+01,
 -8.85454966e-01,-1.39804203e+00,-8.52638637e-01,-6.62039370e+01,
 -5.64733076e+01,-3.46415480e+00]

qfrc_actuator:
[ 5.18423818e-03, 3.76122883e-02, 1.14116452e-02, 1.81702061e-03,
  1.23457270e-05, 3.48259340e-02, 1.09364157e-02, 1.76695827e-03,
 -3.02568881e-03, 3.47251247e-02, 1.08876946e-02, 1.72368828e-03,
  2.26110684e-04,-6.29949469e-05, 0.00000000e+00, 1.19061215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14573275, -0.09060948,  0.11414007, -0.09060948,  0.15811989,
        0.00983346,  0.11414007,  0.00983346,  0.15353899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.547305957311107e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56718830e-01,  8.75071011e-02, -9.62516467e-01, -2.25512295e-02,
        9.96163896e-01,  8.45513737e-02,  9.66222999e-01,  3.46944695e-18,
        2.57707423e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704713, -0.03848263,  0.22665613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.98172112,  -5.08353687,  -6.98172112,
        20.21289791, -15.89919299,  -5.08353687, -15.89919299,
        30.47228895,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013304151941530146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.17246822e-14,  4.17246822e-14,  1.00000000e+00, -1.74094911e-27,
        1.00000000e+00, -4.17246822e-14, -1.00000000e+00,  0.00000000e+00,
        4.17246822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03071421, -0.05990567,  0.06188195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68750427e-03, 3.50687436e-03, 6.12449482e-04,-1.15044424e-05,
  6.89093136e-06,-5.29885423e-05, 1.95509435e-06, 1.07566643e-04,
  1.49983244e-05,-3.90949488e-05, 1.54043906e-06,-2.59289607e-05,
  2.16760344e-03, 2.17229229e-03, 7.28631746e-03, 3.88599225e-03,
  6.13738815e-06,-2.92344694e-06,-1.21644317e+00, 1.58068772e-03,
  5.42622126e-04, 1.82264778e-05]


--- Step 1891 ---
qpos:
[-0.01281938, 1.33004691,-0.01892698, 0.94610388, 0.00423889, 1.33222429,
 -0.03037085, 0.94349408, 0.01690429, 1.3377726 ,-0.02352497, 0.95536303,
  1.35386489,-0.00412436, 1.13029048, 0.06060216,-0.0016492 ,-0.0979252 ,
  0.0815995 , 0.5422045 ,-0.01087656,-0.00510464, 0.84016065]

qacc:
[-1.37166132e-01, 2.33013784e-01, 3.48173889e+00,-1.95823455e+01,
  2.71094459e-02, 2.00880698e+00,-9.03089485e+00, 1.89345951e+01,
  4.88275653e-02,-5.93139507e-01,-1.71483581e+00, 1.77367436e+01,
  1.77055615e-01,-4.40769771e-01, 1.22760747e+00,-1.10597985e+00,
 -8.25659450e-01,-1.33309710e+00,-1.35713705e+00,-6.25307540e+01,
 -5.32575129e+01,-3.33172984e+00]

qfrc_actuator:
[ 5.13373161e-03, 3.76522428e-02, 1.14176365e-02, 1.75527149e-03,
  1.60964109e-05, 3.48044549e-02, 1.09165691e-02, 1.81175661e-03,
 -3.02050452e-03, 3.47081034e-02, 1.09366180e-02, 1.79610711e-03,
  2.28059150e-04,-9.05309172e-05, 0.00000000e+00, 1.09969821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1457355 , -0.09305019,  0.11216281, -0.09305019,  0.31507235,
        0.14048174,  0.11216281,  0.14048174,  0.26227905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.56587445909068e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25673295,  0.08750986, -0.96251245, -0.02255319,  0.99616365,
        0.08455371,  0.9662192 ,  0.        ,  0.25772166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06704874, -0.03848545,  0.22665516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.04495942,  -4.99553037,  -7.04495942,
        22.25877583, -19.21104147,  -4.99553037, -19.21104147,
        35.72878376,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013157967195740541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21882426e-14,  2.10941213e-14,  1.00000000e+00, -8.89923907e-28,
        1.00000000e+00, -2.10941213e-14, -1.00000000e+00,  0.00000000e+00,
        4.21882426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03073673, -0.05988255,  0.0618832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67222540e-03, 3.62892234e-03, 5.97645637e-04,-6.83441647e-05,
  7.81561359e-06,-4.71776509e-05,-2.68367528e-05, 4.57566215e-05,
  1.40398204e-05,-3.91106936e-05, 4.07041671e-05, 7.07035623e-05,
  2.19413470e-03, 2.09504231e-03, 7.66484403e-03, 3.76563390e-03,
 -1.61263490e-06, 1.50950029e-06,-1.21644392e+00, 1.57802299e-03,
  5.43777458e-04, 2.37963234e-05]


--- Step 1892 ---
qpos:
[-0.01283121, 1.33003486,-0.01892932, 0.94610358, 0.00423903, 1.33222516,
 -0.03037176, 0.94349464, 0.01690462, 1.3377726 ,-0.02352328, 0.95536297,
  1.35390059,-0.00413398, 1.13031963, 0.06058689,-0.00165207,-0.0979373 ,
  0.08159639, 0.54223104,-0.01073652,-0.00540209, 0.84014347]

qacc:
[-5.17498343e-02, 1.16142248e+00,-2.49050648e+00,-2.13320292e+00,
 -3.84989774e-02, 3.55340609e+00,-9.69563065e+00, 5.13877758e+00,
  1.00800675e-01,-3.34410277e+00, 1.35037598e+01,-2.61321858e+01,
  2.37171339e-01,-7.54272664e-02,-3.04758723e+00, 7.21333771e+00,
 -1.76947934e+00, 9.40248445e-01,-1.11246755e+00,-6.44372966e+01,
  8.48401419e+01, 4.78063273e+00]

qfrc_actuator:
[ 5.12605612e-03, 3.76983947e-02, 1.13867901e-02, 1.73678308e-03,
  4.63854231e-07, 3.49160533e-02, 1.08870546e-02, 1.80225172e-03,
 -2.99974795e-03, 3.47337479e-02, 1.09649807e-02, 1.73174009e-03,
  2.27955484e-04,-1.20693224e-04, 0.00000000e+00, 1.17542324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574053, -0.09050575,  0.11423227, -0.09050575,  0.22070078,
        0.05939069,  0.11423227,  0.05939069,  0.19279553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5997096390283654e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25674671,  0.08751271, -0.96250852, -0.02255514,  0.9961634 ,
        0.08455614,  0.9662155 ,  0.        ,  0.25773554])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705047, -0.03848828,  0.22665421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013060917814900902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50034462e-14,  4.25017231e-14,  1.00000000e+00,  3.61279293e-27,
        1.00000000e+00, -4.25017231e-14, -1.00000000e+00,  0.00000000e+00,
       -8.50034462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310751, -0.10897151,  0.06188402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68073392e-03, 3.62990750e-03, 5.93583197e-04,-1.77403649e-05,
 -1.10213771e-05, 8.16273071e-05,-4.04550085e-05,-1.06487380e-05,
  2.90452835e-05, 1.40606492e-05, 2.74199180e-05,-6.26852488e-05,
  2.19345737e-03, 2.08082898e-03, 7.58909013e-03, 3.82512904e-03,
 -5.19922414e-06, 1.37229909e-05,-1.21644717e+00, 1.57512086e-03,
  5.45006054e-04, 3.75594321e-05]


--- Step 1893 ---
qpos:
[-0.01284336, 1.33002226,-0.01893186, 0.94610451, 0.00423904, 1.33222649,
 -0.03037244, 0.94349574, 0.01690519, 1.33777301,-0.02352223, 0.95536147,
  1.35393664,-0.00414274, 1.13034512, 0.06057192,-0.0016616 ,-0.09794594,
  0.08158658, 0.5422497 ,-0.01079504,-0.00571452, 0.84012861]

qacc:
[-1.36465637e-01, 1.99717562e+00,-9.87354547e+00, 2.31692569e+01,
 -5.51650183e-02, 8.75928711e-01,-3.23225615e+00, 8.80309412e+00,
  1.01598633e-01,-1.78937412e-01, 4.11894628e+00,-2.03495726e+01,
 -1.28484960e-01, 8.56307272e-01,-6.26866823e+00, 1.41544090e+01,
 -1.66865754e+00, 8.65276953e-01,-1.67824164e+00,-6.01637734e+01,
  7.93130623e+01, 4.39889948e+00]

qfrc_actuator:
[ 5.10850184e-03, 3.77129346e-02, 1.13695023e-02, 1.79703247e-03,
 -8.91717549e-06, 3.49466240e-02, 1.09058366e-02, 1.83197163e-03,
 -2.98756950e-03, 3.47491005e-02, 1.09277811e-02, 1.65838927e-03,
  2.37240701e-04,-9.95524295e-05, 0.00000000e+00, 1.29784132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574452, -0.08825328,  0.11598631, -0.08825328,  0.16956527,
        0.01812507,  0.11598631,  0.01812507,  0.15953577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.626376490153225e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56760582e-01,  8.75155951e-02, -9.62504558e-01, -2.25571034e-02,
        9.96163150e-01,  8.45585979e-02,  9.66211768e-01,  6.93889390e-18,
        2.57749528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705207, -0.03849113,  0.22665327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.83238699,  6.36946143, -5.83238699, 25.81011074,
       15.72565284,  6.36946143, 15.72565284, 23.03602585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001311806375629082
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23165737e-14,  4.23165737e-14,  1.00000000e+00,  1.79069241e-27,
        1.00000000e+00, -4.23165737e-14, -1.00000000e+00,  0.00000000e+00,
       -4.23165737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05309177, -0.10897066,  0.06188353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66928462e-03, 3.62612772e-03, 6.00177670e-04, 6.01291938e-05,
 -1.58831043e-05, 6.74876504e-05, 2.98353107e-05, 3.07420757e-05,
  2.93303967e-05, 2.66254961e-05,-3.31738066e-05,-7.35891790e-05,
  2.18492525e-03, 2.09266810e-03, 7.66816395e-03, 3.93615996e-03,
  1.57515073e-06, 1.43883591e-05,-1.21644414e+00, 1.57983407e-03,
  5.45964214e-04, 4.60464851e-05]


--- Step 1894 ---
qpos:
[-0.01285589, 1.3300102 ,-0.01893454, 0.94610467, 0.00423922, 1.33222805,
 -0.03037244, 0.94349649, 0.01690567, 1.33777333,-0.02352243, 0.9553616 ,
  1.35397274,-0.0041517 , 1.13037243, 0.06055746,-0.00166738,-0.09794816,
  0.0815824 , 0.54226943,-0.01088291,-0.00583703, 0.84011389]

qacc:
[-1.63732583e-01,-2.91227688e-01, 3.35236001e+00,-1.21264630e+01,
  7.15078109e-02,-2.09023314e+00, 7.87301559e+00,-1.09497793e+01,
 -3.92093715e-02, 6.06014597e+00,-2.31770041e+01, 3.88930471e+01,
  1.18902404e-01,-2.71412797e-01, 1.11803189e+00,-2.84980498e-02,
  9.40092269e-01, 1.60387485e+00, 1.40763329e+00, 7.18286059e+01,
  6.38197627e+01, 6.91991984e-01]

qfrc_actuator:
[ 5.08526920e-03, 3.77092697e-02, 1.13780266e-02, 1.76106245e-03,
  2.10339576e-05, 3.49463992e-02, 1.09349792e-02, 1.81353336e-03,
 -3.01614066e-03, 3.47046424e-02, 1.08521738e-02, 1.74010641e-03,
  2.41494457e-04,-8.38796615e-05, 0.00000000e+00, 1.23507906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574471, -0.091299  ,  0.11360463, -0.091299  ,  0.26777197,
        0.09806789,  0.11360463,  0.09806789,  0.22455752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.627658994321715e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56775175e-01,  8.75185508e-02, -9.62500396e-01, -2.25591532e-02,
        9.96162890e-01,  8.45611101e-02,  9.66207842e-01,  3.46944695e-18,
        2.57764245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0670534 , -0.03849402,  0.22665234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013433312794102828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13235008e-14,  4.13235008e-14,  1.00000000e+00,  1.70763172e-27,
        1.00000000e+00, -4.13235008e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13235008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02815637, -0.13060946,  0.06188086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66216398e-03, 3.64963008e-03, 6.19249207e-04,-3.73284665e-05,
  2.05787649e-05, 4.38626600e-05, 4.66426303e-05,-1.48187094e-05,
 -1.12499182e-05,-3.83966348e-05,-7.63345020e-05, 7.98218254e-05,
  2.17113230e-03, 2.06558983e-03, 7.85003791e-03, 3.85831907e-03,
  1.16916391e-05, 1.28003934e-05,-1.21644471e+00, 1.58320495e-03,
  5.46574880e-04, 4.19221513e-05]


--- Step 1895 ---
qpos:
[-0.0128689 , 1.32999725,-0.0189365 , 0.94610518, 0.00423964, 1.33223016,
 -0.03037248, 0.94349703, 0.01690567, 1.3377733 ,-0.02352347, 0.95536306,
  1.35400863,-0.00416013, 1.13039743, 0.06054377,-0.00166971,-0.09794439,
  0.0815807 , 0.54229036,-0.01099788,-0.00578312, 0.84009926]

qacc:
[ -0.20196277, -2.48031153,  6.00673783, -0.76695934,  0.10388767,
   0.44465416, -0.11088876, -2.81225915, -0.20617394,  4.08161539,
 -16.52853754, 29.81276629, -0.37584623,  0.77576977, -5.70046448,
  15.03791867,  0.86128667,  1.49825633,  0.62124529, 66.76565023,
  59.22854553,  0.55962923]

qfrc_actuator:
[ 5.09432797e-03, 3.76938247e-02, 1.14020388e-02, 1.77538131e-03,
  3.88323743e-05, 3.49810175e-02, 1.09343171e-02, 1.80237417e-03,
 -3.06892536e-03, 3.46778948e-02, 1.08076402e-02, 1.80586153e-03,
  2.32092668e-04,-5.30239563e-05, 0.00000000e+00, 1.36266746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574725, -0.08972185,  0.11485752, -0.08972185,  0.17825427,
        0.02539311,  0.11485752,  0.02539311,  0.16558327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.64451333636387e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25678938,  0.08752161, -0.96249633, -0.0225612 ,  0.99616262,
        0.08456373,  0.96620402,  0.        ,  0.25777857])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705488, -0.03849694,  0.22665141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.73888438,   6.45383475,   5.73888438,
        39.9893761 , -27.87975219,   6.45383475, -27.87975219,
        33.4276204 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001359304935035728
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10473678e-15, -4.08378943e-14,  1.00000000e+00, -2.08466701e-28,
        1.00000000e+00,  4.08378943e-14, -1.00000000e+00,  0.00000000e+00,
       -5.10473678e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02813841, -0.13058408,  0.0618795 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69055106e-03, 3.60766457e-03, 6.49634705e-04, 1.53252572e-05,
  2.99460944e-05, 6.75527825e-05, 1.27912266e-05,-8.81275534e-06,
 -5.94290672e-05,-6.05248834e-05,-5.83707081e-05, 6.42430575e-05,
  2.15918575e-03, 2.10644564e-03, 7.75853188e-03, 3.96003147e-03,
  3.36954044e-06, 1.55478996e-06,-1.21644130e+00, 1.58508378e-03,
  5.46096701e-04, 3.04364880e-05]


--- Step 1896 ---
qpos:
[-0.01288223, 1.32998158,-0.01893748, 0.94610703, 0.00424   , 1.33223232,
 -0.03037263, 0.94349817, 0.01690541, 1.33777308,-0.02352509, 0.95536422,
  1.35404486,-0.00416731, 1.13041399, 0.06053116,-0.00166886,-0.09793497,
  0.08157884, 0.5423125 ,-0.01113814,-0.00556396, 0.8400846 ]

qacc:
[-1.35310499e-01,-3.89055453e+00, 5.62978443e+00, 1.24388642e+01,
 -2.59455002e-02, 1.38311240e+00,-5.67625986e+00, 1.18887105e+01,
 -1.07425201e-01, 8.23735373e-01,-2.41125057e+00,-1.09543242e+00,
 -1.38354879e-01, 1.11909572e+00,-1.56860714e+01, 3.68459820e+01,
  7.96412306e-01, 1.41036192e+00,-4.00414431e-02, 6.25639209e+01,
  5.54261532e+01, 4.66961993e-01]

qfrc_actuator:
[ 5.12300688e-03, 3.76725135e-02, 1.14345609e-02, 1.83682597e-03,
  1.36896971e-05, 3.49473505e-02, 1.09162028e-02, 1.83110207e-03,
 -3.06479624e-03, 3.46798220e-02, 1.07818370e-02, 1.79067995e-03,
  2.30496982e-04,-4.92037393e-05, 0.00000000e+00, 1.67502216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574725, -0.08448782,  0.11876055, -0.08448782,  0.13668542,
       -0.0064467 ,  0.11876055, -0.0064467 ,  0.14116098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.644519554679316e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56803744e-01,  8.75247893e-02, -9.62492207e-01, -2.25632837e-02,
        9.96162342e-01,  8.45664648e-02,  9.66200153e-01,  3.46944695e-18,
        2.57793065e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705621, -0.03849984,  0.22665048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.83247376,   6.36938197,   5.83247376,
        44.19107006, -32.55761603,   6.36938197, -32.55761603,
        38.44952954,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013573410713471554
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57848579e-14,  8.17939609e-14,  1.00000000e+00,  2.92698526e-27,
        1.00000000e+00, -8.17939609e-14, -1.00000000e+00,  0.00000000e+00,
       -3.57848579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02814209, -0.13058587,  0.06187966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74309533e-03, 3.63057870e-03, 6.46841312e-04, 5.97541637e-05,
 -7.46526733e-06, 5.92734363e-06,-3.70363989e-06, 3.09336033e-05,
 -3.09660879e-05,-4.10369963e-05,-4.23728696e-05,-1.71855442e-05,
  2.16829859e-03, 2.08432757e-03, 7.87406669e-03, 4.23410804e-03,
 -5.81670374e-08, 6.19470860e-07,-1.21644133e+00, 1.58701150e-03,
  5.45099123e-04, 3.04773811e-05]


--- Step 1897 ---
qpos:
[-0.01289541, 1.3299644 ,-0.01893876, 0.94610853, 0.00424006, 1.33223415,
 -0.03037247, 0.94349862, 0.01690531, 1.33777272,-0.02352706, 0.95536449,
  1.35408137,-0.00417407, 1.13042643, 0.06051956,-0.00166503,-0.09792021,
  0.0815746 , 0.5423358 ,-0.01130215,-0.00518882, 0.84006977]

qacc:
[  0.06459798, -1.77507366,  4.13331616, -6.76612242, -0.12956865,
  -2.4506901 ,  8.89156781,-15.48900594,  0.06916995, -0.78508338,
   4.15914883,-13.88383827,  0.20388469,  0.08969258, -9.14488773,
  23.11844448,  0.74290535,  1.33714462, -0.59564379, 59.079324  ,
  52.27949257,  0.40623313]

qfrc_actuator:
[ 5.18124441e-03, 3.76676301e-02, 1.14361219e-02, 1.81887960e-03,
 -1.92565971e-05, 3.49085041e-02, 1.09232101e-02, 1.79426393e-03,
 -3.02655725e-03, 3.46811818e-02, 1.07673512e-02, 1.74577059e-03,
  2.28217459e-04,-4.47927184e-05, 0.00000000e+00, 1.79581807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14573752, -0.08449112,  0.11874626, -0.08449112,  0.16873598,
        0.01636402,  0.11874626,  0.01636402,  0.15738095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.579496188095167e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56819791e-01,  8.75280337e-02, -9.62487630e-01, -2.25655366e-02,
        9.96162057e-01,  8.45692216e-02,  9.66195835e-01, -3.46944695e-18,
        2.57809248e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705695, -0.03850273,  0.22664954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.86307308,   6.3412263 ,   5.86307308,
        50.38682695, -38.60231538,   6.3412263 , -38.60231538,
        44.32791372,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341060940125774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.17418239e-15,  1.24180377e-13,  1.00000000e+00, -6.42531922e-28,
        1.00000000e+00, -1.24180377e-13, -1.00000000e+00,  0.00000000e+00,
        5.17418239e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02816288, -0.13060916,  0.061881  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81735166e-03, 3.76202760e-03, 5.99134171e-04,-2.59469557e-05,
 -3.73523822e-05,-3.53753683e-05, 8.65165974e-06,-3.60470636e-05,
  1.99518969e-05,-3.01127922e-05,-2.78139799e-05,-4.77651731e-05,
  2.14925397e-03, 2.02617918e-03, 8.29516519e-03, 4.30075100e-03,
  5.05499632e-07, 8.04480658e-06,-1.21644415e+00, 1.58898608e-03,
  5.43651903e-04, 3.98941397e-05]


--- Step 1898 ---
qpos:
[-0.01290847, 1.32994748,-0.01894096, 0.94610899, 0.00423977, 1.33223524,
 -0.03037172, 0.94349865, 0.0169055 , 1.33777253,-0.02352904, 0.95536349,
  1.35411754,-0.00418106, 1.13044055, 0.06050875,-0.00165841,-0.09790034,
  0.08156611, 0.54236012,-0.01148869,-0.00466538, 0.84005461]

qacc:
[ 5.05023082e-02, 9.95532118e-01,-7.36732861e-01,-1.15615729e+01,
 -1.44421020e-01,-3.26189005e+00, 1.03302299e+01,-1.33755484e+01,
  1.20206153e-01,-1.93787984e+00, 9.12929013e+00,-2.26935216e+01,
 -1.44148787e-01,-5.80509927e-02, 1.10161868e-01, 3.21889339e+00,
  6.98641165e-01, 1.27604617e+00,-1.06199820e+00, 5.61938880e+01,
  4.96799661e+01, 3.71585144e-01]

qfrc_actuator:
[ 5.20361483e-03, 3.76902227e-02, 1.14199986e-02, 1.77221795e-03,
 -3.88630432e-05, 3.48491550e-02, 1.09449131e-02, 1.77239385e-03,
 -3.00367318e-03, 3.47177241e-02, 1.07774074e-02, 1.68375153e-03,
  2.30845713e-04,-4.17971757e-06, 0.00000000e+00, 1.74806161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14572308, -0.08775056,  0.11634025, -0.08775056,  0.239282  ,
        0.07056756,  0.11634025,  0.07056756,  0.19894922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.481249495308717e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56837580e-01,  8.75312217e-02, -9.62482593e-01, -2.25679279e-02,
        9.96161777e-01,  8.45718830e-02,  9.66191050e-01,  3.46944695e-18,
        2.57827179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705742, -0.03850561,  0.22664858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013134889321635285
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22623669e-14,  4.22623669e-14,  1.00000000e+00,  1.78610766e-27,
        1.00000000e+00, -4.22623669e-14, -1.00000000e+00,  0.00000000e+00,
       -4.22623669e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02819707, -0.13064927,  0.06188328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83211862e-03, 3.85982073e-03, 5.98081729e-04,-5.49376365e-05,
 -4.16539842e-05,-7.83238960e-05, 1.47084292e-05,-2.35123109e-05,
  3.46643654e-05, 1.30499567e-05,-3.79676130e-07,-6.48393412e-05,
  2.13754422e-03, 2.04642467e-03, 8.50114069e-03, 4.20254350e-03,
  4.39563727e-06, 2.24098014e-05,-1.21644931e+00, 1.59099895e-03,
  5.41810111e-04, 5.71240700e-05]


--- Step 1899 ---
qpos:
[-0.01292135, 1.32993169,-0.0189437 , 0.94610948, 0.00423934, 1.33223571,
 -0.03037103, 0.94349913, 0.01690582, 1.33777285,-0.02353169, 0.95536209,
  1.35415351,-0.00418825, 1.13045829, 0.06049849,-0.00165646,-0.09788724,
  0.08156277, 0.54238806,-0.01164572,-0.00435562, 0.84003607]

qacc:
[ 7.92278654e-02, 2.99846785e+00,-8.05037432e+00, 6.63349586e+00,
 -6.34017471e-02, 1.20886080e-01,-2.30878587e+00, 7.63341574e+00,
  5.60391641e-02, 1.80079194e+00,-4.26055478e+00,-1.12153722e+00,
 -1.58744930e-01, 6.36120130e-03, 3.68767253e+00,-5.09528403e+00,
 -1.16552441e+00,-1.69054167e+00, 1.28885552e+00,-8.17428715e+01,
 -7.03098513e+01,-3.72851399e+00]

qfrc_actuator:
[ 5.18668418e-03, 3.77281507e-02, 1.14117540e-02, 1.78016768e-03,
 -3.25552884e-05, 3.48135559e-02, 1.09395352e-02, 1.79501794e-03,
 -3.00794052e-03, 3.47573873e-02, 1.07487423e-02, 1.66545928e-03,
  2.41789908e-04, 5.35640262e-06, 0.00000000e+00, 1.67000617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14571067, -0.08930107,  0.11513869, -0.08930107,  0.25282368,
        0.08307638,  0.11513869,  0.08307638,  0.21014435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.39508625913361e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56856015e-01,  8.75343728e-02, -9.62477387e-01, -2.25703666e-02,
        9.96161500e-01,  8.45744937e-02,  9.66186093e-01, -6.93889390e-18,
        2.57845756e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705808, -0.03850848,  0.22664761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013605316509823356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.10013413e-14,  2.04005365e-14,  1.00000000e+00, -1.04045472e-27,
        1.00000000e+00, -2.04005365e-14, -1.00000000e+00,  0.00000000e+00,
        5.10013413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03068946, -0.05997605,  0.0618793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80922289e-03, 3.88540521e-03, 6.35720321e-04, 5.10346016e-06,
 -1.82803121e-05,-7.67672923e-05,-1.97179479e-05, 2.01577263e-05,
  1.62023620e-05, 4.48887451e-05,-2.80561160e-05,-1.94308054e-05,
  2.16516304e-03, 2.06680698e-03, 8.41723998e-03, 4.08529563e-03,
  1.11231723e-05, 4.26811282e-05,-1.21645649e+00, 1.59303768e-03,
  5.39617349e-04, 8.10355171e-05]


--- Step 1900 ---
qpos:
[-0.01293371, 1.32991567,-0.01894645, 0.94611084, 0.00423885, 1.33223656,
 -0.03037107, 0.94349844, 0.01690605, 1.33777339,-0.02353428, 0.95535979,
  1.35419005,-0.00419511, 1.13047382, 0.0604889 ,-0.00165871,-0.09788044,
  0.08156119, 0.54241977,-0.01177594,-0.00424272, 0.84001436]

qacc:
[ 2.14421385e-01, 1.25718939e+00,-6.22301219e+00, 1.56555778e+01,
 -2.35313718e-02, 4.46977772e-01, 1.55060331e+00,-1.51513070e+01,
 -3.79684356e-02,-1.43454961e+00, 6.85224817e+00,-1.65618507e+01,
  3.60764745e-01,-7.83771914e-02,-5.30104647e+00, 1.37750450e+01,
 -1.05413362e+00,-1.57562382e+00, 4.38678539e-01,-7.53927776e+01,
 -6.46269486e+01,-3.65146188e+00]

qfrc_actuator:
[ 5.19931507e-03, 3.77387946e-02, 1.13904761e-02, 1.82023226e-03,
 -2.85066763e-05, 3.48811449e-02, 1.09183183e-02, 1.73711866e-03,
 -3.02846105e-03, 3.47629894e-02, 1.07507517e-02, 1.61977051e-03,
  2.31095126e-04,-5.69277304e-05, 0.00000000e+00, 1.80447053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14570271, -0.08515651,  0.1182271 , -0.08515651,  0.1737877 ,
        0.02022903,  0.1182271 ,  0.02022903,  0.16027326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3388444815460614e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56873883e-01,  8.75374823e-02, -9.62472336e-01, -2.25727446e-02,
        9.96161227e-01,  8.45770773e-02,  9.66181287e-01,  3.46944695e-18,
        2.57863764e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705902, -0.03851138,  0.22664663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.07660947,  -6.13690429,  -6.07660947,
        19.95264628, -11.20510065,  -6.13690429, -11.20510065,
        19.73137465,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013941385336982276
  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([ 0.03064584, -0.06003445,  0.06187648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81249302e-03, 3.83968200e-03, 6.41583025e-04, 4.38136878e-05,
 -6.74372740e-06, 2.18663259e-05,-3.78882289e-05,-6.03164552e-05,
 -1.09512824e-05, 2.43699398e-05, 7.01889990e-06,-4.56379634e-05,
  2.16469674e-03, 2.01529466e-03, 8.23557228e-03, 4.19196314e-03,
  2.41231413e-06, 1.55722194e-05,-1.21644718e+00, 1.59071775e-03,
  5.41463344e-04, 5.10378725e-05]


--- Step 1901 ---
qpos:
[-0.01294533, 1.32990018,-0.01894986, 0.94611264, 0.00423805, 1.33223769,
 -0.03037145, 0.94349774, 0.01690612, 1.33777365,-0.02353547, 0.95535658,
  1.35422699,-0.00420207, 1.13048975, 0.0604798 ,-0.00166482,-0.09787955,
  0.0815585 , 0.54245529,-0.01188152,-0.0043127 , 0.83998958]

qacc:
[ 3.18465211e-01, 3.24088934e+00,-1.06392752e+01, 1.40298485e+01,
 -1.27914050e-01, 1.28973004e+00,-3.74641887e+00, 2.96965556e+00,
 -6.49946905e-02,-5.72233855e+00, 2.00142806e+01,-2.75529640e+01,
  3.84967354e-01,-4.45899177e-01,-9.25505938e-01, 4.01869224e+00,
 -9.62678201e-01,-1.47923794e+00,-2.77825392e-01,-7.01170391e+01,
 -5.99192385e+01,-3.56384623e+00]

qfrc_actuator:
[ 5.22928919e-03, 3.77517177e-02, 1.13610628e-02, 1.84320398e-03,
 -6.13533799e-05, 3.49033785e-02, 1.09060356e-02, 1.73886137e-03,
 -3.04081154e-03, 3.47482506e-02, 1.08239709e-02, 1.57607265e-03,
  2.12680620e-04,-9.17520573e-05, 0.00000000e+00, 1.79981792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569303, -0.08547788,  0.11798301, -0.08547788,  0.2041902 ,
        0.0423808 ,  0.11798301,  0.0423808 ,  0.17639762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2695152354211424e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25689197,  0.08754046, -0.96246724, -0.02257511,  0.99616096,
        0.08457953,  0.96617642,  0.        ,  0.25788199])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06705981, -0.03851434,  0.22664566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.11262306,  -6.10103402,  -6.11262306,
        21.71679775, -13.10528067,  -6.10103402, -13.10528067,
        21.76653806,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014056928421214976
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94902425e-14,  7.89804850e-14,  1.00000000e+00,  3.11895851e-27,
        1.00000000e+00, -7.89804850e-14, -1.00000000e+00,  0.00000000e+00,
       -3.94902425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03063235, -0.06005582,  0.06187551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81716960e-03, 3.86369317e-03, 6.12700060e-04, 2.31379482e-05,
 -3.68259654e-05, 2.50970917e-05,-1.40874845e-05,-1.08907514e-07,
 -1.88158447e-05,-1.24781765e-06, 7.74395194e-05,-4.38392575e-05,
  2.11788833e-03, 1.96405276e-03, 8.34536621e-03, 4.15364938e-03,
 -1.23501147e-07, 2.47691168e-06,-1.21644246e+00, 1.58823159e-03,
  5.43193266e-04, 3.61971895e-05]


--- Step 1902 ---
qpos:
[-0.01295624, 1.32988719,-0.01895347, 0.94611449, 0.00423707, 1.33223838,
 -0.03037174, 0.9434978 , 0.01690605, 1.33777427,-0.02353631, 0.95535391,
  1.35426351,-0.00421011, 1.13051438, 0.06047104,-0.00167448,-0.09788426,
  0.08155229, 0.54249458,-0.01196427,-0.00455397, 0.83996175]

qacc:
[ 2.96680394e-01, 3.92372376e+00,-8.96191247e+00, 6.94331745e+00,
 -8.04578495e-02, 4.67822806e-01,-3.76509759e+00, 1.23176129e+01,
 -6.40103051e-02, 4.75090761e-01,-2.04085849e+00, 7.69404273e+00,
  3.54377653e-02,-9.01461578e-01, 1.18021556e+01,-2.26596031e+01,
 -8.87389698e-01,-1.39825856e+00,-8.81268510e-01,-6.57336275e+01,
 -5.60180209e+01,-3.47084460e+00]

qfrc_actuator:
[ 5.23371556e-03, 3.77653539e-02, 1.13806823e-02, 1.85600528e-03,
 -6.28107273e-05, 3.48450894e-02, 1.08990284e-02, 1.77569667e-03,
 -3.04815974e-03, 3.47927361e-02, 1.08497832e-02, 1.60493480e-03,
  2.10932545e-04,-7.43045874e-05, 0.00000000e+00, 1.53408286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14568433, -0.0921457 ,  0.11284101, -0.0921457 ,  0.50676694,
        0.29485918,  0.11284101,  0.29485918,  0.38646562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2062094610908346e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56910202e-01,  8.75432450e-02, -9.62462118e-01, -2.25774338e-02,
        9.96160720e-01,  8.45817902e-02,  9.66171521e-01,  3.46944695e-18,
        2.57900353e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706064, -0.03851733,  0.22664469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.11040521,  -6.10325528,  -6.11040521,
        24.0987746 , -15.48052511,  -6.10325528, -15.48052511,
        24.13502411,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001399503009663114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96649031e-14,  3.96649031e-14,  1.00000000e+00,  1.57330454e-27,
        1.00000000e+00, -3.96649031e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96649031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03064284, -0.06004778,  0.06187601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78400139e-03, 3.85129918e-03, 6.65446387e-04, 1.40058049e-05,
 -2.31921110e-05,-4.71743214e-05,-3.70571659e-06, 3.71745439e-05,
 -1.84585117e-05, 5.76139780e-05, 3.30827085e-05, 3.00647007e-05,
  2.09638534e-03, 1.98625079e-03, 8.32542319e-03, 3.86340094e-03,
  2.25522827e-06, 5.06714136e-07,-1.21644139e+00, 1.58555519e-03,
  5.44889331e-04, 3.33587886e-05]


--- Step 1903 ---
qpos:
[-0.01296687, 1.32987607,-0.018956  , 0.94611751, 0.00423626, 1.33223878,
 -0.03037206, 0.94349692, 0.01690585, 1.33777517,-0.02353681, 0.95535196,
  1.3542992 ,-0.00421872, 1.13054524, 0.06046264,-0.00168744,-0.09789429,
  0.08154051, 0.54253751,-0.01202569,-0.00495691, 0.83993087]

qacc:
[ 1.18920109e-01, 1.56059292e+00,-4.49247651e+00, 1.61787859e+01,
  7.44985789e-02,-1.93829045e+00, 7.78596883e+00,-1.75213556e+01,
 -5.26541989e-02, 6.63402296e-01,-3.16655893e+00, 1.08567472e+01,
 -5.46885853e-01, 9.34681991e-02, 8.14819574e+00,-1.50482183e+01,
 -8.25175926e-01,-1.33005911e+00,-1.38911610e+00,-6.20943806e+01,
 -5.27867051e+01,-3.37581287e+00]

qfrc_actuator:
[ 5.22256369e-03, 3.77772306e-02, 1.14295218e-02, 1.91616679e-03,
 -2.76728901e-05, 3.48278470e-02, 1.08948806e-02, 1.72630955e-03,
 -3.05244780e-03, 3.48012048e-02, 1.08654020e-02, 1.64075330e-03,
  2.03265549e-04,-4.22096741e-05, 0.00000000e+00, 1.41344851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14568525, -0.09473907,  0.11067385, -0.09473907,  0.28736719,
        0.12128264,  0.11067385,  0.12128264,  0.24950566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.212945632862952e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56926206e-01,  8.75458735e-02, -9.62457607e-01, -2.25795234e-02,
        9.96160489e-01,  8.45839529e-02,  9.66167216e-01,  3.46944695e-18,
        2.57916479e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706212, -0.03852036,  0.22664372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.0267885 ,  -6.18583844,  -6.0267885 ,
        27.5817643 , -18.45827755,  -6.18583844, -18.45827755,
        26.62004295,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013791727971563666
  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([ 0.03067225, -0.06001654,  0.06187767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73781613e-03, 3.73822956e-03, 7.24195656e-04, 7.12296044e-05,
  2.14473819e-05,-4.29514199e-05,-1.27082849e-05,-5.00519059e-05,
 -1.51852941e-05, 4.76712132e-05, 3.15053301e-05, 3.91883926e-05,
  2.10942385e-03, 2.07315672e-03, 7.89010222e-03, 3.72577205e-03,
  8.63651136e-06, 7.56276590e-06,-1.21644327e+00, 1.58268207e-03,
  5.46603425e-04, 4.02265399e-05]


--- Step 1904 ---
qpos:
[-0.01297782, 1.32986573,-0.01895755, 0.94612132, 0.00423559, 1.33223883,
 -0.03037159, 0.9434961 , 0.0169057 , 1.33777587,-0.02353626, 0.95534976,
  1.35433378,-0.0042272 , 1.13057692, 0.06045458,-0.00169854,-0.09791011,
  0.08153649, 0.54258252,-0.01197511,-0.00544759, 0.83989948]

qacc:
[-1.32740769e-01,-2.37922301e-01, 3.97457056e-01, 8.39907738e+00,
  5.63964033e-02,-2.43220622e+00, 7.26148332e+00,-5.31358803e+00,
  2.22586112e-02,-3.48389316e+00, 1.15248470e+01,-1.26274171e+01,
 -9.72678600e-01, 1.01829730e+00, 2.27250945e-01, 1.09243100e+00,
  4.66673040e-01,-1.44893975e+00, 1.93735334e+00,-6.45396813e+00,
 -7.08249066e+01,-1.81663595e+00]

qfrc_actuator:
[ 5.21995728e-03, 3.78054378e-02, 1.14591927e-02, 1.95036079e-03,
 -2.41256552e-05, 3.48352790e-02, 1.09457925e-02, 1.73310339e-03,
 -3.03711349e-03, 3.47702519e-02, 1.09102670e-02, 1.62708915e-03,
  1.86773806e-04, 1.63272646e-05, 0.00000000e+00, 1.45072664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14569353, -0.09467481,  0.11073972, -0.09467481,  0.21356898,
        0.05802883,  0.11073972,  0.05802883,  0.19530417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.273135669855335e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56939366e-01,  8.75484596e-02, -9.62453858e-01, -2.25813522e-02,
        9.96160262e-01,  8.45861414e-02,  9.66163674e-01, -3.46944695e-18,
        2.57929749e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706407, -0.03852339,  0.22664275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013515931693316163
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21418049e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.21418049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00618855, -0.07668582,  0.06187991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72118050e-03, 3.67316844e-03, 7.00044916e-04, 4.73705780e-05,
  1.62047285e-05,-2.03227145e-05, 3.95939811e-05, 3.96804889e-06,
  6.36964671e-06, 2.71226760e-06, 5.88978779e-05,-1.04205717e-05,
  2.13444236e-03, 2.15971744e-03, 7.57762611e-03, 3.74486683e-03,
  1.83620420e-05, 2.21207185e-05,-1.21644757e+00, 1.57961506e-03,
  5.48367404e-04, 5.51293021e-05]


--- Step 1905 ---
qpos:
[-0.01298917, 1.32985578,-0.01895853, 0.94612454, 0.00423487, 1.33223862,
 -0.03037053, 0.94349537, 0.0169058 , 1.33777724,-0.02353579, 0.9553481 ,
  1.35436764,-0.0042356 , 1.130607  , 0.06044695,-0.00170525,-0.09791969,
  0.08153966, 0.54262697,-0.01195682,-0.00574144, 0.83986906]

qacc:
[-1.68693421e-01,-2.08353735e+00, 8.62445529e+00,-1.46687051e+01,
 -2.02670687e-02,-1.82680922e+00, 5.34781540e+00,-3.42709594e+00,
  1.06502132e-01, 1.96704769e+00,-6.42391839e+00, 1.12205448e+01,
 -5.12064280e-01, 4.96031588e-01,-3.59112210e+00, 9.22923342e+00,
  1.09453458e+00, 1.56126470e+00, 1.79689795e+00, 7.38965464e+01,
  6.69455270e+01, 1.76696803e+00]

qfrc_actuator:
[ 5.22296007e-03, 3.78437788e-02, 1.14770256e-02, 1.91561399e-03,
 -3.95601243e-05, 3.48221668e-02, 1.09756866e-02, 1.73746730e-03,
 -3.01013256e-03, 3.48402819e-02, 1.09185918e-02, 1.65541688e-03,
  1.81019304e-04, 3.70149904e-05, 0.00000000e+00, 1.52936909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14570383, -0.09375566,  0.11153243, -0.09375566,  0.22201794,
        0.06415067,  0.11153243,  0.06415067,  0.19962974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3468380629775594e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25695082,  0.08755114, -0.96245056, -0.02258306,  0.99616003,
        0.08458846,  0.96616059,  0.        ,  0.2579413 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706608, -0.03852634,  0.22664182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013814586396988446
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00457498e-14, -4.01829991e-14,  1.00000000e+00, -4.03668354e-28,
        1.00000000e+00,  4.01829991e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00457498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02813657, -0.13052398,  0.06187741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73986536e-03, 3.67236099e-03, 6.68748840e-04,-2.73309214e-05,
 -5.87080618e-06,-1.64911383e-05, 3.05389001e-05, 5.00542606e-06,
  3.07429427e-05, 8.27145599e-05, 1.52383263e-05, 2.98873819e-05,
  2.18396609e-03, 2.17446232e-03, 7.53658914e-03, 3.80628514e-03,
  1.70600695e-05, 3.57476106e-05,-1.21645011e+00, 1.57553178e-03,
  5.48472537e-04, 7.25633947e-05]


--- Step 1906 ---
qpos:
[-0.01300028, 1.32984673,-0.01895968, 0.94612628, 0.00423419, 1.33223859,
 -0.03036922, 0.94349364, 0.01690633, 1.33777869,-0.02353535, 0.95534856,
  1.35440077,-0.00424448, 1.13063774, 0.06043959,-0.00170803,-0.09792341,
  0.0815466 , 0.54267137,-0.01196798,-0.00585324, 0.83983945]

qacc:
[ 9.90089824e-02,-9.39799839e-01, 7.50303480e+00,-2.42504929e+01,
  1.85801887e-02,-2.12240673e+00, 9.27435650e+00,-1.97618016e+01,
  1.79915190e-01, 3.88505827e+00,-1.68092892e+01, 3.90397628e+01,
 -2.39716478e-01,-2.35677477e-01, 1.45867026e-01, 9.19717044e-01,
  9.84428236e-01, 1.46562459e+00, 9.45662662e-01, 6.84585135e+01,
  6.17576532e+01, 1.40925938e+00]

qfrc_actuator:
[ 5.30054921e-03, 3.78705322e-02, 1.14700187e-02, 1.84057871e-03,
 -3.07505589e-05, 3.48500525e-02, 1.09928345e-02, 1.68706547e-03,
 -2.97638409e-03, 3.48103460e-02, 1.09056867e-02, 1.76152792e-03,
  1.76386684e-04, 5.27433792e-05, 0.00000000e+00, 1.50834345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14571373, -0.09559249,  0.10997531, -0.09559249,  0.3085286 ,
        0.14152158,  0.10997531,  0.14152158,  0.26872679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.416494558797876e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25696134,  0.08755394, -0.96244749, -0.02258471,  0.99615978,
        0.08459092,  0.96615775,  0.        ,  0.25795193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706797, -0.03852921,  0.22664092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.56737711,  6.60235481,  5.56737711, 19.41011428,
       -9.08486963,  6.60235481, -9.08486963, 16.29709934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014043511141602558
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94099647e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.94099647e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02811336, -0.13048713,  0.06187553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83738032e-03, 3.67988995e-03, 6.33059382e-04,-7.25433926e-05,
  5.34378535e-06, 2.48866777e-05, 1.75420273e-05,-4.98859354e-05,
  5.19059028e-05, 1.96537009e-05, 5.84915155e-06, 1.09702157e-04,
  2.21543915e-03, 2.18657468e-03, 7.61541414e-03, 3.76396925e-03,
  6.63948412e-06, 1.30146905e-05,-1.21644333e+00, 1.57991732e-03,
  5.47192121e-04, 4.75716018e-05]


--- Step 1907 ---
qpos:
[-0.0130113 , 1.32983735,-0.01896095, 0.94612652, 0.00423388, 1.33223865,
 -0.03036752, 0.94349408, 0.01690713, 1.33777937,-0.02353544, 0.95534935,
  1.3544326 ,-0.00425339, 1.13066685, 0.06043269,-0.00170723,-0.09792158,
  0.08155447, 0.54271605,-0.01200629,-0.00579523, 0.83981042]

qacc:
[ 3.53765063e-02,-2.69383082e+00, 1.13184086e+01,-2.69766223e+01,
  1.53404140e-01, 2.78787108e+00,-1.34204393e+01, 3.67887566e+01,
  1.13327055e-01, 9.72838889e-01,-5.08231495e+00, 8.75686844e+00,
 -8.96660125e-01, 7.52601475e-01,-3.71655054e+00, 9.63007547e+00,
  8.94849020e-01, 1.38543949e+00, 2.30052402e-01, 6.39448899e+01,
  5.74696274e+01, 1.13714086e+00]

qfrc_actuator:
[ 5.38691201e-03, 3.78541609e-02, 1.14486221e-02, 1.76024767e-03,
  1.02854248e-05, 3.48666860e-02, 1.10202064e-02, 1.80013687e-03,
 -2.97435442e-03, 3.46852347e-02, 1.08445334e-02, 1.77047555e-03,
  1.72453458e-04, 1.37032513e-04, 0.00000000e+00, 1.58726842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14572544, -0.09651657,  0.10918083, -0.09651657,  0.23067277,
        0.075094  ,  0.10918083,  0.075094  ,  0.21210903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4974702419684626e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25697116,  0.08755668, -0.96244462, -0.02258628,  0.99615954,
        0.08459334,  0.9661551 ,  0.        ,  0.25796185])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06706993, -0.03853198,  0.22664006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.65035749,   6.53148047,   5.65035749,
        21.16823047, -10.84126761,   6.53148047, -10.84126761,
        18.01510066,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014075241803539612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46492884e-14,  1.18316585e-13,  1.00000000e+00,  2.91641962e-27,
        1.00000000e+00, -1.18316585e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46492884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0281135 , -0.13048061,  0.0618753 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91205772e-03, 3.61866523e-03, 6.20160800e-04,-7.87515151e-05,
  4.41910818e-05, 3.23287917e-05, 3.27698103e-05, 1.13177138e-04,
  3.26810885e-05,-1.09859666e-04,-5.34423919e-05, 1.22573814e-05,
  2.24774916e-03, 2.29507639e-03, 7.58179837e-03, 3.82896052e-03,
  1.46072131e-06, 2.18042020e-06,-1.21644045e+00, 1.58385444e-03,
  5.45593382e-04, 3.59083640e-05]


--- Step 1908 ---
qpos:
[-0.01302236, 1.32982707,-0.01896258, 0.94612586, 0.00423397, 1.33223884,
 -0.03036609, 0.94349694, 0.0169078 , 1.33777936,-0.02353509, 0.9553495 ,
  1.35446354,-0.00426189, 1.13069366, 0.06042623,-0.00170314,-0.09791449,
  0.08156085, 0.54276123,-0.01206984,-0.00557756, 0.83978179]

qacc:
[-1.34529239e-02,-1.75839106e+00, 6.12750840e+00,-1.51679654e+01,
  1.75601962e-01, 5.02355619e+00,-2.11635937e+01, 4.63322265e+01,
 -5.34958257e-02,-3.20757375e+00, 1.06910520e+01,-1.63116664e+01,
 -8.33612139e-01, 1.09132498e+00,-4.70697295e+00, 1.16608196e+01,
  8.21890372e-01, 1.31822424e+00,-3.71008261e-01, 6.02001586e+01,
  5.39259660e+01, 9.32661900e-01]

qfrc_actuator:
[ 5.38983277e-03, 3.78127776e-02, 1.14186137e-02, 1.71285096e-03,
  3.48161089e-05, 3.48588333e-02, 1.10002124e-02, 1.91975673e-03,
 -3.00912133e-03, 3.46813780e-02, 1.08792026e-02, 1.73981872e-03,
  1.69018550e-04, 1.73428467e-04, 0.00000000e+00, 1.67261954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14573583, -0.09541887,  0.11015521, -0.09541887,  0.20116251,
        0.04801182,  0.11015521,  0.04801182,  0.18732473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.568115142740761e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25698141,  0.0875594 , -0.96244164, -0.02258789,  0.9961593 ,
        0.08459572,  0.96615234,  0.        ,  0.2579722 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06707181, -0.03853461,  0.22663921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.72692454,   6.46444987,   5.72692454,
        23.32224639, -13.01037893,   6.46444987, -13.01037893,
        20.162396  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013949143054481708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97442307e-15,  3.97953846e-14,  1.00000000e+00, -1.97959079e-28,
        1.00000000e+00, -3.97953846e-14, -1.00000000e+00,  0.00000000e+00,
        4.97442307e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02813214, -0.13049811,  0.06187639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91081541e-03, 3.59354192e-03, 5.96354254e-04,-5.13564498e-05,
  5.06141914e-05, 1.98453389e-05,-6.62283036e-06, 1.24179598e-04,
 -1.54723251e-05,-7.46821366e-05, 7.50185125e-06,-3.51867093e-05,
  2.30974961e-03, 2.33275116e-03, 7.66274116e-03, 3.89159353e-03,
  5.35117019e-07, 8.92843786e-07,-1.21644069e+00, 1.58749084e-03,
  5.43684521e-04, 3.49640380e-05]


--- Step 1909 ---
qpos:
[-0.01303217, 1.32981818,-0.01896503, 0.94612411, 0.00423414, 1.33223942,
 -0.03036458, 0.94349841, 0.01690822, 1.33777817,-0.02353302, 0.95535064,
  1.35449441,-0.00427157, 1.13072854, 0.06041986,-0.001696  ,-0.09790234,
  0.08156374, 0.54280698,-0.01215707,-0.0052086 , 0.83975333]

qacc:
[ 5.30552568e-01, 2.12035772e+00,-2.50418349e+00,-1.12841127e+01,
  3.05356843e-02,-2.09461579e+00, 1.03159724e+01,-2.53500273e+01,
 -1.04338586e-01,-4.45525942e+00, 1.06519158e+01, 2.92686572e+00,
  3.78932527e-01,-1.30606602e+00, 1.16351017e+01,-2.34916168e+01,
  7.62358272e-01, 1.26185790e+00,-8.75351954e-01, 5.70972837e+01,
  5.10005572e+01, 7.82078970e-01]

qfrc_actuator:
[ 5.41378072e-03, 3.78103569e-02, 1.14192369e-02, 1.66746260e-03,
  1.37408406e-05, 3.48894737e-02, 1.10055574e-02, 1.84691220e-03,
 -3.03017363e-03, 3.46262134e-02, 1.09706050e-02, 1.79276399e-03,
  1.71217038e-04, 1.09659474e-04, 0.00000000e+00, 1.38883976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14574348, -0.09644144,  0.10927127, -0.09644144,  0.20663512,
        0.05374219,  0.10927127,  0.05374219,  0.19317566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.619429298742539e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56992889e-01,  8.75621146e-02, -9.62438326e-01, -2.25896060e-02,
        9.96159062e-01,  8.45980709e-02,  9.66149246e-01,  3.46944695e-18,
        2.57983789e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06707356, -0.03853715,  0.22663836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.77055179,   6.42553569,   5.77055179,
        26.21323912, -15.78518513,   6.42553569, -15.78518513,
        22.81249351,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013698089773515887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06559237e-15,  4.05247390e-14,  1.00000000e+00,  2.05281808e-28,
        1.00000000e+00, -4.05247390e-14, -1.00000000e+00,  0.00000000e+00,
       -5.06559237e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02816528, -0.13053445,  0.06187851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93636257e-03, 3.63650570e-03, 6.15382780e-04,-5.18602280e-05,
  8.79893066e-06, 4.40602687e-05, 1.21172642e-05,-6.95572788e-05,
 -3.01911925e-05,-9.60399376e-05, 7.66413515e-05, 5.01347971e-05,
  2.35598016e-03, 2.24889251e-03, 7.77737229e-03, 3.58508054e-03,
  3.13321007e-06, 7.43338377e-06,-1.21644350e+00, 1.59092325e-03,
  5.41477824e-04, 4.28360748e-05]


--- Step 1910 ---
qpos:
[-0.01304116, 1.32981085,-0.01896687, 0.94612208, 0.00423411, 1.33224046,
 -0.0303633 , 0.94349797, 0.01690854, 1.33777646,-0.02353118, 0.9553521 ,
  1.35452518,-0.00428216, 1.13076957, 0.06041353,-0.001686  ,-0.09788534,
  0.08156143, 0.54285332,-0.01226672,-0.0046953 , 0.83972481]

qacc:
[ 3.47045315e-01,-8.34843206e-02, 3.31423695e+00,-7.09242923e+00,
 -8.79253274e-02,-2.00776800e+00, 1.12213257e+01,-3.21826546e+01,
 -4.41252452e-02, 4.44874019e-01,-2.91320519e+00, 6.53795114e+00,
  2.70375544e-01,-9.99750670e-01, 8.92577730e+00,-1.80725320e+01,
  7.13638574e-01, 1.21452349e+00,-1.29807090e+00, 5.45318181e+01,
  4.85904507e+01, 6.74843474e-01]

qfrc_actuator:
[ 5.39581514e-03, 3.77761230e-02, 1.14388287e-02, 1.65933620e-03,
 -1.67685626e-05, 3.49073938e-02, 1.09903566e-02, 1.75019547e-03,
 -3.02507333e-03, 3.45943038e-02, 1.09525888e-02, 1.80572746e-03,
  1.71428859e-04, 7.59762889e-05, 0.00000000e+00, 1.25658270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14575981, -0.10229222,  0.10383749, -0.10229222,  0.52867807,
        0.37721984,  0.10383749,  0.37721984,  0.51736604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.727138094460029e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25700381,  0.08756451, -0.96243519, -0.02259119,  0.99615885,
        0.08460013,  0.9661463 ,  0.        ,  0.25799481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06707593, -0.03853973,  0.22663747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.74336779,   6.44984521,   5.74336779,
        30.23630797, -19.23401578,   6.44984521, -19.23401578,
        25.76360051,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013349499945205928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19786803e-15, -4.15829443e-14,  1.00000000e+00,  2.16142657e-28,
        1.00000000e+00,  4.15829443e-14, -1.00000000e+00,  0.00000000e+00,
        5.19786803e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02820966, -0.13058537,  0.06188143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85576151e-03, 3.53287849e-03, 6.75496135e-04,-5.47916023e-06,
 -2.53142260e-05, 4.25692280e-05,-7.24272161e-06,-9.66440454e-05,
 -1.27318742e-05,-6.85602037e-05,-2.65936530e-05, 1.35316368e-05,
  2.35988256e-03, 2.27436445e-03, 7.37352345e-03, 3.44890525e-03,
  8.71713224e-06, 2.05465992e-05,-1.21644850e+00, 1.59421428e-03,
  5.38986813e-04, 5.81386776e-05]


--- Step 1911 ---
qpos:
[-0.01305014, 1.32980323,-0.01896816, 0.94612083, 0.0042338 , 1.33224187,
 -0.03036253, 0.94349709, 0.01690868, 1.33777545,-0.02353058, 0.95535228,
  1.35455579,-0.00429218, 1.1308084 , 0.06040716,-0.00168104,-0.09787457,
  0.08156329, 0.54290171,-0.01234612,-0.00439157, 0.839694  ]

qacc:
[ 2.33971195e-03,-5.15279306e-01,-3.51403813e-01, 9.45816410e+00,
 -1.15022917e-01, 1.07520615e+00,-2.02335611e+00,-3.59585585e+00,
 -7.74733081e-02, 2.07908569e+00,-3.08706791e+00,-1.26116848e+01,
 -4.35088125e-01, 9.16128384e-01,-3.11249670e+00, 6.25846397e+00,
 -1.25696357e+00,-1.55875588e+00, 1.04290384e+00,-7.97809814e+01,
 -6.95664198e+01,-2.84220731e+00]

qfrc_actuator:
[ 5.37038653e-03, 3.77753309e-02, 1.14332001e-02, 1.69094442e-03,
 -3.49350709e-05, 3.49174476e-02, 1.09631166e-02, 1.72899251e-03,
 -3.03983082e-03, 3.46826675e-02, 1.09056610e-02, 1.74171830e-03,
  1.65127800e-04, 9.60636384e-05, 0.00000000e+00, 1.37501213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14578426, -0.09840001,  0.1075662 , -0.09840001,  0.19203354,
        0.04230818,  0.1075662 ,  0.04230818,  0.18448717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.8838448828084774e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57012645e-01,  8.75667241e-02, -9.62432631e-01, -2.25925411e-02,
        9.96158656e-01,  8.46020582e-02,  9.66143922e-01,  3.46944695e-18,
        2.58003726e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06707876, -0.03854234,  0.22663658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013504094922871246
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11069024e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.11069024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03074725, -0.05999885,  0.06188012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78937592e-03, 3.45405640e-03, 6.39372250e-04, 4.00693623e-05,
 -3.31057890e-05, 2.92694357e-05,-2.25740994e-05,-2.23729799e-05,
 -2.22790562e-05, 4.56700001e-05,-6.29404354e-05,-6.65003057e-05,
  2.35849778e-03, 2.34074882e-03, 7.06467502e-03, 3.56485938e-03,
  1.68914821e-05, 3.93180022e-05,-1.21645542e+00, 1.59740323e-03,
  5.36224802e-04, 7.98664860e-05]


--- Step 1912 ---
qpos:
[-0.01305871, 1.32979656,-0.0189693 , 0.94612022, 0.00423325, 1.33224349,
 -0.03036206, 0.94349596, 0.01690878, 1.33777543,-0.02353033, 0.95535298,
  1.35458611,-0.00430218, 1.13084838, 0.06040054,-0.00168058,-0.09786968,
  0.08156608, 0.54295265,-0.01239816,-0.00428132, 0.83966087]

qacc:
[ 1.75333894e-01, 1.99228277e+00,-6.30462171e+00, 1.23799006e+01,
 -1.04730115e-01, 6.70852524e-01,-1.35723514e+00,-1.78471795e+00,
 -1.47405907e-02, 3.15807835e+00,-9.79511285e+00, 1.40609654e+01,
 -3.08705979e-01, 3.23840189e-01, 2.50181381e+00,-6.26069447e+00,
 -1.12609437e+00,-1.47033454e+00, 2.33776446e-01,-7.37914089e+01,
 -6.39863919e+01,-2.95189912e+00]

qfrc_actuator:
[ 5.42972948e-03, 3.78490869e-02, 1.14655137e-02, 1.72769717e-03,
 -4.55490019e-05, 3.49226984e-02, 1.09467642e-02, 1.71688835e-03,
 -3.03087776e-03, 3.47889336e-02, 1.09135251e-02, 1.77502817e-03,
  1.70905425e-04, 1.29521361e-04, 0.00000000e+00, 1.30661242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14580719, -0.10073339,  0.10541594, -0.10073339,  0.25623703,
        0.10552457,  0.10541594,  0.10552457,  0.24664438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.026398426447726e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57021223e-01,  8.75689362e-02, -9.62430139e-01, -2.25938703e-02,
        9.96158462e-01,  8.46039929e-02,  9.66141609e-01, -3.46944695e-18,
        2.58012387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06708141, -0.03854494,  0.2266357 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.90793001, -6.29945552, -5.90793001, 13.83828454,
       -4.87860967, -6.29945552, -4.87860967, 13.21175661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013792331207620676
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.0247838e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.0247838e-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([ 0.03071296, -0.06005085,  0.06187773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84845776e-03, 3.54228087e-03, 6.44214466e-04, 3.80001960e-05,
 -3.01527160e-05, 1.63404866e-05,-1.38553628e-05,-1.24027547e-05,
 -4.20130150e-06, 1.17266262e-04, 7.68499055e-06, 3.12725783e-05,
  2.37221039e-03, 2.34509006e-03, 7.17382237e-03, 3.49786462e-03,
  5.94288869e-06, 1.41213238e-05,-1.21644623e+00, 1.59268106e-03,
  5.39198325e-04, 5.21642802e-05]


--- Step 1913 ---
qpos:
[-0.01306687, 1.32979165,-0.01897003, 0.94611928, 0.00423279, 1.33224501,
 -0.03036229, 0.94349579, 0.0169092 , 1.33777583,-0.02352979, 0.95535376,
  1.35461585,-0.00431305, 1.13089368, 0.06039369,-0.00168419,-0.09787038,
  0.08156709, 0.54300642,-0.01242519,-0.00435118, 0.83962534]

qacc:
[ 1.71301192e-01, 5.87818177e-01, 1.53552227e+00,-6.28613564e+00,
  4.05496530e-02, 3.38520205e+00,-1.31536956e+01, 2.24776827e+01,
  1.33072001e-01,-1.21309938e-01, 9.15425027e-01,-2.89513261e-01,
 -1.15239344e-01,-6.09733638e-01, 8.52402472e+00,-1.83845328e+01,
 -1.01948603e+00,-1.39521177e+00,-4.47917122e-01,-6.88128744e+01,
 -5.93723753e+01,-3.01091227e+00]

qfrc_actuator:
[ 5.45076137e-03, 3.78776827e-02, 1.15030276e-02, 1.71409839e-03,
 -1.60417989e-05, 3.48895725e-02, 1.09014404e-02, 1.76348049e-03,
 -2.99002075e-03, 3.47810888e-02, 1.09183459e-02, 1.77665581e-03,
  1.78622038e-04, 1.53591745e-04, 0.00000000e+00, 1.12636141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14583303, -0.12140529,  0.08079622, -0.12140529,  0.58754661,
        0.66372369,  0.08079622,  0.66372369,  1.14315155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.182241771332918e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25702874,  0.08757105, -0.96242794, -0.02259508,  0.99615828,
        0.08460586,  0.96613958,  0.        ,  0.25801998])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06708412, -0.03854754,  0.22663485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.94071856, -6.26854368, -5.94071856, 15.01103975,
       -6.04130059, -6.26854368, -6.04130059, 14.3617232 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013871940760553647
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00168601e-14,  4.00168601e-14,  1.00000000e+00,  1.60134909e-27,
        1.00000000e+00, -4.00168601e-14, -1.00000000e+00,  0.00000000e+00,
       -4.00168601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03070666, -0.06006747,  0.06187708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84879223e-03, 3.52327657e-03, 6.74632872e-04,-7.91248685e-06,
  1.17108871e-05,-2.71843770e-05,-4.40716146e-05, 4.63911023e-05,
  3.83800559e-05, 5.94290565e-05, 2.95095952e-05, 6.05438466e-06,
  2.39443113e-03, 2.36894239e-03, 7.11614223e-03, 3.33069942e-03,
  1.09569999e-06, 2.32900735e-06,-1.21644151e+00, 1.58823162e-03,
  5.41842388e-04, 3.89588481e-05]


--- Step 1914 ---
qpos:
[-0.01307489, 1.32978727,-0.01897098, 0.94611798, 0.00423253, 1.33224632,
 -0.03036278, 0.94349719, 0.01690985, 1.33777619,-0.0235298 , 0.95535463,
  1.3546453 ,-0.00432392, 1.130938  , 0.06038644,-0.00169154,-0.09787639,
  0.08156401, 0.54306318,-0.01242914,-0.00459005, 0.8395873 ]

qacc:
[ 5.89594749e-02, 6.94069163e-01,-6.79781018e-01,-3.89445774e+00,
  8.58424971e-02, 3.15904329e+00,-1.38823353e+01, 3.05266616e+01,
  1.00730039e-01, 1.62517223e+00,-5.55703469e+00, 5.97765234e+00,
 -2.09392572e-01, 1.91474647e-01,-2.05739805e-01,-1.37192184e+00,
 -9.32448835e-01,-1.33130071e+00,-1.02187297e+00,-6.46752263e+01,
 -5.55560914e+01,-3.03288903e+00]

qfrc_actuator:
[ 5.44865053e-03, 3.78780021e-02, 1.14545642e-02, 1.68876242e-03,
  1.78854712e-06, 3.48869014e-02, 1.08925123e-02, 1.84419550e-03,
 -2.98361425e-03, 3.47227177e-02, 1.08675914e-02, 1.77728309e-03,
  1.66235367e-04, 1.37401041e-04, 0.00000000e+00, 1.18085214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14586745, -0.10277136,  0.10351502, -0.10277136,  0.28044436,
        0.13361011,  0.10351502,  0.13361011,  0.2785177 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.382775812573862e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57034167e-01,  8.75730879e-02, -9.62426304e-01, -2.25960877e-02,
        9.96158097e-01,  8.46076980e-02,  9.66138113e-01,  3.46944695e-18,
        2.58025476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06708721, -0.03855011,  0.22663401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.95012285, -6.2596178 , -5.95012285, 16.51399674,
       -7.48813845, -6.2596178 , -7.48813845, 15.75426527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001378394964384598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02723114e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.02723114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03072261, -0.06005602,  0.06187782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82645973e-03, 3.43602297e-03, 6.05197326e-04,-1.65845470e-05,
  2.47413723e-05,-2.49460762e-05,-1.79028532e-05, 7.96819989e-05,
  2.90719936e-05,-1.95664944e-05,-3.56185584e-05, 3.39370640e-06,
  2.41099522e-03, 2.39657309e-03, 6.84857009e-03, 3.39584378e-03,
  1.14951910e-06, 1.23168957e-06,-1.21644037e+00, 1.58390058e-03,
  5.44303361e-04, 3.72834472e-05]


--- Step 1915 ---
qpos:
[-0.0130831 , 1.32978102,-0.01897242, 0.94611731, 0.00423234, 1.3322474 ,
 -0.03036274, 0.94349813, 0.01691053, 1.33777691,-0.02353089, 0.95535619,
  1.35467506,-0.00433337, 1.13097259, 0.06037897,-0.00170233,-0.09788752,
  0.08155491, 0.54312295,-0.01241159,-0.00498874, 0.83954662]

qacc:
[-7.81901814e-02,-6.00432332e-02,-4.05320964e+00, 1.19843236e+01,
  2.62429728e-02,-2.56215935e+00, 8.93757719e+00,-1.29918553e+01,
  9.68670042e-03, 4.56304678e+00,-1.56851954e+01, 2.12631352e+01,
 -2.84299081e-01, 1.41450037e+00,-1.36730047e+01, 2.70362505e+01,
 -8.61160895e-01,-1.27680531e+00,-1.50477189e+00,-6.12396612e+01,
 -5.24014003e+01,-3.02779245e+00]

qfrc_actuator:
[ 5.45051007e-03, 3.78796192e-02, 1.13904966e-02, 1.70980111e-03,
 -5.28504366e-06, 3.48848925e-02, 1.09230195e-02, 1.82010272e-03,
 -2.99792759e-03, 3.47585846e-02, 1.08197264e-02, 1.81275618e-03,
  1.57758851e-04, 1.32025571e-04, 0.00000000e+00, 1.48298435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14590261, -0.09473642,  0.11096208, -0.09473642,  0.15794988,
        0.01028563,  0.11096208,  0.01028563,  0.15468421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.580144986642305e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57039286e-01,  8.75750903e-02, -9.62424755e-01, -2.25970584e-02,
        9.96157921e-01,  8.46095112e-02,  9.66136729e-01, -3.46944695e-18,
        2.58030660e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06709021, -0.03855264,  0.2266332 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.91000254, -6.29751116, -5.91000254, 18.56855285,
       -9.32102571, -6.29751116, -9.32102571, 17.38383294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001356266095298278
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09293954e-14, -4.09293954e-14,  1.00000000e+00, -1.67521540e-27,
        1.00000000e+00,  4.09293954e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09293954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03075607, -0.06002249,  0.06187965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82135573e-03, 3.41066443e-03, 5.52388968e-04, 2.24021562e-05,
  7.52831730e-06,-1.69209754e-05, 2.59273935e-05,-2.35178276e-05,
  2.85304287e-06, 1.81920376e-05,-5.56334773e-05, 3.39320665e-05,
  2.41693823e-03, 2.39091241e-03, 6.89710819e-03, 3.71833306e-03,
  5.22949045e-06, 8.85984535e-06,-1.21644212e+00, 1.57959125e-03,
  5.46677677e-04, 4.49790624e-05]


--- Step 1916 ---
qpos:
[-0.01309134, 1.32977433,-0.01897446, 0.94611575, 0.00423229, 1.33224821,
 -0.0303623 , 0.94349879, 0.01691115, 1.33777784,-0.02353284, 0.95535782,
  1.35470521,-0.00434264, 1.13100471, 0.06037152,-0.00170702,-0.09790292,
  0.08155222, 0.54317994,-0.01222862,-0.00537767, 0.83951003]

qacc:
[-9.77619969e-03,-4.94971127e-01, 2.73920244e+00,-1.24921781e+01,
  6.25480451e-02,-1.93525381e+00, 6.46713853e+00,-8.74788315e+00,
 -2.50664573e-02, 2.69774260e+00,-8.59492662e+00, 8.10706066e+00,
  2.99310282e-01,-1.58521506e-01,-3.74422727e+00, 7.76731577e+00,
  1.52580002e+00,-1.06833285e+00, 1.60412919e+00, 4.90124711e+01,
 -6.68185639e+01, 1.92767161e+00]

qfrc_actuator:
[ 5.45502012e-03, 3.79019661e-02, 1.13884253e-02, 1.66905628e-03,
  8.26423136e-06, 3.48656461e-02, 1.09409833e-02, 1.80554958e-03,
 -3.00680069e-03, 3.47618485e-02, 1.07743380e-02, 1.81525347e-03,
  1.67561780e-04, 1.31730314e-04, 0.00000000e+00, 1.48985598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14592552, -0.09614009,  0.10977861, -0.09614009,  0.23787587,
        0.08052675,  0.10977861,  0.08052675,  0.21644791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7050012824161334e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57046683e-01,  8.75771169e-02, -9.62422595e-01, -2.25982356e-02,
        9.96157743e-01,  8.46112944e-02,  9.66134733e-01,  3.46944695e-18,
        2.58038132e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06709247, -0.03855513,  0.22663242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013496517659972174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11299808e-14, -4.11299808e-14,  1.00000000e+00, -1.69167532e-27,
        1.00000000e+00,  4.11299808e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11299808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03268162, -0.08877346,  0.06188016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83510436e-03, 3.52677495e-03, 5.74499189e-04,-4.98383201e-05,
  1.79921317e-05,-2.42481201e-05, 1.69143855e-05,-1.48440175e-05,
 -7.18765995e-06, 3.46350426e-06,-4.71625962e-05, 2.19970842e-06,
  2.41090512e-03, 2.32004697e-03, 7.38293411e-03, 3.73590753e-03,
  1.26991816e-05, 2.37829014e-05,-1.21644625e+00, 1.57524384e-03,
  5.49028184e-04, 6.04751375e-05]


--- Step 1917 ---
qpos:
[-0.01309952, 1.32976732,-0.01897636, 0.94611365, 0.00423225, 1.33224884,
 -0.03036197, 0.94349997, 0.01691169, 1.33777812,-0.02353434, 0.95535774,
  1.35473551,-0.00435196, 1.13103694, 0.06036432,-0.00170729,-0.09791244,
  0.08155485, 0.54323588,-0.01207719,-0.00557742, 0.83947473]

qacc:
[ 1.92257080e-02,-1.72930482e+00, 6.20835725e+00,-1.13292873e+01,
  3.20834681e-03, 9.93650179e-01,-4.60664454e+00, 1.02508909e+01,
 -3.37369115e-02,-4.97616525e+00, 1.86106251e+01,-3.53148377e+01,
  1.75296202e-01,-2.18786626e-01,-5.97761953e-01, 2.27929660e+00,
  1.10355683e+00, 1.47092622e+00, 1.32943698e+00, 7.08414231e+01,
  6.46102891e+01, 2.03119838e+00]

qfrc_actuator:
[ 5.46103265e-03, 3.78828098e-02, 1.14061178e-02, 1.64577454e-03,
 -1.42848243e-06, 3.48539408e-02, 1.09335886e-02, 1.83223215e-03,
 -3.01233677e-03, 3.46922947e-02, 1.07838982e-02, 1.72729702e-03,
  1.72337623e-04, 1.35154982e-04, 0.00000000e+00, 1.47918602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14594537, -0.09722639,  0.10884429, -0.09722639,  0.25136325,
        0.09416571,  0.10884429,  0.09416571,  0.23005995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.810993629579847e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57055095e-01,  8.75791391e-02, -9.62420164e-01, -2.25995010e-02,
        9.96157565e-01,  8.46130496e-02,  9.66132465e-01,  3.46944695e-18,
        2.58046622e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06709455, -0.03855764,  0.22663164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013626863870988548
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52762088e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.52762088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0282089 , -0.13051574,  0.06187906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84227043e-03, 3.52973773e-03, 6.22633942e-04,-2.82599070e-05,
  9.25907694e-07,-2.22613516e-05,-1.06492606e-05, 2.61078525e-05,
 -9.78002604e-06,-7.67851033e-05, 4.94469143e-06,-8.91817537e-05,
  2.39651732e-03, 2.31480926e-03, 7.50551585e-03, 3.72366989e-03,
  2.52967355e-06, 2.49734082e-05,-1.21644587e+00, 1.57127047e-03,
  5.47091025e-04, 6.18087559e-05]


--- Step 1918 ---
qpos:
[-0.01310768, 1.32975882,-0.0189781 , 0.94611243, 0.00423217, 1.33224881,
 -0.03036101, 0.94350285, 0.01691215, 1.33777761,-0.023535  , 0.95535523,
  1.35476627,-0.00436045, 1.13106428, 0.06035736,-0.0017036 ,-0.09791638,
  0.08155971, 0.54329135,-0.01195455,-0.00560139, 0.83944042]

qacc:
[ 1.32618339e-02,-8.67189605e-01,-1.31812610e+00, 1.22120169e+01,
 -1.81225577e-02, 3.24341571e-01,-5.59067444e+00, 2.49392749e+01,
 -3.18681827e-02,-7.52426328e+00, 2.82047813e+01,-5.21217427e+01,
  1.18712132e-02, 6.83891309e-01,-7.92455608e+00, 1.72647561e+01,
  9.90768204e-01, 1.39204702e+00, 5.55138863e-01, 6.59569898e+01,
  5.98197751e+01, 1.60901768e+00]

qfrc_actuator:
[ 5.46788765e-03, 3.78743133e-02, 1.13996549e-02, 1.68621844e-03,
 -7.23288123e-06, 3.48112635e-02, 1.09645959e-02, 1.91846051e-03,
 -3.01582590e-03, 3.46508422e-02, 1.08254771e-02, 1.60456159e-03,
  1.68777654e-04, 1.23221396e-04, 0.00000000e+00, 1.65304420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14596542, -0.09286593,  0.1126136 , -0.09286593,  0.17126887,
        0.02086629,  0.1126136 ,  0.02086629,  0.16317264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.91608090449898e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57063678e-01,  8.75811482e-02, -9.62417689e-01, -2.26007781e-02,
        9.96157388e-01,  8.46147880e-02,  9.66130152e-01, -3.46944695e-18,
        2.58055285e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06709665, -0.03856015,  0.22663086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.39953058,  6.74031501,  5.39953058, 16.43531819,
       -6.2475854 ,  6.74031501, -6.2475854 , 13.64117845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013764471898955605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04116246e-15,  8.06585994e-14,  1.00000000e+00, -4.06613103e-28,
        1.00000000e+00, -8.06585994e-14, -1.00000000e+00,  0.00000000e+00,
        5.04116246e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02819745, -0.13049188,  0.06187793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84686910e-03, 3.53736431e-03, 6.09017350e-04, 3.85880973e-05,
 -5.25877420e-06,-5.62935590e-05, 2.62065343e-05, 8.58547940e-05,
 -9.26659611e-06,-8.55891285e-05, 2.45383097e-05,-1.26942357e-04,
  2.38490648e-03, 2.30588892e-03, 7.49982515e-03, 3.88524450e-03,
 -7.49179962e-07, 7.17845279e-06,-1.21644088e+00, 1.57637661e-03,
  5.45307590e-04, 4.11442583e-05]


--- Step 1919 ---
qpos:
[-0.01311523, 1.3297505 ,-0.01897986, 0.94611088, 0.00423203, 1.33224853,
 -0.03036002, 0.9435057 , 0.01691269, 1.33777698,-0.02353618, 0.95535542,
  1.35479731,-0.00436921, 1.13109186, 0.06035062,-0.00169631,-0.09791503,
  0.08156418, 0.54334676,-0.01185845,-0.00546071, 0.83940685]

qacc:
[ 2.53562479e-01,-2.85074125e-01, 1.92280803e+00,-5.70440946e+00,
 -2.26344561e-02,-4.53331521e-01, 1.13813818e+00,-1.16899929e+00,
  3.47089393e-02, 5.89733938e+00,-2.48659311e+01, 5.28016742e+01,
  4.20975858e-01,-6.52701666e-01,-3.23143717e-01, 1.58077619e+00,
  8.99278133e-01, 1.32542860e+00,-9.56230991e-02, 6.19013531e+01,
  5.58623388e+01, 1.28466399e+00]

qfrc_actuator:
[ 5.52850215e-03, 3.79267723e-02, 1.14318845e-02, 1.67494114e-03,
 -1.06566772e-05, 3.48038143e-02, 1.09646818e-02, 1.91476997e-03,
 -3.00030643e-03, 3.46799024e-02, 1.08146772e-02, 1.74642458e-03,
  1.60184615e-04, 1.01199028e-04, 0.00000000e+00, 1.61797816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14597822, -0.09467496,  0.11111387, -0.09467496,  0.25899891,
        0.09629967,  0.11111387,  0.09629967,  0.22803069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.982200291602263e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25707355,  0.08758314, -0.96241487, -0.02260216,  0.99615721,
        0.08461648,  0.96612749,  0.        ,  0.25806524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06709839, -0.03856269,  0.22663006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.45206529,  6.69789227,  5.45206529, 18.07892927,
       -7.68622161,  6.69789227, -7.68622161, 14.8929262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00137260308726362
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03316842e-14,  8.08844913e-14,  1.00000000e+00,  2.45336285e-27,
        1.00000000e+00, -8.08844913e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03316842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02820655, -0.13049516,  0.06187827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90593774e-03, 3.66461311e-03, 6.33353496e-04,-1.65257457e-05,
 -6.53004682e-06,-3.08792812e-05,-5.42364329e-06,-2.61930531e-06,
  1.00448920e-05,-1.72358797e-05,-2.84415310e-05, 1.37086312e-04,
  2.35391384e-03, 2.24203859e-03, 7.74354135e-03, 3.83809214e-03,
  3.36318006e-07, 1.25465148e-07,-1.21643937e+00, 1.58087401e-03,
  5.43291362e-04, 3.25733971e-05]


--- Step 1920 ---
qpos:
[-0.01312227, 1.3297428 ,-0.01898088, 0.94610946, 0.0042317 , 1.33224875,
 -0.03035985, 0.94350674, 0.01691351, 1.3377771 ,-0.02353817, 0.95535724,
  1.35482799,-0.00437843, 1.13112209, 0.06034416,-0.00168573,-0.0979086 ,
  0.08156608, 0.54340235,-0.01178705,-0.00516458, 0.83937374]

qacc:
[  0.21900615, -0.9768147 ,  3.85536726, -2.09207258, -0.08197561,
  -0.23388687,  5.28918287,-25.96312231,  0.11324238,  6.00126196,
 -21.67486015, 37.16707275, -0.06234165, -0.33327412,  3.03424164,
  -4.94474034,  0.82493888,  1.26918532, -0.64205441, 58.53702012,
  52.59441329,  1.03749803]

qfrc_actuator:
[ 5.56753452e-03, 3.79437042e-02, 1.14874425e-02, 1.68675268e-03,
 -3.03770788e-05, 3.48528660e-02, 1.09288167e-02, 1.82266970e-03,
 -2.97350958e-03, 3.47686756e-02, 1.07912257e-02, 1.82984424e-03,
  1.59221931e-04, 1.27162408e-04, 0.00000000e+00, 1.54624877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14599183, -0.09762716,  0.10854747, -0.09762716,  0.2869625 ,
        0.12678846,  0.10854747,  0.12678846,  0.26002487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.05171697071194e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25708326,  0.08758497, -0.96241211, -0.02260349,  0.99615705,
        0.08461802,  0.96612488,  0.        ,  0.25807503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710015, -0.03856524,  0.22662927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.48703446,  6.66927505,  5.48703446, 20.07248142,
       -9.40887456,  6.66927505, -9.40887456, 16.37735776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013547286801180863
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07318831e-14,  4.09758441e-14,  1.00000000e+00,  1.25926485e-27,
        1.00000000e+00, -4.09758441e-14, -1.00000000e+00,  0.00000000e+00,
       -3.07318831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02823188, -0.13051984,  0.06187979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91504853e-03, 3.67194665e-03, 6.89823086e-04, 1.21604342e-05,
 -2.35757147e-05, 3.08340732e-05,-4.25969189e-05,-9.32437314e-05,
  3.27268133e-05, 7.77538943e-05,-2.60363822e-05, 8.52657152e-05,
  2.33873864e-03, 2.28205154e-03, 7.73073505e-03, 3.75546784e-03,
  5.01072956e-06, 1.78669407e-06,-1.21644069e+00, 1.58495922e-03,
  5.41024421e-04, 3.38394010e-05]


--- Step 1921 ---
qpos:
[-0.01312925, 1.32973502,-0.01898197, 0.94610865, 0.00423131, 1.33224905,
 -0.03036009, 0.94350806, 0.01691446, 1.33777787,-0.02353952, 0.95535791,
  1.35485821,-0.00438733, 1.13115096, 0.06033773,-0.00167208,-0.09789728,
  0.08156358, 0.54345826,-0.01173883,-0.00472061, 0.83934083]

qacc:
[ 2.70129911e-02, 1.17353070e+00,-5.15283777e+00, 1.14759887e+01,
 -2.69567490e-02, 1.68653145e+00,-5.97200865e+00, 8.45147664e+00,
  5.95672625e-02,-2.88374290e+00, 1.27542419e+01,-2.47677622e+01,
 -5.30633853e-01, 7.67571747e-01,-2.03724130e+00, 4.29014045e+00,
  7.64376799e-01, 1.22167744e+00,-1.10040758e+00, 5.57511831e+01,
  4.98993345e+01, 8.51656536e-01]

qfrc_actuator:
[ 5.57570730e-03, 3.79565844e-02, 1.14674772e-02, 1.71207207e-03,
 -2.42090338e-05, 3.48464050e-02, 1.09077229e-02, 1.83909483e-03,
 -2.97567018e-03, 3.48214452e-02, 1.08316987e-02, 1.77167015e-03,
  1.57558453e-04, 1.64456369e-04, 0.00000000e+00, 1.61213714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14601006, -0.09635684,  0.10970095, -0.09635684,  0.21688602,
        0.06225455,  0.10970095,  0.06225455,  0.20069192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.143540280856286e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25709167,  0.08758669, -0.96240971, -0.02260468,  0.9961569 ,
        0.08461948,  0.96612261,  0.        ,  0.25808351])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710212, -0.03856777,  0.22662848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.47924394,   6.67567695,   5.47924394,
        22.74627498, -11.58109458,   6.67567695, -11.58109458,
        18.14186289,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013258078504422843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.37393612e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.37393612e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02826988, -0.13056124,  0.06188221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89738619e-03, 3.65468470e-03, 6.32550869e-04, 3.03276710e-05,
 -7.74550531e-06,-5.42042661e-07,-2.26429283e-05, 1.39436004e-05,
  1.71666128e-05, 9.32122264e-05, 5.51971975e-05,-5.46488505e-05,
  2.35452605e-03, 2.34245879e-03, 7.59788569e-03, 3.80686943e-03,
  1.27051137e-05, 1.06788471e-05,-1.21644439e+00, 1.58876475e-03,
  5.38500083e-04, 4.32946158e-05]


--- Step 1922 ---
qpos:
[-0.01313644, 1.32972704,-0.01898378, 0.9461075 , 0.00423106, 1.33224875,
 -0.03036059, 0.94350962, 0.01691519, 1.33777888,-0.02353993, 0.95535858,
  1.35488849,-0.00439592, 1.1311772 , 0.06033132,-0.0016635 ,-0.097892  ,
  0.08156461, 0.54351586,-0.01166044,-0.00448332, 0.83930593]

qacc:
[-8.84892694e-02, 1.07774722e+00,-3.17119074e+00,-9.52493442e-01,
  5.93057268e-02, 3.58412210e-01,-2.59324683e+00, 5.38884576e+00,
 -9.39603539e-02,-2.17808634e+00, 7.47078607e+00,-6.51904569e+00,
 -3.58139599e-02, 2.73979641e-01,-3.95605452e+00, 8.22110884e+00,
 -1.26598952e+00,-1.50932516e+00, 8.81707241e-01,-7.85361285e+01,
 -6.88104032e+01,-2.53097266e+00]

qfrc_actuator:
[ 5.53010533e-03, 3.79674614e-02, 1.14204781e-02, 1.69172393e-03,
 -2.56038954e-06, 3.47713546e-02, 1.08776541e-02, 1.84824955e-03,
 -3.01293762e-03, 3.48169050e-02, 1.08738856e-02, 1.77269680e-03,
  1.44846557e-04, 1.36939110e-04, 0.00000000e+00, 1.68973715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14602685, -0.09406145,  0.11169729, -0.09406145,  0.22962453,
        0.07039847,  0.11169729,  0.07039847,  0.20531013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.226914711738446e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57100212e-01,  8.75883911e-02, -9.62407271e-01, -2.26058739e-02,
        9.96156752e-01,  8.46209236e-02,  9.66120311e-01, -3.46944695e-18,
        2.58092124e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710398, -0.03857026,  0.22662771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001352223437684985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10517594e-14,  4.10517594e-14,  1.00000000e+00,  1.68524695e-27,
        1.00000000e+00, -4.10517594e-14, -1.00000000e+00,  0.00000000e+00,
       -4.10517594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03079602, -0.06004741,  0.06187998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84859824e-03, 3.66889366e-03, 5.89546935e-04,-2.00346912e-05,
  1.70769954e-05,-7.93607436e-05,-3.23410030e-05, 8.79954038e-06,
 -2.71270877e-05, 5.61634706e-05, 6.50646920e-05, 4.12978929e-06,
  2.36539197e-03, 2.29892687e-03, 7.66552086e-03, 3.88331083e-03,
  2.30035590e-05, 2.57181974e-05,-1.21645014e+00, 1.59237963e-03,
  5.35717979e-04, 5.97384109e-05]


--- Step 1923 ---
qpos:
[-0.01314413, 1.32971866,-0.01898615, 0.94610613, 0.00423099, 1.33224819,
 -0.03036125, 0.94351056, 0.01691575, 1.33777944,-0.02354055, 0.95535835,
  1.35491882,-0.00440408, 1.13120105, 0.06032509,-0.00165946,-0.09789244,
  0.08156603, 0.54357564,-0.01155473,-0.00443712, 0.83926892]

qacc:
[-2.15528740e-01, 6.09928025e-01,-2.16101883e+00,-4.70549801e-01,
  8.01489411e-02,-1.01827594e+00, 4.17647665e+00,-1.07197172e+01,
 -7.20206264e-02,-1.60904551e+00, 6.35557004e+00,-1.56822636e+01,
 -1.33177612e-01, 4.70825089e-01,-4.03915978e+00, 9.03821120e+00,
 -1.13307424e+00,-1.43021355e+00, 9.80289850e-02,-7.27582461e+01,
 -6.33782596e+01,-2.67037211e+00]

qfrc_actuator:
[ 5.48799074e-03, 3.79773056e-02, 1.13934301e-02, 1.68017368e-03,
  1.04458864e-05, 3.47800522e-02, 1.08777289e-02, 1.81746974e-03,
 -3.01770475e-03, 3.47071129e-02, 1.08277940e-02, 1.71977836e-03,
  1.36125741e-04, 1.41428834e-04, 0.00000000e+00, 1.75659503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14604013, -0.09307975,  0.11253391, -0.09307975,  0.22277942,
        0.06347308,  0.11253391,  0.06347308,  0.19854038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.292056991115749e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25710965,  0.08759014, -0.96240459, -0.02260716,  0.9961566 ,
        0.08462239,  0.96611777,  0.        ,  0.25810164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710566, -0.03857273,  0.22662695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.93205745, -6.2767405 , -5.93205745, 13.05152652,
       -4.17270713, -6.2767405 , -4.17270713, 12.57992932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013771349974150068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03091573e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.03091573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0307675 , -0.0600935 ,  0.06187791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81692294e-03, 3.68921887e-03, 5.98202929e-04,-1.49436340e-05,
  2.30827806e-05,-4.12612219e-05,-1.88696133e-05,-3.39097489e-05,
 -2.07833489e-05,-6.59124951e-05,-2.76088449e-05,-4.92536816e-05,
  2.35333158e-03, 2.28803725e-03, 7.79620480e-03, 3.94861578e-03,
  9.38124073e-06, 6.53139171e-06,-1.21644272e+00, 1.58678690e-03,
  5.39051422e-04, 3.90364896e-05]


--- Step 1924 ---
qpos:
[-0.01315137, 1.32971182,-0.01898813, 0.9461051 , 0.00423096, 1.33224795,
 -0.03036222, 0.94351107, 0.01691634, 1.33777858,-0.02354123, 0.95535757,
  1.35494866,-0.00441324, 1.1312335 , 0.06031899,-0.00165951,-0.09789833,
  0.0815652 , 0.54363794,-0.01142402,-0.00456907, 0.83922965]

qacc:
[ 1.90940665e-01, 1.54774140e+00,-3.30097783e+00, 5.83485962e+00,
  1.23750733e-02, 5.29887744e-01,-3.25664203e-01,-4.84434912e+00,
  8.81676286e-03,-2.62313477e+00, 7.42315225e+00,-1.19138070e+01,
 -1.00921669e-01,-6.76583635e-01, 1.22630203e+01,-2.44741792e+01,
 -1.02491544e+00,-1.36254708e+00,-5.62283396e-01,-6.79541312e+01,
 -5.88886549e+01,-2.75116655e+00]

qfrc_actuator:
[ 5.53711516e-03, 3.79335434e-02, 1.14494976e-02, 1.70943281e-03,
  4.08915406e-07, 3.48389204e-02, 1.08781298e-02, 1.79900425e-03,
 -3.00293483e-03, 3.45702746e-02, 1.08005079e-02, 1.68866333e-03,
  1.40450535e-04, 1.64887608e-04, 0.00000000e+00, 1.46179768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1460499 , -0.1009184 ,  0.10557485, -0.1009184 ,  0.83991795,
        0.66326456,  0.10557485,  0.66326456,  0.78006076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.339558647697544e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57120009e-01,  8.75920014e-02, -9.62401653e-01, -2.26085536e-02,
        9.96156434e-01,  8.46239447e-02,  9.66114980e-01, -3.46944695e-18,
        2.58112080e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710716, -0.0385752 ,  0.22662619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.95723174, -6.25285269, -5.95723174, 14.19514287,
       -5.29597253, -6.25285269, -5.29597253, 13.68195438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013819817849722166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00838940e-14, -4.01677879e-14,  1.00000000e+00, -8.06725593e-28,
        1.00000000e+00,  4.01677879e-14, -1.00000000e+00,  0.00000000e+00,
       -2.00838940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03076576, -0.06010552,  0.06187751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89148405e-03, 3.66533163e-03, 6.82421781e-04, 2.55608618e-05,
  3.58582104e-06, 3.13383496e-05,-1.08101169e-05,-2.10462312e-05,
  2.49559056e-06,-1.80140663e-04,-4.47361651e-05,-3.50215744e-05,
  2.35529822e-03, 2.29057770e-03, 7.91515050e-03, 3.64498988e-03,
  1.90419040e-06,-3.49925143e-08,-1.21643953e+00, 1.58154550e-03,
  5.42000752e-04, 3.19376750e-05]


--- Step 1925 ---
qpos:
[-0.01315763, 1.32970615,-0.01898917, 0.94610477, 0.00423089, 1.3322475 ,
 -0.03036302, 0.94351207, 0.016917  , 1.33777669,-0.02354151, 0.95535637,
  1.35497838,-0.00442325, 1.13127162, 0.06031288,-0.00166331,-0.09790944,
  0.08155989, 0.54370291,-0.01127021,-0.00486843, 0.83918796]

qacc:
[ 4.15773715e-01, 2.35781638e-01,-3.42095380e-01, 7.70761307e+00,
 -1.35286572e-02, 1.15869451e-01,-1.74338095e+00, 7.34591498e+00,
  3.51489971e-02,-3.19608658e+00, 9.63726981e+00,-1.26102833e+01,
  2.34954526e-01,-9.19087883e-01, 8.41303993e+00,-1.73011904e+01,
 -9.36719796e-01,-1.30458012e+00,-1.11829088e+00,-6.39606300e+01,
 -5.51778906e+01,-2.78829927e+00]

qfrc_actuator:
[ 5.58696904e-03, 3.79090993e-02, 1.14836936e-02, 1.74495154e-03,
 -5.61721489e-06, 3.48031228e-02, 1.08789362e-02, 1.82348032e-03,
 -2.99431799e-03, 3.45603733e-02, 1.08377101e-02, 1.67063743e-03,
  1.47323351e-04, 1.29961997e-04, 0.00000000e+00, 1.34053243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14607291, -0.10191711,  0.1046432 , -0.10191711,  0.43139958,
        0.27789355,  0.1046432 ,  0.27789355,  0.41672698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.45001035898228e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25712851,  0.08759377, -0.96239922, -0.02260976,  0.99615628,
        0.08462545,  0.96611269,  0.        ,  0.25812065])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06710932, -0.0385777 ,  0.22662541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.9571793 , -6.25290266, -5.9571793 , 15.67097564,
       -6.70191865, -6.25290266, -6.70191865, 15.02132326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013707325848956453
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.04974332e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.04974332e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03078524, -0.06009054,  0.06187844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91879905e-03, 3.56402388e-03, 6.96986794e-04, 4.41538719e-05,
 -3.90845728e-06,-2.12054060e-05, 5.09175769e-06, 2.46125925e-05,
  1.00839076e-05,-1.19283346e-04,-4.08349601e-06,-2.54878850e-05,
  2.38656082e-03, 2.30545676e-03, 7.48497595e-03, 3.51672033e-03,
 -6.09941872e-07, 3.50095044e-06,-1.21643971e+00, 1.57649010e-03,
  5.44721978e-04, 3.56850317e-05]


--- Step 1926 ---
qpos:
[-0.01316398, 1.32969889,-0.01899049, 0.94610483, 0.00423092, 1.33224669,
 -0.03036397, 0.94351269, 0.01691761, 1.33777399,-0.02354058, 0.9553542 ,
  1.35500825,-0.00443227, 1.13130122, 0.0603067 ,-0.00167056,-0.09792557,
  0.08154825, 0.54377059,-0.01109486,-0.0053263 , 0.83914366]

qacc:
[-3.49139007e-02,-6.51509523e-01,-1.20581104e+00, 6.61941196e+00,
  4.12475061e-02,-6.99328762e-01, 2.50956063e+00,-6.33999263e+00,
 -2.38108007e-02,-6.00407040e+00, 2.02206966e+01,-2.80945765e+01,
 -1.69069922e-01, 9.27835612e-01,-1.23337730e+01, 2.49158645e+01,
 -8.64582380e-01,-1.25479187e+00,-1.58613874e+00,-6.06444468e+01,
 -5.21134032e+01,-2.79279201e+00]

qfrc_actuator:
[ 5.58329191e-03, 3.79315020e-02, 1.14153039e-02, 1.74821969e-03,
  8.56542319e-06, 3.47642088e-02, 1.08618934e-02, 1.80196599e-03,
 -3.00721596e-03, 3.45558100e-02, 1.09131555e-02, 1.62505383e-03,
  1.39731777e-04, 1.31283125e-04, 0.00000000e+00, 1.66078644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14610572, -0.09368725,  0.11211414, -0.09368725,  0.17041495,
        0.02031381,  0.11211414,  0.02031381,  0.16308079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.60425749267439e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57134968e-01,  8.75953091e-02, -9.62397356e-01, -2.26107294e-02,
        9.96156143e-01,  8.46267871e-02,  9.66110948e-01,  3.46944695e-18,
        2.58127172e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711189, -0.03858023,  0.22662461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.90586184, -6.30139451, -5.90586184, 17.73222046,
       -8.52491836, -6.30139451, -8.52491836, 16.6261808 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013467056475400668
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21349278e-14,  6.18299381e-14,  1.00000000e+00, -4.46009812e-27,
        1.00000000e+00, -6.18299381e-14, -1.00000000e+00,  0.00000000e+00,
        7.21349278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03082143, -0.06005433,  0.06188042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86606027e-03, 3.52785900e-03, 5.81849390e-04, 1.22110124e-05,
  1.18748975e-05,-4.89031574e-05,-1.98869903e-05,-2.14324463e-05,
 -6.94852482e-06,-7.20650336e-05, 5.09426311e-05,-4.98335885e-05,
  2.38478036e-03, 2.35010963e-03, 7.20016613e-03, 3.83769394e-03,
  9.71822146e-07, 1.53135236e-05,-1.21644263e+00, 1.57151719e-03,
  5.47318306e-04, 4.82785064e-05]


--- Step 1927 ---
qpos:
[-0.01317063, 1.32969187,-0.01899283, 0.94610447, 0.00423123, 1.33224611,
 -0.03036594, 0.94351339, 0.01691797, 1.33777108,-0.02353875, 0.95535285,
  1.35503747,-0.00444138, 1.13133236, 0.06030036,-0.00167298,-0.09793583,
  0.08154409, 0.5438364 ,-0.01095317,-0.00558522, 0.83910119]

qacc:
[ -0.13124213,  2.31393562, -6.29379342,  0.39257202,  0.11507599,
   3.16666795,-10.15501269,  9.58923227, -0.10322773, -1.26270957,
   2.15916248,  7.62888098, -0.52590957,  0.43539895,  2.7626436 ,
  -6.30202596,  1.2092786 ,  1.46699411,  1.87162027, 74.31799894,
  68.20470166,  2.4756794 ]

qfrc_actuator:
[ 5.56592018e-03, 3.79133012e-02, 1.13927198e-02, 1.73216428e-03,
  3.47567608e-05, 3.47946473e-02, 1.08166324e-02, 1.80678732e-03,
 -3.03291636e-03, 3.45901472e-02, 1.09750729e-02, 1.67015711e-03,
  1.28767865e-04, 1.88344656e-04, 0.00000000e+00, 1.53590940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14612563, -0.09885061,  0.10761624, -0.09885061,  0.33318704,
        0.17182476,  0.10761624,  0.17182476,  0.30395481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.696107161566558e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25714324,  0.08759685, -0.962395  , -0.02261186,  0.99615601,
        0.08462808,  0.96610872,  0.        ,  0.25813551])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711382, -0.03858269,  0.22662385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013516797996103377
  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([-0.02826895, -0.13049481,  0.06187995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85282249e-03, 3.58949614e-03, 5.73274065e-04,-2.36387059e-05,
  3.31985963e-05,-1.14146462e-06,-5.77166283e-05, 2.26910077e-06,
 -2.98071900e-05, 2.97321587e-06, 5.21745336e-05, 4.32940903e-05,
  2.36643213e-03, 2.35756659e-03, 7.62551957e-03, 3.71635715e-03,
  6.01445454e-06, 3.40815091e-05,-1.21644781e+00, 1.56656315e-03,
  5.49857124e-04, 6.82693366e-05]


--- Step 1928 ---
qpos:
[-0.01317759, 1.32968522,-0.01899501, 0.94610419, 0.00423167, 1.33224559,
 -0.03036824, 0.9435155 , 0.01691806, 1.33776857,-0.02353611, 0.9553513 ,
  1.35506591,-0.00445062, 1.13136606, 0.06029404,-0.0016711 ,-0.09794052,
  0.08154397, 0.54390114,-0.01084194,-0.00566029, 0.83906017]

qacc:
[-1.30785341e-01, 2.07215567e-01,-2.65576381e-01, 9.46808642e-01,
  5.98788592e-02, 3.39047229e+00,-1.38477921e+01, 2.83183850e+01,
 -1.14428194e-01,-2.01692150e+00, 7.58222659e+00,-9.00985159e+00,
 -6.57025910e-01, 5.31403881e-01, 3.74720474e+00,-7.50834470e+00,
  1.07595449e+00, 1.39150561e+00, 1.01030715e+00, 6.88466076e+01,
  6.27587550e+01, 1.93713148e+00]

qfrc_actuator:
[ 5.55834415e-03, 3.79227935e-02, 1.14162151e-02, 1.74068558e-03,
  3.24343904e-05, 3.48130173e-02, 1.08086289e-02, 1.88036249e-03,
 -3.04833557e-03, 3.46475395e-02, 1.10287137e-02, 1.66176692e-03,
  1.21171903e-04, 2.26277382e-04, 0.00000000e+00, 1.46361241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14614775, -0.10097767,  0.10565356, -0.10097767,  0.32099615,
        0.16711015,  0.10565356,  0.16711015,  0.30586213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.796661318992508e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25715226,  0.08759846, -0.96239245, -0.02261307,  0.99615587,
        0.08462943,  0.96610629,  0.        ,  0.2581446 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711589, -0.03858511,  0.22662308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.73861806,  6.45407155,  5.73861806, 13.58689381,
       -4.40174883,  6.45407155, -4.40174883, 12.5501652 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013775816135826596
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.02960889e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.02960889e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02824337, -0.13045065,  0.06187777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86072017e-03, 3.58677606e-03, 6.47355006e-04, 6.27947586e-06,
  1.72724407e-05, 6.52452933e-06,-1.47245191e-05, 7.18981789e-05,
 -3.30218177e-05, 7.05219748e-05, 6.14165657e-05,-5.77123090e-06,
  2.39082741e-03, 2.40007653e-03, 7.54837381e-03, 3.65169779e-03,
  4.74568873e-07, 1.17160617e-05,-1.21644158e+00, 1.57312367e-03,
  5.47561363e-04, 4.26995763e-05]


--- Step 1929 ---
qpos:
[-0.01318505, 1.32967727,-0.0189968 , 0.94610415, 0.00423204, 1.33224528,
 -0.0303704 , 0.9435181 , 0.01691778, 1.3377666 ,-0.02353254, 0.95534827,
  1.35509439,-0.00445899, 1.13139385, 0.06028795,-0.00166534,-0.09793991,
  0.08154499, 0.54396536,-0.01075855,-0.00556405, 0.83902025]

qacc:
[-2.08855202e-01,-2.34349373e+00, 5.11758297e+00,-9.06744655e-01,
 -3.19985746e-02, 7.18596489e-01,-3.00839474e+00, 8.07286826e+00,
 -1.60707719e-01,-4.36384617e+00, 1.80817505e+01,-3.31709925e+01,
 -2.67336101e-01, 9.45649634e-01,-9.36609391e+00, 2.01515251e+01,
  9.67934867e-01, 1.32696526e+00, 2.85787463e-01, 6.43016111e+01,
  5.82628992e+01, 1.52294459e+00]

qfrc_actuator:
[ 5.53901598e-03, 3.79486854e-02, 1.14133408e-02, 1.74586194e-03,
  1.30254856e-05, 3.48419549e-02, 1.08226968e-02, 1.90506479e-03,
 -3.07521468e-03, 3.46827436e-02, 1.10771047e-02, 1.58645389e-03,
  1.20959491e-04, 2.17306024e-04, 0.00000000e+00, 1.68903286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14617433, -0.09498505,  0.11110704, -0.09498505,  0.18414509,
        0.03246108,  0.11110704,  0.03246108,  0.1739252 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.915507186195172e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25716077,  0.08760016, -0.96239002, -0.02261426,  0.99615572,
        0.08463087,  0.966104  ,  0.        ,  0.25815319])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711816, -0.0385875 ,  0.2266223 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.77554256,  6.42105015,  5.77554256, 14.76099204,
       -5.50892007,  6.42105015, -5.50892007, 13.59147247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013833590290197317
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.01277977e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.01277977e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02824137, -0.13043789,  0.06187729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85683101e-03, 3.59454349e-03, 6.36870564e-04, 7.37143788e-06,
 -9.21420737e-06, 3.18382681e-05, 1.57832717e-05, 2.61324070e-05,
 -4.63770934e-05, 8.60349933e-05, 6.89708147e-05,-7.15639363e-05,
  2.43034312e-03, 2.39786474e-03, 7.41950646e-03, 3.87563748e-03,
 -1.54182374e-07, 1.46676937e-06,-1.21643923e+00, 1.57880860e-03,
  5.45107819e-04, 3.07426233e-05]


--- Step 1930 ---
qpos:
[-0.01319308, 1.32966783,-0.01899798, 0.94610349, 0.00423227, 1.33224503,
 -0.03037254, 0.94351961, 0.01691728, 1.33776605,-0.0235305 , 0.9553451 ,
  1.35512297,-0.00446679, 1.13141697, 0.06028247,-0.00165607,-0.09793421,
  0.08154472, 0.54402944,-0.01070087,-0.00530687, 0.83898111]

qacc:
[-2.44598751e-01,-4.67730519e+00, 1.41555161e+01,-1.85895645e+01,
 -5.96392616e-02,-1.83973643e+00, 8.33705219e+00,-1.98742527e+01,
 -8.84947414e-02, 5.76049611e+00,-1.62566663e+01, 1.16304778e+01,
 -5.51006379e-02, 4.76784898e-01,-8.72430950e+00, 2.05247020e+01,
  8.80300200e-01, 1.27185712e+00,-3.23130688e-01, 6.05279887e+01,
  5.45510336e+01, 1.20637325e+00]

qfrc_actuator:
[ 5.53069729e-03, 3.79326688e-02, 1.14476020e-02, 1.71333634e-03,
  1.27776000e-06, 3.48238115e-02, 1.08141652e-02, 1.84754894e-03,
 -3.07324687e-03, 3.47575870e-02, 1.09976389e-02, 1.57887796e-03,
  1.19803826e-04, 2.32502057e-04, 0.00000000e+00, 1.82658796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14619155, -0.09385555,  0.11208526, -0.09385555,  0.19627267,
        0.04193586,  0.11208526,  0.04193586,  0.1813069 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.991423259306365e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25717016,  0.08760198, -0.96238735, -0.02261556,  0.99615556,
        0.0846324 ,  0.96610147,  0.        ,  0.25816265])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711998, -0.03858985,  0.22662154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.80445167,  6.39492906,  5.80445167, 16.20877066,
       -6.87320691,  6.39492906, -6.87320691, 14.87493126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013730057926551603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04303839e-14,  4.04303839e-14,  1.00000000e+00,  1.63461594e-27,
        1.00000000e+00, -4.04303839e-14, -1.00000000e+00,  0.00000000e+00,
       -4.04303839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0282581 , -0.13045001,  0.06187816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87318527e-03, 3.64316822e-03, 6.51534053e-04,-3.70976331e-05,
 -1.71851897e-05, 3.35088976e-06, 2.65825935e-07,-5.54895608e-05,
 -2.54150565e-05, 1.33772151e-04,-5.69267569e-05,-4.67782649e-06,
  2.42655405e-03, 2.36976348e-03, 7.71437923e-03, 4.00195755e-03,
  3.20484390e-06, 9.02067556e-07,-1.21644000e+00, 1.58389895e-03,
  5.42452409e-04, 2.96943128e-05]


--- Step 1931 ---
qpos:
[-0.01320134, 1.32965879,-0.01899874, 0.94610159, 0.00423221, 1.33224442,
 -0.03037457, 0.94352045, 0.01691726, 1.33776663,-0.02353062, 0.95534365,
  1.35515103,-0.00447516, 1.13144364, 0.06027749,-0.00165426,-0.09792373,
  0.08153974, 0.54408242,-0.01085036,-0.00506721, 0.83894631]

qacc:
[ -0.0960319 , -2.78213848, 12.23877307,-25.23734224, -0.12125607,
  -1.91641674,  7.03567829,-13.59116501,  0.19895145, 10.27770628,
 -35.17613402, 49.60488631, -0.15274632, -0.33794077,  3.7357719 ,
  -5.45112025, -1.86808227,  1.19487244, -1.17748429,-63.75816273,
  82.08795542,  6.29207181]

qfrc_actuator:
[ 5.54701881e-03, 3.79277323e-02, 1.15037755e-02, 1.65895206e-03,
 -2.35303644e-05, 3.47774816e-02, 1.08098862e-02, 1.81308824e-03,
 -3.00073270e-03, 3.47841077e-02, 1.08790502e-02, 1.66444592e-03,
  1.12750584e-04, 2.62153390e-04, 0.00000000e+00, 1.69791580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14620075, -0.09893181,  0.10764365, -0.09893181,  0.43299529,
        0.26358362,  0.10764365,  0.26358362,  0.38845196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.03164370061786e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2571804 ,  0.08760393, -0.96238443, -0.02261697,  0.99615539,
        0.08463405,  0.96609871,  0.        ,  0.25817297])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06712149, -0.03859218,  0.22662077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.25801578,   2.52823103,   8.25801578,
        14.05763436, -17.70761397,   2.52823103, -17.70761397,
        66.47512666,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013717927895141868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.09322686e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.09322686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288634, -0.10916912,  0.06187825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91840763e-03, 3.71304835e-03, 6.77503010e-04,-6.05304718e-05,
 -3.49509958e-05,-4.60871527e-05,-5.21552050e-06,-3.56396388e-05,
  5.75117537e-05, 8.92351893e-05,-9.90777101e-05, 8.77527547e-05,
  2.41467001e-03, 2.37124019e-03, 7.94733174e-03, 3.84269647e-03,
  9.87375587e-06, 8.24925516e-06,-1.21644334e+00, 1.58858406e-03,
  5.39571524e-04, 3.75867530e-05]


--- Step 1932 ---
qpos:
[-0.01320954, 1.32965097,-0.01899967, 0.94609935, 0.00423186, 1.33224378,
 -0.03037594, 0.9435215 , 0.01691787, 1.33776721,-0.02353122, 0.95534394,
  1.35517829,-0.0044841 , 1.13147556, 0.06027248,-0.00165943,-0.09790899,
  0.0815278 , 0.54412558,-0.01119402,-0.00484343, 0.83891513]

qacc:
[ 2.57106880e-02, 1.49045722e+00,-2.26019716e+00,-2.65215682e+00,
 -1.22519405e-01,-1.42975866e+00, 4.19402779e+00,-1.17472946e+00,
  2.67577706e-01, 4.30208025e+00,-1.75338660e+01, 3.52631345e+01,
 -4.82861888e-01, 4.99267256e-03, 7.83721195e+00,-1.61054012e+01,
 -1.74279521e+00, 1.06563319e+00,-1.74101770e+00,-5.95186227e+01,
  7.70858404e+01, 5.51250369e+00]

qfrc_actuator:
[ 5.56025192e-03, 3.79281395e-02, 1.15020173e-02, 1.64557566e-03,
 -3.82201956e-05, 3.48211628e-02, 1.08613225e-02, 1.82797966e-03,
 -2.95749715e-03, 3.47458494e-02, 1.08447425e-02, 1.75084061e-03,
  1.02210780e-04, 2.83628937e-04, 0.00000000e+00, 1.55139645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14621605, -0.10219314,  0.10457387, -0.10219314,  0.6645761 ,
        0.50655906,  0.10457387,  0.50655906,  0.64124278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.097999152870516e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57189826e-01,  8.76059528e-02, -9.62381728e-01, -2.26183225e-02,
        9.96155207e-01,  8.46357753e-02,  9.66096167e-01, -6.93889390e-18,
        2.58182484e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06712328, -0.03859447,  0.22662   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.6346049 ,  0.17428468, -8.6346049 ,  8.6382227 ,
        0.09210386,  0.17428468,  0.09210386, 13.19947509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013705573788866665
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.10052203e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.10052203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288854, -0.10917747,  0.06187833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94298843e-03, 3.69314796e-03, 6.54204940e-04,-1.20843355e-05,
 -3.53204100e-05, 1.61006172e-05, 4.07860381e-05, 1.25240147e-05,
  7.71995833e-05,-5.66582530e-06,-2.55762473e-05, 8.81794919e-05,
  2.43011037e-03, 2.42109041e-03, 7.76941578e-03, 3.67117470e-03,
  1.60922804e-06, 9.92481186e-06,-1.21644607e+00, 1.59443983e-03,
  5.42291618e-04, 4.08970719e-05]


--- Step 1933 ---
qpos:
[-0.0132169 , 1.3296434 ,-0.01900032, 0.94609911, 0.00423127, 1.33224387,
 -0.03037699, 0.94352198, 0.01691862, 1.3377674 ,-0.02353077, 0.95534211,
  1.35520551,-0.00449262, 1.13150717, 0.06026721,-0.00166918,-0.09790038,
  0.08151717, 0.54417147,-0.01151047,-0.0048146 , 0.83888125]

qacc:
[ 3.56213352e-01, 3.04755391e+00,-1.36039260e+01, 3.47403325e+01,
 -1.01903587e-01,-9.11202252e-01, 5.30762429e+00,-1.17077151e+01,
  6.14282173e-02,-7.00937209e+00, 2.65095795e+01,-4.71828253e+01,
 -3.42051661e-01, 7.24808301e-01, 3.93193213e-01,-1.95323557e+00,
 -1.14469502e+00,-1.53369946e+00, 3.28297272e-01,-7.43679727e+01,
 -6.44333797e+01,-3.03463731e+00]

qfrc_actuator:
[ 5.62469282e-03, 3.79485355e-02, 1.15014403e-02, 1.74515983e-03,
 -4.67214203e-05, 3.49008994e-02, 1.08923427e-02, 1.80086145e-03,
 -2.98543637e-03, 3.47226643e-02, 1.08956978e-02, 1.64174311e-03,
  1.00274583e-04, 2.64930335e-04, 0.00000000e+00, 1.58976955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14624078, -0.09879862,  0.10782021, -0.09879862,  0.21371948,
        0.06183259,  0.10782021,  0.06183259,  0.20289968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.203915516080031e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25719825,  0.08760797, -0.96237929, -0.02261959,  0.99615503,
        0.08463752,  0.96609389,  0.        ,  0.25819099])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06712548, -0.03859674,  0.22661921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013819470027194858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01687989e-14,  4.01687989e-14,  1.00000000e+00,  1.61353240e-27,
        1.00000000e+00, -4.01687989e-14, -1.00000000e+00,  0.00000000e+00,
       -4.01687989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0308082 , -0.06014658,  0.06187731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00438644e-03, 3.65288057e-03, 6.62445268e-04, 1.04221984e-04,
 -2.93478566e-05, 9.70051146e-05, 3.91826304e-05,-2.51488143e-05,
  1.76466699e-05,-2.87012427e-05, 4.95226659e-05,-1.07960982e-04,
  2.46816985e-03, 2.43134196e-03, 7.50657917e-03, 3.71057167e-03,
 -2.37178382e-06, 9.36459786e-06,-1.21645175e+00, 1.59855729e-03,
  5.44299078e-04, 3.25622862e-05]


--- Step 1934 ---
qpos:
[-0.01322358, 1.32963663,-0.01900053, 0.9461    , 0.00423065, 1.33224482,
 -0.03037804, 0.94352248, 0.01691917, 1.33776705,-0.02352953, 0.95533764,
  1.35523268,-0.00450117, 1.13153979, 0.06026174,-0.00168306,-0.09789755,
  0.08150506, 0.5442203 ,-0.01180208,-0.00496711, 0.83884462]

qacc:
[ 2.86637425e-01, 1.81454001e+00,-6.95457153e+00, 1.86989497e+01,
 -1.49820257e-02, 1.18652816e+00,-2.53714635e+00, 1.89769968e+00,
 -8.46649087e-02,-7.38939413e+00, 2.85474999e+01,-5.48888869e+01,
 -6.63912941e-02, 4.92311345e-02, 2.07539234e+00,-5.09717296e+00,
 -1.03387464e+00,-1.44415524e+00,-3.71572039e-01,-6.92908816e+01,
 -5.97345844e+01,-3.08916550e+00]

qfrc_actuator:
[ 5.64804354e-03, 3.79991619e-02, 1.15366990e-02, 1.80381288e-03,
 -3.36899459e-05, 3.49482686e-02, 1.08934226e-02, 1.80249464e-03,
 -3.02034037e-03, 3.46734021e-02, 1.09254575e-02, 1.50727893e-03,
  1.03461348e-04, 2.74613187e-04, 0.00000000e+00, 1.54405292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14626581, -0.09995611,  0.10678232, -0.09995611,  0.27007831,
        0.11589761,  0.10678232,  0.11589761,  0.2547545 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.309562775503764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25720618,  0.08760977, -0.96237701, -0.02262076,  0.99615487,
        0.08463908,  0.96609176,  0.        ,  0.25819899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06712763, -0.03859904,  0.22661844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.97280315, -7.06102016, -4.97280315, 17.87679344,
       -6.50767699, -7.06102016, -6.50767699, 13.21946861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001391033782616305
  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([ 0.03079906, -0.06016545,  0.06187649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98569766e-03, 3.69134834e-03, 6.84088614e-04, 6.33215218e-05,
 -4.28693176e-06, 1.07941267e-04, 2.37800161e-05, 5.11577161e-06,
 -2.44840928e-05,-5.86630848e-05, 2.66207296e-05,-1.36380029e-04,
  2.47354925e-03, 2.41986434e-03, 7.52106474e-03, 3.67810617e-03,
  3.07916019e-06,-5.46923722e-07,-1.21644793e+00, 1.59462063e-03,
  5.46791768e-04, 2.03894155e-05]


--- Step 1935 ---
qpos:
[-0.01323091, 1.32962999,-0.01900045, 0.94610028, 0.00423007, 1.33224619,
 -0.03037832, 0.94352334, 0.01691958, 1.3377662 ,-0.02352923, 0.95533512,
  1.35525925,-0.0045096 , 1.1315713 , 0.06025635,-0.00170071,-0.09790019,
  0.08148909, 0.54427219,-0.01207079,-0.00528964, 0.83880516]

qacc:
[-2.72874056e-01,-1.68260695e+00, 6.95101873e+00,-1.32802905e+01,
  1.93621998e-02,-9.15439771e-01, 2.89976205e+00, 1.41212148e+00,
 -6.16638993e-02, 5.24687668e+00,-2.18383983e+01, 4.18491417e+01,
 -4.99485654e-01, 5.53841738e-01,-1.83108232e+00, 4.11290498e+00,
 -9.43152933e-01,-1.36845284e+00,-9.61195532e-01,-6.50691943e+01,
 -5.58425735e+01,-3.11010189e+00]

qfrc_actuator:
[ 5.59331016e-03, 3.80140108e-02, 1.15399144e-02, 1.76695565e-03,
 -2.56006274e-05, 3.49580336e-02, 1.09299977e-02, 1.82101400e-03,
 -3.02363075e-03, 3.46265623e-02, 1.08713403e-02, 1.60750395e-03,
  1.04397376e-04, 3.37126864e-04, 0.00000000e+00, 1.58993826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14629415, -0.10058951,  0.1062249 , -0.10058951,  0.29169686,
        0.13768887,  0.1062249 ,  0.13768887,  0.27667841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.42731653279316e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57212904e-01,  8.76114186e-02, -9.62375063e-01, -2.26217743e-02,
        9.96154727e-01,  8.46405104e-02,  9.66089943e-01,  3.46944695e-18,
        2.58205775e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06712983, -0.03860135,  0.22661768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -4.91885335, -7.09870823, -4.91885335, 19.99716037,
       -7.87214958, -7.09870823, -7.87214958, 14.09115176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013829095640530004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01408398e-14,  4.01408398e-14,  1.00000000e+00, -1.61128702e-27,
        1.00000000e+00, -4.01408398e-14, -1.00000000e+00,  0.00000000e+00,
        4.01408398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03081292, -0.06015568,  0.06187711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89713669e-03, 3.66603062e-03, 6.64796036e-04,-3.03226492e-05,
  5.56288248e-06, 7.42786052e-05, 6.05483746e-05, 2.25818367e-05,
 -1.77493835e-05,-7.81253667e-05,-6.65449922e-05, 9.60871125e-05,
  2.47649347e-03, 2.48459889e-03, 7.47026622e-03, 3.73362454e-03,
  1.28223668e-05, 2.42415047e-07,-1.21644767e+00, 1.59081821e-03,
  5.49137430e-04, 1.98480909e-05]


--- Step 1936 ---
qpos:
[-0.01323859, 1.32962319,-0.01900052, 0.94610016, 0.00422942, 1.33224783,
 -0.0303783 , 0.94352411, 0.01692003, 1.33776575,-0.02353037, 0.95533619,
  1.35528561,-0.0045177 , 1.13160055, 0.06025095,-0.00171387,-0.09789682,
  0.08148073, 0.54432308,-0.01237228,-0.00541327, 0.83876696]

qacc:
[-1.51115719e-01,-4.69096616e-01, 2.08483947e+00,-6.26930574e+00,
 -3.26505051e-02,-6.19947097e-01, 2.63368369e+00,-3.51876385e+00,
  1.77667912e-02, 1.06011067e+01,-4.11522974e+01, 7.67415379e+01,
 -2.83011269e-01, 5.21308155e-01,-3.27159215e+00, 6.65623873e+00,
  1.12230164e+00, 1.50167721e+00, 1.89896874e+00, 7.44954934e+01,
  6.78648278e+01, 2.04718309e+00]

qfrc_actuator:
[ 5.59929231e-03, 3.80254983e-02, 1.15238855e-02, 1.74510090e-03,
 -3.82959008e-05, 3.49453438e-02, 1.09338405e-02, 1.81381148e-03,
 -3.00792795e-03, 3.47056112e-02, 1.08215542e-02, 1.79173542e-03,
  1.04034752e-04, 3.42423900e-04, 0.00000000e+00, 1.65508462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14632182, -0.09900996,  0.10773627, -0.09900996,  0.25917768,
        0.10371487,  0.10773627,  0.10371487,  0.2416361 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.540471378427588e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57219217e-01,  8.76132323e-02, -9.62373210e-01, -2.26228015e-02,
        9.96154567e-01,  8.46421132e-02,  9.66088238e-01, -3.46944695e-18,
        2.58212154e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06713194, -0.03860359,  0.22661695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014177660947577164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46827335e-14,  3.91539560e-14,  1.00000000e+00, -5.74887100e-28,
        1.00000000e+00, -3.91539560e-14, -1.00000000e+00,  0.00000000e+00,
        1.46827335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02822179, -0.13035491,  0.06187412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93533383e-03, 3.67106424e-03, 6.34348476e-04,-2.13483739e-05,
 -9.40941939e-06, 4.09169397e-05, 2.59263014e-05,-2.66709507e-06,
  5.21875188e-06, 2.56989804e-05,-6.97962018e-05, 1.82203261e-04,
  2.50608565e-03, 2.48370116e-03, 7.52485560e-03, 3.79475802e-03,
  2.60789653e-05, 9.73638213e-06,-1.21645028e+00, 1.58704448e-03,
  5.51424838e-04, 2.87360156e-05]


--- Step 1937 ---
qpos:
[-0.01324568, 1.3296173 ,-0.01900075, 0.94610004, 0.00422851, 1.3322494 ,
 -0.03037754, 0.94352653, 0.01692043, 1.33776556,-0.02353149, 0.95533767,
  1.35531218,-0.00452617, 1.13163156, 0.06024536,-0.00172301,-0.09788779,
  0.08147647, 0.54437347,-0.01270364,-0.00535318, 0.83872969]

qacc:
[ 2.51732916e-01, 1.57038973e+00,-3.67064261e+00, 2.51848085e+00,
 -1.06190558e-01, 7.35403110e-01,-5.89071420e+00, 2.42108645e+01,
 -1.89524984e-02, 1.01489913e+00,-3.70144870e+00, 7.72423348e+00,
  3.18978575e-01,-5.99467106e-01, 3.09288187e+00,-7.13059675e+00,
  1.00667058e+00, 1.41717808e+00, 1.02582890e+00, 6.89200979e+01,
  6.25216584e+01, 1.67989925e+00]

qfrc_actuator:
[ 5.64167393e-03, 3.80529543e-02, 1.15321429e-02, 1.75002337e-03,
 -6.33574620e-05, 3.49369159e-02, 1.09714624e-02, 1.89800012e-03,
 -3.01646441e-03, 3.47352332e-02, 1.08285104e-02, 1.81093164e-03,
  9.75537822e-05, 2.95391276e-04, 0.00000000e+00, 1.57207232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14634626, -0.10000386,  0.10684781, -0.10000386,  0.39182113,
        0.22975142,  0.10684781,  0.22975142,  0.36138136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.638975672198678e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57225828e-01,  8.76151344e-02, -9.62371270e-01, -2.26238779e-02,
        9.96154400e-01,  8.46437944e-02,  9.66086452e-01, -3.46944695e-18,
        2.58218834e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06713389, -0.03860581,  0.22661624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.17149443,  6.04147609,  6.17149443, 16.17788984,
       -7.70382705,  6.04147609, -7.70382705, 16.50598439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014401720093748377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.15634419e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.15634419e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02819851, -0.13031654,  0.06187222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99555422e-03, 3.70630157e-03, 6.50341443e-04, 3.22205998e-06,
 -3.06138207e-05, 1.91881467e-05, 4.84976849e-05, 8.61208988e-05,
 -5.45490024e-06, 3.56051829e-05, 9.37717000e-06, 2.21555045e-05,
  2.51013475e-03, 2.42066650e-03, 7.63704701e-03, 3.71221728e-03,
  1.12936646e-05,-5.41974694e-07,-1.21644785e+00, 1.59264361e-03,
  5.48797450e-04, 2.02537837e-05]


--- Step 1938 ---
qpos:
[-0.01325203, 1.32961219,-0.01900138, 0.94610034, 0.00422734, 1.33225107,
 -0.03037547, 0.94352954, 0.01692077, 1.33776564,-0.02353219, 0.95533796,
  1.35533897,-0.00453489, 1.13166388, 0.06023942,-0.00172646,-0.09788274,
  0.08148089, 0.54442172,-0.01285979,-0.00528386, 0.83869643]

qacc:
[ 3.11839364e-01, 2.87801992e+00,-9.03240232e+00, 1.23586779e+01,
 -1.12982547e-01,-2.38010952e+00, 6.70887268e+00, 1.04449879e+00,
 -2.93383013e-02,-2.84558490e+00, 1.20871426e+01,-2.42913037e+01,
  2.73272342e-01,-4.60019473e-01, 3.00996343e+00,-7.74549316e+00,
  1.42205944e+00,-9.95274330e-01, 2.17145018e+00, 5.15610845e+01,
 -7.09966430e+01, 1.57824889e+00]

qfrc_actuator:
[ 5.66958154e-03, 3.80534889e-02, 1.15017695e-02, 1.77078698e-03,
 -7.78815499e-05, 3.49667800e-02, 1.10465509e-02, 1.92881002e-03,
 -3.02172147e-03, 3.47529198e-02, 1.08508787e-02, 1.75060405e-03,
  9.80237501e-05, 2.70777410e-04, 0.00000000e+00, 1.52460495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14637511, -0.1000236 ,  0.10686885, -0.1000236 ,  0.3534117 ,
        0.19377532,  0.10686885,  0.19377532,  0.32773856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.753607071292121e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25723171,  0.08761689, -0.96236954, -0.02262485,  0.99615425,
        0.08464535,  0.96608486,  0.        ,  0.25822478])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06713595, -0.03860804,  0.22661553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  0.37506271,  8.62821562,  0.37506271, 94.6435142 ,
       -3.73867277,  8.62821562, -3.73867277,  8.79888122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014543526970236809
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81689747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.81689747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0325021 , -0.08871509,  0.06187102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99374518e-03, 3.66165921e-03, 6.27373016e-04, 2.45115186e-05,
 -3.25929177e-05, 5.25465256e-05, 8.68875969e-05, 3.48121945e-05,
 -8.47742433e-06, 3.98674802e-05, 3.10385730e-05,-5.84829187e-05,
  2.50044946e-03, 2.41447404e-03, 7.54907120e-03, 3.67356417e-03,
  2.19655234e-06, 3.45352826e-07,-1.21644906e+00, 1.59770967e-03,
  5.45959958e-04, 2.42179992e-05]


--- Step 1939 ---
qpos:
[-0.01325824, 1.32960681,-0.01900206, 0.94610096, 0.00422609, 1.33225313,
 -0.03037337, 0.94353225, 0.01692089, 1.33776648,-0.02353372, 0.95533859,
  1.35536565,-0.00454344, 1.13169492, 0.06023336,-0.00172457,-0.0978813 ,
  0.08149071, 0.54446819,-0.01285272,-0.00520617, 0.83866686]

qacc:
[ 5.98407325e-02, 3.57053586e-01,-2.24099656e+00, 5.83923176e+00,
 -3.32478360e-02,-9.01937664e-02, 1.51600941e+00,-5.04766193e+00,
 -9.03747464e-02, 3.80445886e+00,-1.18836614e+01, 1.36834714e+01,
 -1.62355272e-01, 3.02025228e-01,-1.49832897e+00, 2.51782655e+00,
  1.33567309e+00,-9.02701028e-01, 1.34923826e+00, 4.79342529e+01,
 -6.61997466e+01, 1.37732747e+00]

qfrc_actuator:
[ 5.67067239e-03, 3.80376359e-02, 1.14840444e-02, 1.78286751e-03,
 -6.82139164e-05, 3.49662106e-02, 1.10367302e-02, 1.91022800e-03,
 -3.04272088e-03, 3.47988417e-02, 1.08110634e-02, 1.76825853e-03,
  9.73289356e-05, 2.95159767e-04, 0.00000000e+00, 1.56972611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14640741, -0.09935542,  0.10753432, -0.09935542,  0.25570897,
        0.10098824,  0.10753432,  0.10098824,  0.23971464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.879968911881502e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57237239e-01,  8.76184638e-02, -9.62367917e-01, -2.26257480e-02,
        9.96154107e-01,  8.46467408e-02,  9.66083370e-01,  3.46944695e-18,
        2.58230366e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06713808, -0.0386103 ,  0.22661484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.64388263, -4.01968099,  7.64388263, 16.31988725,
       14.61109797, -4.01968099, 14.61109797, 36.42103569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014588590990264327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.80510711e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.80510711e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03249485, -0.08871345,  0.06187067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95802082e-03, 3.60697226e-03, 6.30176156e-04, 1.51488216e-05,
 -9.56799435e-06, 4.65324301e-05, 1.13673114e-05,-1.36374714e-05,
 -2.60038410e-05, 7.22977311e-05,-3.02127356e-05, 1.83814565e-05,
  2.48833449e-03, 2.45197925e-03, 7.48240608e-03, 3.73647140e-03,
  4.02554144e-07, 1.38479187e-06,-1.21644310e+00, 1.59152144e-03,
  5.43621873e-04, 3.61155374e-05]


--- Step 1940 ---
qpos:
[-0.01326453, 1.32960175,-0.01900215, 0.94610025, 0.00422528, 1.33225502,
 -0.0303714 , 0.94353408, 0.01692064, 1.33776737,-0.0235357 , 0.95533843,
  1.35539194,-0.00455274, 1.13172883, 0.06022752,-0.00171762,-0.09788317,
  0.08150318, 0.54451312,-0.01269234,-0.00512084, 0.83864065]

qacc:
[-3.21461385e-02,-3.51881046e+00, 1.46861994e+01,-2.83670884e+01,
  1.87329997e-01,-1.37064051e+00, 6.02546317e+00,-1.52958412e+01,
 -1.58255994e-01,-4.98466954e-02, 1.82903251e+00,-1.06827168e+01,
  1.09493066e-01,-7.82514531e-01, 3.54027108e+00,-6.26726021e+00,
  1.26386988e+00,-8.28023559e-01, 6.60396038e-01, 4.49401808e+01,
 -6.22280096e+01, 1.21012546e+00]

qfrc_actuator:
[ 5.65597376e-03, 3.80126834e-02, 1.15269748e-02, 1.71866339e-03,
 -8.60782586e-06, 3.49115616e-02, 1.10122300e-02, 1.86267044e-03,
 -3.07299434e-03, 3.47545974e-02, 1.07705292e-02, 1.72514200e-03,
  9.06317886e-05, 2.95341778e-04, 0.00000000e+00, 1.47503319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14643768, -0.10286358,  0.10422609, -0.10286358,  0.68683074,
        0.53332868,  0.10422609,  0.53332868,  0.67279433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.996480643806397e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57243080e-01,  8.76199967e-02, -9.62366216e-01, -2.26266606e-02,
        9.96153972e-01,  8.46480836e-02,  9.66081794e-01, -3.46944695e-18,
        2.58236264e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06714012, -0.03861253,  0.22661415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.5384351 , -4.21411593,  7.5384351 , 18.52888337,
       17.69626636, -4.21411593, 17.69626636, 40.29238771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001447046434574717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83616931e-14,  3.83616931e-14,  1.00000000e+00,  1.47161950e-27,
        1.00000000e+00, -3.83616931e-14, -1.00000000e+00,  0.00000000e+00,
       -3.83616931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0325114 , -0.08870638,  0.0618717 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93626378e-03, 3.59539354e-03, 6.75852773e-04,-6.51385800e-05,
  5.39605081e-05,-2.71073147e-05,-1.45046909e-05,-4.61316627e-05,
 -4.56258641e-05,-9.62449580e-06,-2.93098263e-05,-4.14316406e-05,
  2.48716676e-03, 2.44309699e-03, 7.54594172e-03, 3.64799319e-03,
  1.18094351e-06, 1.02931367e-06,-1.21644039e+00, 1.58657998e-03,
  5.42035613e-04, 3.83229043e-05]


--- Step 1941 ---
qpos:
[-0.01327099, 1.3295972 ,-0.01900227, 0.94609846, 0.00422517, 1.33225687,
 -0.03037031, 0.94353501, 0.01692031, 1.33776809,-0.02353838, 0.95533848,
  1.35541804,-0.00456262, 1.13176493, 0.06022156,-0.00170585,-0.09788811,
  0.08151598, 0.54455669,-0.01238686,-0.00502844, 0.83861749]

qacc:
[-7.35996692e-02,-1.12048227e+00, 6.69540504e+00,-1.88125832e+01,
  2.96428426e-01, 7.84427410e-01,-7.93688193e-01,-9.69281721e+00,
 -3.22450315e-02, 2.00622197e+00,-7.22937720e+00, 8.77357229e+00,
  1.39721722e-01,-6.17735354e-01, 3.53537589e+00,-7.72252927e+00,
  1.20428049e+00,-7.67872897e-01, 8.41276372e-02, 4.24717096e+01,
 -5.89449339e+01, 1.06934264e+00]

qfrc_actuator:
[ 5.61420970e-03, 3.79995454e-02, 1.15169008e-02, 1.66346675e-03,
  4.49667609e-05, 3.48958608e-02, 1.09613100e-02, 1.81617596e-03,
 -3.05532849e-03, 3.47276630e-02, 1.07295242e-02, 1.73531289e-03,
  8.56885121e-05, 2.64130458e-04, 0.00000000e+00, 1.42041911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14647404, -0.10308533,  0.10405796, -0.10308533,  0.77171158,
        0.61939342,  0.10405796,  0.61939342,  0.76007798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.134220209814191e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25724803,  0.08762156, -0.96236475, -0.0226275 ,  0.99615383,
        0.08464947,  0.96608046,  0.        ,  0.25824127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671424 , -0.03861472,  0.22661346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.41644361, -4.42528428,  7.41644361, 21.52778272,
       21.60504876, -4.42528428, 21.60504876, 44.84480034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014223369654566415
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90281295e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.90281295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03254661, -0.08869505,  0.06187382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89830966e-03, 3.56637522e-03, 6.35700203e-04,-5.39706261e-05,
  8.54227979e-05,-3.49324246e-05,-5.92286253e-05,-4.87967903e-05,
 -9.27584656e-06,-3.92130277e-05,-4.74264988e-05, 8.06233977e-06,
  2.50190617e-03, 2.45052504e-03, 7.40165925e-03, 3.58198812e-03,
  4.04558402e-06,-4.69457115e-07,-1.21644035e+00, 1.58261548e-03,
  5.41067967e-04, 3.25469977e-05]


--- Step 1942 ---
qpos:
[-0.01327795, 1.32959195,-0.01900287, 0.94609787, 0.00422544, 1.33225875,
 -0.03037024, 0.94353573, 0.01692003, 1.33776828,-0.0235406 , 0.95534001,
  1.35544431,-0.00457141, 1.13179592, 0.06021519,-0.00168947,-0.09789593,
  0.08152719, 0.54459902,-0.01194301,-0.00492943, 0.83859703]

qacc:
[-2.10387597e-01, 2.47062444e+00,-1.16338965e+01, 2.45942493e+01,
  1.61903918e-01, 2.40876554e+00,-7.35348677e+00, 3.81115842e+00,
  1.84562090e-02, 6.35145153e-01,-5.88142572e+00, 2.24272837e+01,
 -4.01918970e-01, 1.30328748e+00,-6.21541429e+00, 1.08794565e+01,
  1.15487385e+00,-7.19508609e-01,-3.97184023e-01, 4.04411888e+01,
 -5.62384527e+01, 9.49048658e-01]

qfrc_actuator:
[ 5.57408701e-03, 3.80464303e-02, 1.14754242e-02, 1.72048783e-03,
  4.12298010e-05, 3.49034854e-02, 1.09131008e-02, 1.80619630e-03,
 -3.04455257e-03, 3.47113165e-02, 1.07596648e-02, 1.81228112e-03,
  8.17929071e-05, 2.67442058e-04, 0.00000000e+00, 1.58537533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1465155 , -0.09748867,  0.10937436, -0.09748867,  0.20406862,
        0.05129883,  0.10937436,  0.05129883,  0.1922397 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.28837520037741e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57252523e-01,  8.76231687e-02, -9.62363403e-01, -2.26283166e-02,
        9.96153693e-01,  8.46509242e-02,  9.66079240e-01,  3.46944695e-18,
        2.58245815e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06714484, -0.03861689,  0.22661276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  7.29797462, -4.6180454 ,  7.29797462, 25.39483837,
       26.48369881, -4.6180454 , 26.48369881, 50.48899721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013875806164708598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00057125e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.00057125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0325963 , -0.08868043,  0.06187678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86687396e-03, 3.58754591e-03, 5.96184393e-04, 5.77376207e-05,
  4.66809884e-05,-2.47638549e-05,-6.32165765e-05,-1.38932427e-05,
  5.29744329e-06,-4.70558592e-05, 1.73315700e-05, 7.46044401e-05,
  2.50721459e-03, 2.48217006e-03, 7.29173123e-03, 3.75224820e-03,
  8.64362542e-06,-2.92781177e-06,-1.21644253e+00, 1.57942632e-03,
  5.40619623e-04, 2.00306372e-05]


--- Step 1943 ---
qpos:
[-0.01328524, 1.32958673,-0.01900427, 0.94609861, 0.00422607, 1.33226029,
 -0.03036918, 0.94353487, 0.01691968, 1.33776717,-0.02354116, 0.95534072,
  1.35547029,-0.00457956, 1.13182619, 0.06020834,-0.00167686,-0.09790906,
  0.08153595, 0.54464419,-0.01147494,-0.00500831, 0.83857376]

qacc:
[-1.42652708e-01, 4.50055888e+00,-1.73604861e+01, 3.05406082e+01,
  1.48508064e-01,-5.80690823e+00, 2.16530244e+01,-3.68843599e+01,
 -2.75971454e-02,-7.63346334e+00, 2.44713801e+01,-2.97822286e+01,
 -6.80696943e-01, 1.23749402e+00, 4.25075754e-01,-2.88643754e+00,
 -9.45110389e-01,-1.32819930e+00,-6.11451825e-01,-6.79847603e+01,
 -5.85715519e+01,-3.07759161e+00]

qfrc_actuator:
[ 5.58859930e-03, 3.80593275e-02, 1.14510626e-02, 1.78971422e-03,
  5.64012810e-05, 3.49072876e-02, 1.09735186e-02, 1.72904328e-03,
 -3.05575223e-03, 3.46129900e-02, 1.08316302e-02, 1.76820407e-03,
  7.31745223e-05, 3.25558496e-04, 0.00000000e+00, 1.54513306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14654744, -0.09941587,  0.10766911, -0.09941587,  0.25597153,
        0.10103633,  0.10766911,  0.10103633,  0.23983896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.405152594129564e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25725815,  0.0876249 , -0.96236174, -0.02262926,  0.99615354,
        0.08465246,  0.96607772,  0.        ,  0.2582515 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06714687, -0.03861906,  0.22661208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013621846018150793
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15031254e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.15031254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03087566, -0.06015137,  0.06187896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90621332e-03, 3.63550242e-03, 5.95561394e-04, 6.63999700e-05,
  4.27231845e-05,-2.26923235e-05, 4.79703635e-05,-8.00701404e-05,
 -8.07373942e-06,-1.18750520e-04, 6.69328359e-05,-4.32276028e-05,
  2.48987109e-03, 2.48663075e-03, 7.54653051e-03, 3.73312142e-03,
  1.47194165e-05,-6.21208202e-06,-1.21644662e+00, 1.57686019e-03,
  5.40615996e-04, 1.67497233e-06]


--- Step 1944 ---
qpos:
[-0.01329282, 1.32958132,-0.01900599, 0.94609914, 0.00422711, 1.33226166,
 -0.0303675 , 0.94353378, 0.01691924, 1.33776553,-0.02354278, 0.95534166,
  1.35549583,-0.00458755, 1.13185566, 0.0602014 ,-0.00166776,-0.09792731,
  0.08154009, 0.54469227,-0.01098435,-0.00525445, 0.83854759]

qacc:
[-1.23764352e-01, 2.69866507e-01,-7.30138720e-01,-1.77864434e+00,
  1.79267269e-01,-2.27104489e+00, 7.62050479e+00,-9.12262529e+00,
 -3.93206792e-02, 2.60803087e+00,-9.80709527e+00, 1.15200190e+01,
 -4.35232578e-01, 5.47063898e-01,-8.60280587e-01, 1.35752623e+00,
 -8.74515914e-01,-1.27779050e+00,-1.15686170e+00,-6.39855834e+01,
 -5.49648330e+01,-3.02271430e+00]

qfrc_actuator:
[ 5.61817840e-03, 3.80691430e-02, 1.14374817e-02, 1.77689547e-03,
  8.27972291e-05, 3.49091593e-02, 1.10087543e-02, 1.71954913e-03,
 -3.06229251e-03, 3.45729693e-02, 1.07675094e-02, 1.77746658e-03,
  6.70839080e-05, 3.63304357e-04, 0.00000000e+00, 1.55951337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14657792, -0.10016002,  0.10701895, -0.10016002,  0.30504626,
        0.14831198,  0.10701895,  0.14831198,  0.28538446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.515065044110287e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57264520e-01,  8.76267005e-02, -9.62359875e-01, -2.26302911e-02,
        9.96153382e-01,  8.46540523e-02,  9.66076000e-01,  3.46944695e-18,
        2.58257939e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06714884, -0.03862124,  0.22661141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.56460147, -4.1669631 , -7.56460147, 12.79760067,
       -7.55420651, -4.1669631 , -7.55420651, 22.35008278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013517854577395488
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.21301204e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.21301204e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03089346, -0.06013701,  0.06187987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95261270e-03, 3.64427952e-03, 6.21818516e-04,-1.30177577e-05,
  5.16117585e-05,-3.71678944e-06, 3.39030385e-05,-1.06237451e-05,
 -1.13127200e-05,-9.38886407e-05,-8.09661220e-05, 6.69670321e-06,
  2.49833942e-03, 2.49247497e-03, 7.58157914e-03, 3.77089526e-03,
  1.74283177e-06,-2.53202186e-06,-1.21644685e+00, 1.57303435e-03,
  5.42416682e-04, 6.75496780e-06]


--- Step 1945 ---
qpos:
[-0.01330027, 1.32957559,-0.01900722, 0.94609844, 0.00422854, 1.332263  ,
 -0.03036597, 0.94353193, 0.01691857, 1.33776428,-0.02354562, 0.95534298,
  1.35552154,-0.00459581, 1.13188393, 0.06019473,-0.00165469,-0.09793992,
  0.08154613, 0.54473999,-0.01052161,-0.00532619, 0.83852208]

qacc:
[ 6.11820993e-02,-3.90065514e+00, 1.47174989e+01,-2.68188512e+01,
  1.58384828e-01,-9.60564561e-01, 4.64514813e+00,-1.28929230e+01,
 -9.77559524e-02, 4.43882779e+00,-1.46206305e+01, 1.67675077e+01,
  4.20037852e-01,-6.94058416e-01,-2.64255298e+00, 6.58193750e+00,
  9.89038618e-01, 1.40657688e+00, 4.76184785e-01, 6.55375104e+01,
  5.91690306e+01, 1.35988649e+00]

qfrc_actuator:
[ 5.63913519e-03, 3.80773082e-02, 1.14657274e-02, 1.71586773e-03,
  9.79623311e-05, 3.48920742e-02, 1.09933453e-02, 1.67891771e-03,
 -3.08373683e-03, 3.46564439e-02, 1.07303307e-02, 1.80025844e-03,
  6.78600579e-05, 3.18032233e-04, 0.00000000e+00, 1.60648230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14660689, -0.09893357,  0.10819301, -0.09893357,  0.33582727,
        0.1730264 ,  0.10819301,  0.1730264 ,  0.30482522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.618190360766553e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25727139,  0.08762858, -0.96235787, -0.02263138,  0.99615322,
        0.0846557 ,  0.96607414,  0.        ,  0.25826488])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06715075, -0.03862338,  0.22661075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013533635559458412
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.1017176e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.1017176e-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([-0.02833998, -0.13043425,  0.06187977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98817536e-03, 3.66177421e-03, 6.66613748e-04,-6.31055212e-05,
  4.56276724e-05,-1.28396490e-05,-1.25946722e-05,-3.99927225e-05,
 -2.81288101e-05, 1.59563867e-05,-6.45136614e-05, 1.77952633e-05,
  2.52134116e-03, 2.43887659e-03, 7.62112986e-03, 3.82261218e-03,
 -6.50328258e-06, 9.38871876e-06,-1.21644976e+00, 1.56909658e-03,
  5.44183483e-04, 2.05289496e-05]


--- Step 1946 ---
qpos:
[-0.01330717, 1.32957045,-0.01900805, 0.94609762, 0.00423024, 1.33226437,
 -0.03036469, 0.94352994, 0.0169178 , 1.33776284,-0.02354702, 0.9553431 ,
  1.35554718,-0.00460467, 1.1319153 , 0.06018806,-0.0016493 ,-0.09794807,
  0.08155033, 0.54477749,-0.01028537,-0.00541543, 0.83850007]

qacc:
[ 2.28779417e-01,-4.86153739e-01, 2.74960028e+00,-4.06000806e+00,
  1.22282656e-01, 4.79818385e-01,-1.25716508e+00,-4.10387867e-01,
 -3.89915957e-02,-6.24199416e+00, 2.24949692e+01,-3.33233554e+01,
  2.05114273e-01,-6.81922465e-01, 4.55845512e+00,-9.34604535e+00,
 -1.91752900e+00, 1.11851090e+00,-4.59820581e-01,-6.90759048e+01,
  9.01493085e+01, 5.74679912e+00]

qfrc_actuator:
[ 5.67235192e-03, 3.80669365e-02, 1.15006184e-02, 1.71577175e-03,
  1.06268772e-04, 3.48990660e-02, 1.09835773e-02, 1.67349291e-03,
 -3.07844348e-03, 3.46712942e-02, 1.08164058e-02, 1.74216911e-03,
  7.27164951e-05, 3.12101245e-04, 0.00000000e+00, 1.49514475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14663404, -0.10173592,  0.10559992, -0.10173592,  0.52128569,
        0.36094279,  0.10559992,  0.36094279,  0.49436958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.713704999196992e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25727808,  0.08763042, -0.96235591, -0.02263245,  0.99615306,
        0.08465732,  0.96607234,  0.        ,  0.25827164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06715258, -0.03862549,  0.22661008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001389465645331954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99514385e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.99514385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05282148, -0.10925253,  0.06187679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01419146e-03, 3.66732260e-03, 6.76536418e-04,-1.94249485e-06,
  3.52368933e-05,-3.78961896e-06,-1.48919182e-05,-7.10614058e-06,
 -1.13171273e-05, 1.16145431e-05, 8.23865542e-05,-5.90938395e-05,
  2.51742359e-03, 2.44746652e-03, 7.68074868e-03, 3.69741654e-03,
  2.07518006e-06,-2.78305991e-06,-1.21644635e+00, 1.57216745e-03,
  5.43162536e-04, 3.48712971e-06]


--- Step 1947 ---
qpos:
[-0.01331338, 1.32956561,-0.01900898, 0.9460979 , 0.00423187, 1.33226584,
 -0.03036369, 0.94353032, 0.0169173 , 1.33776105,-0.02354645, 0.95534388,
  1.3555723 ,-0.00461421, 1.13195497, 0.06018112,-0.00165106,-0.09795218,
  0.08155   , 0.54480592,-0.01025922,-0.00552062, 0.83848123]

qacc:
[ 2.90758986e-01, 2.54918713e+00,-1.00656727e+01, 2.12206936e+01,
 -3.68234998e-02, 4.96381906e+00,-2.08899986e+01, 4.54667771e+01,
  1.12502067e-01,-4.60006400e+00, 1.30803274e+01,-3.37132668e+00,
 -3.55190414e-01,-1.44148313e-01, 1.30884717e+01,-2.79472212e+01,
 -1.78878039e+00, 1.00880063e+00,-1.13443500e+00,-6.39476149e+01,
  8.36923781e+01, 5.15685105e+00]

qfrc_actuator:
[ 5.65921320e-03, 3.80269091e-02, 1.15216489e-02, 1.76936396e-03,
  7.48903351e-05, 3.49204504e-02, 1.09773491e-02, 1.79537597e-03,
 -3.03940043e-03, 3.46631359e-02, 1.09209959e-02, 1.77900713e-03,
  8.00369264e-05, 3.47940068e-04, 0.00000000e+00, 1.21797943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14666827, -0.09172864,  0.11444403, -0.09172864,  0.58793761,
        0.35368414,  0.11444403,  0.35368414,  0.43015153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.832604982612208e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57283830e-01,  8.76321273e-02, -9.62354218e-01, -2.26334022e-02,
        9.96152905e-01,  8.46588380e-02,  9.66070784e-01, -3.46944695e-18,
        2.58277448e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06715464, -0.0386276 ,  0.22660942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.99334557,  3.2700464 , -7.99334557, 11.0967264 ,
        6.01414395,  3.2700464 ,  6.01414395, 23.3374183 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014075370668210213
  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([ 0.05277793, -0.10924749,  0.06187531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97405790e-03, 3.59780552e-03, 6.77834621e-04, 5.72263515e-05,
 -1.05806951e-05, 1.61485232e-05,-8.87856085e-06, 1.21168436e-04,
  3.23598316e-05, 1.26132962e-05, 1.14494696e-04, 3.82132284e-05,
  2.52825784e-03, 2.51273856e-03, 7.52516374e-03, 3.42021163e-03,
 -9.45205761e-07, 9.43843569e-07,-1.21644126e+00, 1.57847136e-03,
  5.44903178e-04, 2.47139978e-05]


--- Step 1948 ---
qpos:
[-0.01332013, 1.3295615 ,-0.01900976, 0.94609808, 0.00423313, 1.33226735,
 -0.03036307, 0.94353286, 0.016917  , 1.33775965,-0.02354483, 0.95534508,
  1.35559682,-0.00462402, 1.13199693, 0.06017376,-0.00165955,-0.09795261,
  0.08154285, 0.54482615,-0.01042946,-0.00564048, 0.83846519]

qacc:
[ -0.22822501,  0.37678601,  0.128854  , -1.74105735, -0.15082313,
   4.73892972,-19.83298022, 42.20587134,  0.08616011, -1.61780372,
   5.06148251,  0.15351561, -0.41785004,  0.17780019,  4.67258543,
 -11.35615008, -1.68033957,  0.91974923, -1.70410401,-59.68632728,
  78.30757202,  4.66819137]

qfrc_actuator:
[ 5.60014609e-03, 3.79868974e-02, 1.14991904e-02, 1.76524745e-03,
  3.77135904e-05, 3.49148761e-02, 1.09556368e-02, 1.90244121e-03,
 -3.03368609e-03, 3.47124303e-02, 1.09823488e-02, 1.80039335e-03,
  8.35529317e-05, 3.73669467e-04, 0.00000000e+00, 1.19664246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14671775, -0.07023261,  0.12881567, -0.07023261,  0.84572897,
        0.38111346,  0.12881567,  0.38111346,  0.35450764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.001623714850748e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57289382e-01,  8.76336648e-02, -9.62352594e-01, -2.26342907e-02,
        9.96152770e-01,  8.46601918e-02,  9.66069285e-01, -3.46944695e-18,
        2.58283056e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06715735, -0.03862975,  0.22660868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.00588597,  3.23922317, -8.00588597, 11.52695858,
        7.14423559,  3.23922317,  7.14423559, 26.29366367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014062571351708963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94743961e-14,  3.94743961e-14,  1.00000000e+00, -1.55822795e-27,
        1.00000000e+00, -3.94743961e-14, -1.00000000e+00,  0.00000000e+00,
        3.94743961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05277983, -0.10925182,  0.06187542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88067083e-03, 3.54294553e-03, 6.60170590e-04,-1.47014946e-06,
 -4.34215813e-05, 5.25445538e-06,-1.60125802e-05, 1.10103358e-04,
  2.48217251e-05, 7.97729481e-05, 7.79475131e-05, 2.59984502e-05,
  2.55773555e-03, 2.57293653e-03, 7.10971162e-03, 3.41238624e-03,
  5.56175668e-07, 1.86795976e-06,-1.21644027e+00, 1.58288401e-03,
  5.46108070e-04, 3.07639494e-05]


--- Step 1949 ---
qpos:
[-0.0133278 , 1.32955643,-0.01900997, 0.94609868, 0.0042343 , 1.33226819,
 -0.03036258, 0.94353499, 0.01691671, 1.33775901,-0.02354306, 0.95534447,
  1.35562103,-0.00463283, 1.13203295, 0.06016618,-0.00167439,-0.09794965,
  0.08152696, 0.54483884,-0.01078473,-0.00577396, 0.83845154]

qacc:
[-3.85190797e-01,-2.06082086e+00, 4.36256737e+00, 1.66413359e+00,
 -4.40984237e-02,-1.21573433e+00, 3.73850373e+00,-7.57113742e+00,
  1.12744857e-03,-2.52239527e+00, 1.30661294e+01,-3.26519633e+01,
 -6.71641549e-01, 1.45912213e+00,-8.03261499e+00, 1.54880973e+01,
 -1.58853353e+00, 8.47315246e-01,-2.18505532e+00,-5.61449805e+01,
  7.38178239e+01, 4.26034337e+00]

qfrc_actuator:
[ 5.58548297e-03, 3.80173575e-02, 1.15036906e-02, 1.78052019e-03,
  5.06195807e-05, 3.48221364e-02, 1.09248281e-02, 1.87560769e-03,
 -3.04801322e-03, 3.47423309e-02, 1.09823739e-02, 1.70598090e-03,
  8.48126715e-05, 4.10951899e-04, 0.00000000e+00, 1.40006396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14677369, -0.10229499,  0.10525327, -0.10229499,  0.21459606,
        0.06591613,  0.10525327,  0.06591613,  0.21083717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.188854632918159e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25729409,  0.08763535, -0.96235118, -0.02263514,  0.99615262,
        0.08466171,  0.96606801,  0.        ,  0.25828782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716022, -0.03863186,  0.22660795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.07482692,  3.06332287, -8.07482692, 11.74851088,
        8.20352651,  3.06332287,  8.20352651, 30.26061272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013894700687426959
  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([ 0.05281768, -0.10926357,  0.06187677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89294170e-03, 3.53709494e-03, 6.57253250e-04, 1.88821615e-05,
 -1.27228437e-05,-8.96639613e-05,-2.83731734e-05,-2.45860822e-05,
  3.31770868e-07, 9.00152913e-05, 2.52231949e-05,-8.91623791e-05,
  2.58919861e-03, 2.62429255e-03, 6.99390710e-03, 3.63638988e-03,
  5.68021769e-06, 5.41599561e-07,-1.21644264e+00, 1.58586522e-03,
  5.46890226e-04, 2.46529522e-05]


--- Step 1950 ---
qpos:
[-0.01333594, 1.32955032,-0.01900952, 0.94609981, 0.00423531, 1.33226847,
 -0.03036216, 0.94353608, 0.01691635, 1.33775914,-0.0235422 , 0.95534347,
  1.35564533,-0.00464077, 1.13206373, 0.06015857,-0.00168559,-0.09794026,
  0.08151635, 0.544853  ,-0.01116797,-0.00571964, 0.83843769]

qacc:
[-2.04992183e-01,-2.21413737e+00, 4.48916093e+00, 2.85963245e+00,
 -6.21454495e-02,-2.33443578e+00, 8.87508892e+00,-1.94273546e+01,
 -2.89176937e-02, 2.80390652e+00,-7.14626236e+00, 1.32095771e+00,
 -2.80188658e-01, 9.74617382e-01,-7.62410676e+00, 1.54864557e+01,
  9.08948111e-01, 1.60820204e+00, 1.32007769e+00, 7.11203041e+01,
  6.28996824e+01, 4.19731130e-01]

qfrc_actuator:
[ 5.59804864e-03, 3.80382292e-02, 1.15416359e-02, 1.80694313e-03,
  4.02080111e-05, 3.48020673e-02, 1.09239830e-02, 1.82339693e-03,
 -3.05649329e-03, 3.47600721e-02, 1.09283350e-02, 1.68616911e-03,
  7.93876696e-05, 4.18487674e-04, 0.00000000e+00, 1.52528410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1468181 , -0.09993324,  0.10755884, -0.09993324,  0.21285264,
        0.06135288,  0.10755884,  0.06135288,  0.20382125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.334731491970547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25729915,  0.08763726, -0.96234965, -0.02263609,  0.99615245,
        0.08466344,  0.96606664,  0.        ,  0.25829295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716262, -0.03863392,  0.22660725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001410937694687607
  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([-0.02828139, -0.13033968,  0.0618749 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95098847e-03, 3.60552394e-03, 6.66622438e-04, 2.41818456e-05,
 -1.79240311e-05,-7.59647364e-05,-2.23343008e-05,-5.63042623e-05,
 -8.28087729e-06, 6.98047294e-05,-3.62051207e-05,-1.84828031e-05,
  2.59897766e-03, 2.58166554e-03, 7.29014580e-03, 3.77267806e-03,
  1.37837027e-05,-2.63521835e-06,-1.21644779e+00, 1.58774935e-03,
  5.47332216e-04, 8.58255388e-06]


--- Step 1951 ---
qpos:
[-0.01334417, 1.32954338,-0.01900927, 0.94609989, 0.00423604, 1.33226868,
 -0.0303623 , 0.9435372 , 0.0169159 , 1.33775976,-0.02354226, 0.95534401,
  1.35567005,-0.00464849, 1.13209045, 0.06015102,-0.00169344,-0.09792487,
  0.08150789, 0.54486856,-0.01157721,-0.00549072, 0.83842356]

qacc:
[-3.29789509e-02,-2.40470669e+00, 8.67094153e+00,-1.91836560e+01,
 -1.21216699e-01, 1.50543898e+00,-5.10615292e+00, 4.92831097e+00,
 -3.41635934e-02, 5.78256495e+00,-2.11597317e+01, 3.56174026e+01,
  3.70376387e-01,-2.10763747e-01,-6.19783850e+00, 1.29259586e+01,
  8.36512255e-01, 1.49820139e+00, 5.39322534e-01, 6.61181740e+01,
  5.84684529e+01, 3.89893683e-01]

qfrc_actuator:
[ 5.62689010e-03, 3.80360732e-02, 1.15283307e-02, 1.75101640e-03,
  1.58902262e-05, 3.48257529e-02, 1.09055939e-02, 1.82776569e-03,
 -3.06139567e-03, 3.47701967e-02, 1.08783552e-02, 1.76367094e-03,
  7.52525476e-05, 3.90161584e-04, 0.00000000e+00, 1.62123067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14685158, -0.09837052,  0.10903499, -0.09837052,  0.27818302,
        0.1184862 ,  0.10903499,  0.1184862 ,  0.2537489 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.443152786334577e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2573046 ,  0.0876393 , -0.96234801, -0.0226371 ,  0.99615227,
        0.08466527,  0.96606517,  0.        ,  0.25829846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716461, -0.03863596,  0.22660658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001420554201710833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95385544e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95385544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02826994, -0.13032385,  0.06187405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00404680e-03, 3.65582239e-03, 6.20821588e-04,-5.82534934e-05,
 -3.48995606e-05,-2.44017324e-05,-3.74420116e-05, 1.26736955e-07,
 -9.78932565e-06, 4.11042211e-05,-4.10058916e-05, 7.80795801e-05,
  2.59002543e-03, 2.51023884e-03, 7.55176224e-03, 3.86996431e-03,
  2.34642803e-06,-1.39479290e-06,-1.21644852e+00, 1.59002609e-03,
  5.46267032e-04, 1.34245270e-05]


--- Step 1952 ---
qpos:
[-0.01335242, 1.32953592,-0.01900998, 0.94609932, 0.00423663, 1.33226817,
 -0.03036276, 0.94353911, 0.01691539, 1.33776071,-0.02354264, 0.95534613,
  1.3556949 ,-0.00465591, 1.13211421, 0.06014335,-0.00169819,-0.09790386,
  0.08149897, 0.54488536,-0.01201081,-0.00509816, 0.83840903]

qacc:
[-9.92555675e-03, 7.95940227e-01,-2.10113463e+00,-5.41379081e+00,
 -6.09215623e-02, 1.21476362e+00,-6.72167955e+00, 1.53305148e+01,
 -2.95755768e-02, 4.03423343e+00,-1.58333120e+01, 3.19041657e+01,
  3.70862867e-02, 1.84432097e-01,-4.02927550e+00, 7.71612486e+00,
  7.76540980e-01, 1.40681410e+00,-1.17449659e-01, 6.19660263e+01,
  5.47967500e+01, 3.82733144e-01]

qfrc_actuator:
[ 5.64753186e-03, 3.80558027e-02, 1.14848523e-02, 1.71805740e-03,
  1.89318687e-05, 3.47511600e-02, 1.08772072e-02, 1.86541833e-03,
 -3.06411195e-03, 3.47934884e-02, 1.08667072e-02, 1.84454943e-03,
  6.65334955e-05, 3.93868161e-04, 0.00000000e+00, 1.68178087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14687603, -0.09770958,  0.10966041, -0.09770958,  0.29294037,
        0.13014619,  0.10966041,  0.13014619,  0.26283885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.521520735933722e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57311030e-01,  8.76413405e-02, -9.62346107e-01, -2.26381933e-02,
        9.96152095e-01,  8.46670938e-02,  9.66063427e-01,  3.46944695e-18,
        2.58304964e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671663 , -0.03863798,  0.22660591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014127120671406715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92940306e-14,  1.17882092e-13,  1.00000000e+00,  4.63206253e-27,
        1.00000000e+00, -1.17882092e-13, -1.00000000e+00,  0.00000000e+00,
       -3.92940306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02827975, -0.13033411,  0.06187465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02859361e-03, 3.71689779e-03, 5.86700309e-04,-3.87722950e-05,
 -1.75579191e-05,-9.54137243e-05,-3.74160241e-05, 3.58255431e-05,
 -8.49528014e-06, 4.03222982e-05,-5.99655552e-06, 8.27150608e-05,
  2.56058930e-03, 2.50274505e-03, 7.75396618e-03, 3.92731068e-03,
 -3.98662424e-06, 9.01561001e-06,-1.21645234e+00, 1.59237728e-03,
  5.44673047e-04, 2.84639465e-05]


--- Step 1953 ---
qpos:
[-0.01336122, 1.3295264 ,-0.0190108 , 0.94609879, 0.00423714, 1.33226655,
 -0.03036283, 0.94354214, 0.01691468, 1.33776174,-0.02354275, 0.95534886,
  1.35572006,-0.00466212, 1.13212904, 0.06013605,-0.00170004,-0.09787752,
  0.08148737, 0.5449032 ,-0.01246742,-0.00455106, 0.83839391]

qacc:
[-2.35141213e-01,-2.36250775e+00, 4.35694995e+00,-1.99527231e+00,
 -3.00051068e-02,-5.69651633e-01,-2.20085257e+00, 1.56466351e+01,
 -8.37260226e-02, 3.89918179e-01,-2.36458138e+00, 8.91927919e+00,
 -1.50487272e-01, 1.09760107e+00,-1.42478213e+01, 3.07692753e+01,
  7.26802780e-01, 1.33075025e+00,-6.69406223e-01, 5.85222915e+01,
  5.17585790e+01, 3.94621350e-01]

qfrc_actuator:
[ 5.62772496e-03, 3.81064474e-02, 1.14773872e-02, 1.71665766e-03,
  2.06087605e-05, 3.46892953e-02, 1.08960498e-02, 1.92228554e-03,
 -3.08324773e-03, 3.47891290e-02, 1.08778104e-02, 1.87351553e-03,
  5.50746648e-05, 3.98886680e-04, 0.00000000e+00, 1.96978647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1468933 , -0.09243314,  0.11416547, -0.09243314,  0.18328033,
        0.02946046,  0.11416547,  0.02946046,  0.17074572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.576479625511905e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25731891,  0.08764338, -0.96234382, -0.02263942,  0.99615192,
        0.08466887,  0.9660613 ,  0.        ,  0.25831292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716778, -0.03863999,  0.22660525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001390987081190266
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49654026e-14,  3.99077403e-14,  1.00000000e+00,  5.97235402e-28,
        1.00000000e+00, -3.99077403e-14, -1.00000000e+00,  0.00000000e+00,
       -1.49654026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02830634, -0.13036498,  0.06187641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00995240e-03, 3.79393120e-03, 6.27821757e-04,-7.41634278e-06,
 -8.68978267e-06,-1.20883343e-04,-3.02644714e-06, 5.37326652e-05,
 -2.41507859e-05, 1.92130515e-05, 2.07183803e-05, 3.19139935e-05,
  2.54256654e-03, 2.49335342e-03, 7.90215042e-03, 4.22118841e-03,
 -6.15842208e-06, 2.68572433e-05,-1.21645870e+00, 1.59475765e-03,
  5.42637000e-04, 5.18046480e-05]


--- Step 1954 ---
qpos:
[-0.0133701 , 1.32951549,-0.01901212, 0.94609924, 0.00423762, 1.33226432,
 -0.03036252, 0.94354509, 0.01691391, 1.3377623 ,-0.02354157, 0.95535122,
  1.3557457 ,-0.00466729, 1.13213802, 0.06012907,-0.00170656,-0.09785804,
  0.08148175, 0.54492488,-0.01289519,-0.00422097, 0.83837508]

qacc:
[-2.93193668e-02, 1.27450731e+00,-8.35818848e+00, 1.95544713e+01,
 -1.47703367e-02,-1.94986330e+00, 5.54707530e+00,-5.31054891e+00,
 -2.60668315e-02,-4.70869804e+00, 1.53757630e+01,-1.73136096e+01,
 -4.61384936e-02, 9.07230834e-01,-9.58048459e+00, 2.09810756e+01,
 -1.17166190e+00,-1.71390590e+00, 1.49747625e+00,-8.30959592e+01,
 -7.11845503e+01,-4.04209202e+00]

qfrc_actuator:
[ 5.65520080e-03, 3.81418778e-02, 1.14732917e-02, 1.76925981e-03,
  2.14516330e-05, 3.46889894e-02, 1.09249030e-02, 1.91901429e-03,
 -3.07657390e-03, 3.47505553e-02, 1.09376089e-02, 1.85393891e-03,
  5.26028897e-05, 4.03655576e-04, 0.00000000e+00, 2.10978367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14688958, -0.09061451,  0.11560951, -0.09061451,  0.19021671,
        0.03395972,  0.11560951,  0.03395972,  0.17350715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.564682878188124e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25732886,  0.08764553, -0.96234096, -0.02264085,  0.99615173,
        0.08467072,  0.96605862,  0.        ,  0.25832296])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671686 , -0.03864196,  0.22660461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014337288242616889
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.87180269e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.87180269e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03079851, -0.06030172,  0.06187278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06520195e-03, 3.93233207e-03, 6.28596529e-04, 4.28846588e-05,
 -4.29060088e-06,-6.61390868e-05, 6.44272459e-06,-5.74752466e-06,
 -7.58630692e-06,-2.29624034e-05, 6.68413978e-05,-1.76533334e-05,
  2.52466679e-03, 2.43766210e-03, 8.34758307e-03, 4.34273660e-03,
 -4.86682440e-06, 5.08761379e-05,-1.21646721e+00, 1.59712804e-03,
  5.40225322e-04, 8.20863972e-05]


--- Step 1955 ---
qpos:
[-0.01337822, 1.32950579,-0.01901426, 0.94609908, 0.00423808, 1.33226235,
 -0.03036248, 0.94354656, 0.01691343, 1.33776246,-0.02353986, 0.95535267,
  1.35577134,-0.00467325, 1.13215194, 0.06012229,-0.00171733,-0.09784493,
  0.08147857, 0.54495054,-0.01329683,-0.00409033, 0.83835277]

qacc:
[ 3.15957282e-01, 2.71319074e+00,-5.66995557e+00,-3.04588975e+00,
 -7.67622031e-03,-1.48862796e+00, 8.34312774e+00,-2.46825090e+01,
  1.22804238e-01,-3.54958163e+00, 1.27417095e+01,-2.12431292e+01,
  3.23893481e-01,-9.52981127e-01, 6.63600822e+00,-1.26867133e+01,
 -1.05950553e+00,-1.59212351e+00, 6.07813791e-01,-7.64674434e+01,
 -6.52657553e+01,-3.95739631e+00]

qfrc_actuator:
[ 5.72853493e-03, 3.81505781e-02, 1.14716702e-02, 1.74678908e-03,
  2.17865342e-05, 3.47433238e-02, 1.09241137e-02, 1.84490551e-03,
 -3.03671824e-03, 3.47097048e-02, 1.09544931e-02, 1.80596696e-03,
  5.54959897e-05, 4.07959855e-04, 0.00000000e+00, 1.91234625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14687177, -0.09618645,  0.11099316, -0.09618645,  0.82843574,
        0.59064197,  0.11099316,  0.59064197,  0.6587209 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.507902104410534e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57340650e-01,  8.76476920e-02, -9.62337608e-01, -2.26424527e-02,
        9.96151536e-01,  8.46725295e-02,  9.66055438e-01,  3.46944695e-18,
        2.58334843e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716898, -0.03864397,  0.22660397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.16839616,  -6.04463942,  -6.16839616,
        20.25176374, -11.85321149,  -6.04463942, -11.85321149,
        20.73225542,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014677571123246635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.56407866e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.56407866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03075351, -0.06036038,  0.06186992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14200368e-03, 4.01040627e-03, 6.52516930e-04,-2.88854107e-05,
 -2.19989826e-06, 1.88532338e-05,-1.31569186e-05,-7.60404963e-05,
  3.53752840e-05,-4.10208191e-05, 1.94809373e-05,-4.71013543e-05,
  2.50310685e-03, 2.38997859e-03, 8.64040718e-03, 4.12960031e-03,
 -5.59945764e-06, 1.91780278e-05,-1.21645676e+00, 1.59578747e-03,
  5.41966212e-04, 4.58204519e-05]


--- Step 1956 ---
qpos:
[-0.01338543, 1.32949716,-0.01901605, 0.94609893, 0.00423883, 1.33226112,
 -0.03036305, 0.94354813, 0.01691331, 1.33776252,-0.02353916, 0.95535289,
  1.35579668,-0.00468022, 1.13217302, 0.06011583,-0.00172639,-0.09783774,
  0.08148771, 0.54497855,-0.01357552,-0.00405619, 0.83833027]

qacc:
[  0.38824947,  0.48300139,  0.07794923, -0.46363375,  0.11866846,
   2.81416814, -8.2556937 ,  8.00975334,  0.15531074,  0.50431547,
   0.67583125,-14.63305487,  0.13668475, -0.94578736,  9.56945242,
 -18.15381981,  0.42753122, -1.47915628,  3.07810418, -6.93843625,
 -77.82358023, -1.92958844]

qfrc_actuator:
[ 5.75758558e-03, 3.81412020e-02, 1.15075516e-02, 1.75150333e-03,
  5.73188953e-05, 3.48120565e-02, 1.09060270e-02, 1.85400604e-03,
 -3.01278576e-03, 3.46853822e-02, 1.08926087e-02, 1.74164279e-03,
  6.69605315e-05, 4.13399697e-04, 0.00000000e+00, 1.72546101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14686556, -0.0760403 ,  0.12564778, -0.0760403 ,  0.76876557,
        0.37636531,  0.12564778,  0.37636531,  0.37463665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.488034400088538e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57352067e-01,  8.76496622e-02, -9.62334376e-01, -2.26439701e-02,
        9.96151362e-01,  8.46741631e-02,  9.66052361e-01,  3.46944695e-18,
        2.58346348e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06716976, -0.038646  ,  0.22660332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014814033726722395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49888011e-13,  3.74720027e-14,  1.00000000e+00, -5.61660396e-27,
        1.00000000e+00, -3.74720027e-14, -1.00000000e+00,  0.00000000e+00,
        1.49888011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00603991, -0.07678518,  0.06186877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13374112e-03, 3.94076170e-03, 7.29393769e-04, 7.15058201e-06,
  3.42348753e-05, 7.43173979e-05,-1.81214344e-05, 7.51820716e-06,
  4.48202253e-05,-4.45968888e-05,-6.90591878e-05,-6.60607518e-05,
  2.51475735e-03, 2.43502149e-03, 8.39314097e-03, 3.93233332e-03,
 -5.31466684e-07, 2.20730237e-06,-1.21645113e+00, 1.59419994e-03,
  5.43635684e-04, 2.56632623e-05]


--- Step 1957 ---
qpos:
[-0.01339266, 1.32948914,-0.0190177 , 0.94610027, 0.00424005, 1.33226033,
 -0.03036407, 0.94354982, 0.01691353, 1.33776252,-0.02353979, 0.95535098,
  1.35582138,-0.00468685, 1.1321948 , 0.06010929,-0.00173382,-0.09783604,
  0.08150567, 0.54500882,-0.01373971,-0.00411206, 0.83830764]

qacc:
[-6.46414210e-03, 3.01803120e+00,-1.19209415e+01, 2.72714810e+01,
  2.04052880e-01, 1.97913829e+00,-5.98257216e+00, 6.21363587e+00,
  1.40826708e-01,-1.82941002e-01, 4.79359605e+00,-2.87578216e+01,
 -7.77091269e-01, 1.05085063e+00, 1.36945931e+00,-3.14897484e+00,
  4.06494373e-01,-1.37536220e+00, 2.20686925e+00,-6.51287418e+00,
 -7.25193150e+01,-1.82877877e+00]

qfrc_actuator:
[ 5.74184485e-03, 3.81561351e-02, 1.14940740e-02, 1.82538676e-03,
  9.59257556e-05, 3.48178465e-02, 1.08780208e-02, 1.85876794e-03,
 -2.99860045e-03, 3.46708172e-02, 1.08202998e-02, 1.63268136e-03,
  7.29438652e-05, 4.73312720e-04, 0.00000000e+00, 1.75773676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14687549, -0.09923862,  0.10827791, -0.09923862,  0.27796401,
        0.12014494,  0.10827791,  0.12014494,  0.25699045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.519786590468649e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2573621 ,  0.08765141, -0.96233153, -0.02264531,  0.99615121,
        0.08467562,  0.96604966,  0.        ,  0.25835646])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671711 , -0.03864805,  0.22660263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014823809747772365
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48945813e-14,  3.74472907e-14,  1.00000000e+00,  2.80459916e-27,
        1.00000000e+00, -3.74472907e-14, -1.00000000e+00,  0.00000000e+00,
       -7.48945813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00603888, -0.07678502,  0.06186874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07218232e-03, 3.90204535e-03, 6.97999183e-04, 7.98381209e-05,
  5.88159500e-05, 4.35958288e-05,-1.53052483e-05, 6.63908651e-06,
  4.06503664e-05,-5.46677667e-05,-9.07991133e-05,-1.13839075e-04,
  2.53612540e-03, 2.54547926e-03, 8.03454995e-03, 3.94823597e-03,
  1.79617814e-06,-5.46092944e-07,-1.21644551e+00, 1.59071590e-03,
  5.43440419e-04, 3.09463681e-05]


--- Step 1958 ---
qpos:
[-0.01340039, 1.32948145,-0.01901936, 0.94610045, 0.00424145, 1.33225947,
 -0.03036483, 0.94354949, 0.01691372, 1.33776247,-0.02354083, 0.95534738,
  1.35584539,-0.00469357, 1.13221583, 0.06010297,-0.00173585,-0.09783771,
  0.08152733, 0.54503772,-0.01374752,-0.00416017, 0.83828848]

qacc:
[-2.15931597e-01,-1.53019075e+00, 7.88530714e+00,-2.05456079e+01,
  7.50466780e-02,-4.22458477e+00, 1.78320409e+01,-3.88445753e+01,
 -1.13785534e-02,-1.87335511e+00, 9.42938308e+00,-2.75819503e+01,
 -4.21657625e-01, 2.76997956e-01,-1.77953000e+00, 4.65553141e+00,
  1.35071499e+00,-8.40151577e-01, 9.25477521e-01, 4.58659351e+01,
 -6.34561972e+01, 1.25412833e+00]

qfrc_actuator:
[ 5.73529955e-03, 3.81856932e-02, 1.14865638e-02, 1.76176828e-03,
  8.28057389e-05, 3.47858637e-02, 1.08796441e-02, 1.75436610e-03,
 -3.02588140e-03, 3.46976250e-02, 1.08134692e-02, 1.55159954e-03,
  7.03531812e-05, 5.11712456e-04, 0.00000000e+00, 1.79752662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14688816, -0.09980485,  0.10777349, -0.09980485,  0.39874531,
        0.23323514,  0.10777349,  0.23323514,  0.36287819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.560164955486547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25737142,  0.08765317, -0.96232888, -0.02264659,  0.99615105,
        0.0846771 ,  0.96604714,  0.        ,  0.25836586])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06717247, -0.03865008,  0.22660196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   7.67545684,   3.95905787,   7.67545684,
        23.59482679, -29.00009099,   3.95905787, -29.00009099,
        64.85906971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014690694280062866
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41699782e-14,  7.55732169e-14,  1.00000000e+00,  1.07087083e-27,
        1.00000000e+00, -7.55732169e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41699782e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03247276, -0.08868239,  0.06186995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06639719e-03, 3.90140919e-03, 6.83628754e-04,-5.83569594e-05,
  2.15964240e-05,-1.06490232e-05, 8.60910947e-06,-1.03386200e-04,
 -3.27823946e-06,-2.45254172e-05,-3.11572424e-05,-8.80108868e-05,
  2.56524167e-03, 2.56729060e-03, 7.99896790e-03, 3.99246473e-03,
  2.97653729e-06,-2.17379788e-07,-1.21644236e+00, 1.58745627e-03,
  5.43362961e-04, 3.66981706e-05]


--- Step 1959 ---
qpos:
[-0.01340799, 1.3294749 ,-0.01902098, 0.94610014, 0.00424274, 1.33225899,
 -0.03036602, 0.94354757, 0.01691362, 1.3377625 ,-0.02354093, 0.95534241,
  1.35586888,-0.00470085, 1.13224027, 0.06009671,-0.00173278,-0.09784249,
  0.08155022, 0.54506543,-0.01360772,-0.0042011 , 0.83827255]

qacc:
[ 5.86384572e-02, 4.86474267e-01, 1.21979279e+00,-7.48120861e+00,
 -4.70897355e-02,-1.08947473e+00, 7.43196564e+00,-2.52073361e+01,
 -1.25083685e-01,-4.76884954e+00, 1.84372820e+01,-3.18423805e+01,
 -1.72418878e-01,-3.06562680e-01, 4.89799592e+00,-9.78399024e+00,
  1.27417775e+00,-7.77913074e-01, 3.06983292e-01, 4.32355608e+01,
 -5.99387240e+01, 1.12400797e+00]

qfrc_actuator:
[ 5.75252476e-03, 3.81885516e-02, 1.15004905e-02, 1.74197564e-03,
  5.65144296e-05, 3.48203144e-02, 1.08630175e-02, 1.67531508e-03,
 -3.06006286e-03, 3.47492617e-02, 1.08810383e-02, 1.48764902e-03,
  6.26457788e-05, 5.01989367e-04, 0.00000000e+00, 1.68176996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14690053, -0.10225334,  0.10547047, -0.10225334,  0.87455988,
        0.70546381,  0.10547047,  0.70546381,  0.83084581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.59938853653114e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25738043,  0.08765507, -0.9623263 , -0.02264787,  0.99615089,
        0.08467871,  0.96604471,  0.        ,  0.25837495])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06717381, -0.03865203,  0.22660132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.57128553, -1.0582255 ,  8.57128553,  9.61409303,
        7.91929303, -1.0582255 ,  7.91929303, 72.78008521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014488653693577602
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.83135331e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.83135331e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03250339, -0.08867262,  0.06187175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10911171e-03, 3.88770988e-03, 6.98632575e-04,-1.99729595e-05,
 -1.35445310e-05, 2.71422604e-05,-2.07605069e-05,-8.15182511e-05,
 -3.61174336e-05, 2.93803437e-05, 5.66601884e-05,-6.76436242e-05,
  2.59193012e-03, 2.56219461e-03, 8.03642012e-03, 3.86527859e-03,
  3.61497264e-07, 4.93427267e-07,-1.21644009e+00, 1.58456839e-03,
  5.42229234e-04, 4.15519053e-05]


--- Step 1960 ---
qpos:
[-0.01341526, 1.32946918,-0.01902228, 0.9461003 , 0.00424398, 1.33225912,
 -0.03036761, 0.94354537, 0.01691331, 1.3377623 ,-0.02353983, 0.95533707,
  1.35589201,-0.00470835, 1.1322669 , 0.06009036,-0.00172487,-0.09785018,
  0.08157227, 0.54509204,-0.01332753,-0.00423532, 0.83825957]

qacc:
[ 1.37683047e-01, 1.06395409e+00,-3.10057085e+00, 7.59497521e+00,
 -2.25622047e-02, 1.43670243e+00,-3.15874228e+00,-7.35912946e-01,
 -8.25396606e-02,-4.19070171e+00, 1.40469439e+01,-1.63080233e+01,
 -2.54387930e-01, 7.83672328e-02, 3.48011325e+00,-7.46494201e+00,
  1.21144761e+00,-7.27813323e-01,-2.09516160e-01, 4.10685870e+01,
 -5.70365830e+01, 1.01228086e+00]

qfrc_actuator:
[ 5.76581527e-03, 3.81922036e-02, 1.15094580e-02, 1.76602658e-03,
  5.80428331e-05, 3.48764597e-02, 1.08537729e-02, 1.66511811e-03,
 -3.06259963e-03, 3.47269240e-02, 1.09388170e-02, 1.46984259e-03,
  5.72032436e-05, 4.99403474e-04, 0.00000000e+00, 1.63254329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14692213, -0.10250624,  0.10525485, -0.10250624,  0.4379156 ,
        0.28339451,  0.10525485,  0.28339451,  0.42291611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.667502024112914e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57388295e-01,  8.76569353e-02, -9.62324024e-01, -2.26490516e-02,
        9.96150722e-01,  8.46803328e-02,  9.66042590e-01, -3.46944695e-18,
        2.58382883e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671754 , -0.03865395,  0.22660068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.50945044, -1.47513731,  8.50945044, 10.91108021,
       13.12188893, -1.47513731, 13.12188893, 84.33105507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014175705129329183
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46847593e-14, -3.91593580e-14,  1.00000000e+00, -5.75045745e-28,
        1.00000000e+00,  3.91593580e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46847593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03254973, -0.08865916,  0.06187447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11547839e-03, 3.83447339e-03, 7.04811461e-04, 2.87513273e-05,
 -6.46469477e-06, 6.46494291e-05,-8.68862153e-06,-1.18842737e-05,
 -2.38622113e-05, 2.96211371e-06, 6.79690325e-05,-1.68601074e-05,
  2.61217747e-03, 2.58774708e-03, 7.86484730e-03, 3.81335970e-03,
 -1.38767315e-07, 8.33111803e-08,-1.21644024e+00, 1.58245435e-03,
  5.41647780e-04, 3.88632792e-05]


--- Step 1961 ---
qpos:
[-0.01342268, 1.32946276,-0.01902325, 0.94609915, 0.00424519, 1.33225955,
 -0.03036901, 0.9435448 , 0.01691289, 1.3377622 ,-0.02353877, 0.95533367,
  1.35591501,-0.00471566, 1.13228934, 0.06008431,-0.0017155 ,-0.0978625 ,
  0.0815963 , 0.54512065,-0.01294856,-0.00434741, 0.83824633]

qacc:
[-6.26319579e-02,-4.07509794e+00, 1.48164220e+01,-2.75397452e+01,
 -1.16978589e-02, 2.63883398e+00,-1.14755564e+01, 2.85471157e+01,
 -5.33698245e-02, 3.53404741e+00,-1.52793533e+01, 3.55048872e+01,
  7.99939262e-03, 6.85376158e-02,-7.07767680e+00, 1.57776507e+01,
  3.63056387e-01,-1.15740247e+00, 4.94682356e-01,-5.70203188e+00,
 -6.26169091e+01,-1.63309277e+00]

qfrc_actuator:
[ 5.77650305e-03, 3.81961807e-02, 1.14974181e-02, 1.69135128e-03,
  5.84968434e-05, 3.48919687e-02, 1.08668543e-02, 1.74879939e-03,
 -3.06388429e-03, 3.47314899e-02, 1.09368180e-02, 1.56803349e-03,
  5.84511044e-05, 5.00976786e-04, 0.00000000e+00, 1.80087438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14695011, -0.09929998,  0.10832289, -0.09929998,  0.28194823,
        0.12375327,  0.10832289,  0.12375327,  0.26039517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.754998571842935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57395049e-01,  8.76587329e-02, -9.62322054e-01, -2.26501140e-02,
        9.96150564e-01,  8.46819095e-02,  9.66040766e-01, -3.46944695e-18,
        2.58389703e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06717714, -0.03865585,  0.22660006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013838840072487313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00562876e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00562876e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0060608 , -0.07669193,  0.06187739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10991746e-03, 3.79677747e-03, 6.77135874e-04,-6.93207368e-05,
 -3.35927874e-06, 4.92134339e-05, 2.43899506e-05, 8.50900435e-05,
 -1.53745233e-05, 1.89692859e-05, 5.80167982e-06, 9.98686822e-05,
  2.63198122e-03, 2.60011981e-03, 7.75536927e-03, 3.98570162e-03,
  1.14650749e-06,-1.27970379e-06,-1.21644246e+00, 1.58096494e-03,
  5.41538813e-04, 2.97143907e-05]


--- Step 1962 ---
qpos:
[-0.01343022, 1.32945558,-0.0190246 , 0.94609647, 0.00424638, 1.33225996,
 -0.03036949, 0.94354488, 0.01691224, 1.33776221,-0.0235386 , 0.9553322 ,
  1.35593792,-0.00472288, 1.13230916, 0.06007854,-0.00170472,-0.09787928,
  0.08162056, 0.54515111,-0.01247485,-0.0045342 , 0.83823272]

qacc:
[-5.09647730e-02,-2.64654360e+00, 1.05766121e+01,-2.65099570e+01,
 -7.43727603e-03,-1.39247545e+00, 3.17036706e+00, 4.81663956e+00,
 -9.50366375e-02, 5.92981842e+00,-2.30325964e+01, 4.22007224e+01,
  1.28626147e-02, 6.31983499e-03,-4.71985908e+00, 1.08695596e+01,
  3.53613740e-01,-1.11517360e+00, 5.69418066e-02,-5.47529479e+00,
 -6.00654427e+01,-1.57268666e+00]

qfrc_actuator:
[ 5.78597239e-03, 3.81660600e-02, 1.14726379e-02, 1.61228031e-03,
  5.83019600e-05, 3.48831741e-02, 1.09106541e-02, 1.78051382e-03,
 -3.08216165e-03, 3.47164676e-02, 1.08819512e-02, 1.66265348e-03,
  5.83779646e-05, 5.04735600e-04, 0.00000000e+00, 1.86860882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14696923, -0.0989081 ,  0.10870667, -0.0989081 ,  0.31987794,
        0.15732311,  0.10870667,  0.15732311,  0.29011159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.814315369294571e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25740218,  0.08766056, -0.96231998, -0.02265122,  0.9961504 ,
        0.08468351,  0.96603884,  0.        ,  0.2583969 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06717858, -0.03865769,  0.22659946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001343912944265245
  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([-0.00607021, -0.07665489,  0.06188085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12679962e-03, 3.80230499e-03, 6.36192677e-04,-8.33272439e-05,
 -2.17619602e-06, 2.57577707e-05, 5.86985007e-05, 3.58800291e-05,
 -2.73551776e-05,-4.48154406e-07,-4.75869791e-05, 9.76728101e-05,
  2.63777275e-03, 2.59491053e-03, 7.96410790e-03, 4.03846581e-03,
 -1.02646988e-06, 5.99602348e-07,-1.21644552e+00, 1.57887889e-03,
  5.42078388e-04, 2.47530912e-05]


--- Step 1963 ---
qpos:
[-0.01343739, 1.32944895,-0.01902663, 0.94609518, 0.00424756, 1.33226041,
 -0.03036936, 0.94354466, 0.01691151, 1.33776171,-0.02353881, 0.95533191,
  1.35596072,-0.00472994, 1.13233205, 0.06007248,-0.00169692,-0.09790073,
  0.08163612, 0.54518468,-0.01198205,-0.00486853, 0.8382162 ]

qacc:
[ 1.55950929e-01, 4.99022354e+00,-1.82670562e+01, 3.17148315e+01,
 -6.39595056e-03,-2.09652607e+00, 7.53537082e+00,-1.00552504e+01,
 -3.11342562e-02, 2.39558484e+00,-1.09894167e+01, 2.33971546e+01,
 -3.80746013e-01, 5.80106759e-01, 5.45912380e+00,-1.24173189e+01,
 -7.45066593e-01,-1.16650984e+00,-2.17488161e+00,-5.66177963e+01,
 -4.81845852e+01,-3.05466198e+00]

qfrc_actuator:
[ 5.77698953e-03, 3.81513025e-02, 1.14585301e-02, 1.69109911e-03,
  5.77190536e-05, 3.48777469e-02, 1.09365750e-02, 1.76361551e-03,
 -3.07498088e-03, 3.46541158e-02, 1.08495029e-02, 1.71885131e-03,
  5.21887999e-05, 5.09828799e-04, 0.00000000e+00, 1.73386486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14698175, -0.10095758,  0.10682323, -0.10095758,  0.35973673,
        0.20107263,  0.10682323,  0.20107263,  0.33701352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.852977627672344e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57410381e-01,  8.76624173e-02, -9.62317617e-01, -2.26524227e-02,
        9.96150240e-01,  8.46851059e-02,  9.66036626e-01,  3.46944695e-18,
        2.58405179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06717985, -0.03865948,  0.22659886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.98423527,  -3.29222782,  -7.98423527,
        13.70556035, -12.29369944,  -3.29222782, -12.29369944,
        38.45076111,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013018319014329316
  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([ 0.03101302, -0.0600943 ,  0.06188449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12384138e-03, 3.82478217e-03, 6.40580356e-04, 7.21954050e-05,
 -1.86666253e-06, 2.13815306e-05, 3.86921551e-05,-1.35705862e-05,
 -8.97239854e-06,-6.90036667e-05,-3.50881626e-05, 5.70641672e-05,
  2.63640843e-03, 2.59583918e-03, 8.09504581e-03, 3.88974852e-03,
 -3.78595050e-06, 4.37519777e-06,-1.21644985e+00, 1.57683414e-03,
  5.42713375e-04, 2.04119839e-05]


--- Step 1964 ---
qpos:
[-0.01344402, 1.32944411,-0.01902894, 0.94609575, 0.00424872, 1.33226114,
 -0.0303698 , 0.94354393, 0.01691108, 1.33776128,-0.02353999, 0.95533365,
  1.35598355,-0.00473734, 1.13236103, 0.06006589,-0.00169196,-0.09792674,
  0.08164182, 0.54522125,-0.01147098,-0.00534499, 0.83819666]

qacc:
[ 2.29688806e-01, 6.30075393e+00,-2.14849248e+01, 3.90543295e+01,
 -6.73890010e-03, 1.05061795e+00,-1.96259404e+00,-4.30251811e+00,
  1.20640062e-01, 6.18226642e+00,-2.41547478e+01, 4.43692537e+01,
 -7.09972700e-02,-1.08931477e-01, 1.05670544e+01,-2.39126223e+01,
 -7.11696583e-01,-1.14204990e+00,-2.46438345e+00,-5.45800940e+01,
 -4.63800020e+01,-2.98208052e+00]

qfrc_actuator:
[ 5.75649457e-03, 3.81980385e-02, 1.14690452e-02, 1.79132800e-03,
  5.69079371e-05, 3.48742796e-02, 1.08984517e-02, 1.73599350e-03,
 -3.03483359e-03, 3.46882227e-02, 1.08125996e-02, 1.82299193e-03,
  5.29867036e-05, 4.97859128e-04, 0.00000000e+00, 1.53135028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14700078, -0.09666475,  0.11074817, -0.09666475,  0.36686873,
        0.19190818,  0.11074817,  0.19190818,  0.31450474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.911417862819988e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25741873,  0.08766417, -0.96231522, -0.02265362,  0.99615009,
        0.08468661,  0.96603437,  0.        ,  0.2584136 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718134, -0.03866133,  0.22659824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -8.13530429,  -2.89889652,  -8.13530429,
        12.27684606, -10.21645034,  -2.89889652, -10.21645034,
        37.30724989,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001258259177452703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41174221e-14,  4.41174221e-14,  1.00000000e+00,  1.94634693e-27,
        1.00000000e+00, -4.41174221e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41174221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03107678, -0.06002311,  0.06188822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08492312e-03, 3.84476558e-03, 6.85533737e-04, 1.02779332e-04,
 -1.91213404e-06, 1.55183519e-05,-2.99362305e-05,-2.61584799e-05,
  3.48463188e-05,-9.21061457e-06,-5.26959476e-05, 1.02397516e-04,
  2.64293130e-03, 2.57589802e-03, 7.94064066e-03, 3.70173456e-03,
 -8.74562057e-06, 1.89731380e-05,-1.21645387e+00, 1.57413048e-03,
  5.43748154e-04, 3.68382644e-05]


--- Step 1965 ---
qpos:
[-0.0134501 , 1.32944022,-0.01903016, 0.94609578, 0.00424986, 1.33226187,
 -0.03037091, 0.94354325, 0.01691071, 1.33776141,-0.0235421 , 0.9553352 ,
  1.35600655,-0.00474551, 1.13239184, 0.06005935,-0.00168306,-0.09794673,
  0.08165138, 0.54525787,-0.01098854,-0.00563813, 0.83817738]

qacc:
[ 2.32946126e-01,-2.58735684e+00, 1.10288263e+01,-1.63273989e+01,
 -7.27488240e-03, 1.86039897e+00,-6.17792472e+00, 5.94044261e+00,
  3.15815016e-02, 2.94813364e+00,-8.32503041e+00, 4.63714495e+00,
  5.92031732e-01,-1.24756869e+00, 2.52261031e+00,-4.99658212e+00,
  9.87452935e-01, 1.50608091e+00, 9.65125506e-01, 6.90300761e+01,
  6.19710700e+01, 1.18610332e+00]

qfrc_actuator:
[ 5.79978129e-03, 3.82269405e-02, 1.15119397e-02, 1.76136527e-03,
  5.59663916e-05, 3.48539929e-02, 1.08583492e-02, 1.73776495e-03,
 -3.04624638e-03, 3.47443287e-02, 1.07737498e-02, 1.81254624e-03,
  5.26412518e-05, 4.58330732e-04, 0.00000000e+00, 1.51930864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14703531, -0.10366397,  0.10427447, -0.10366397,  0.85219214,
        0.70102827,  0.10427447,  0.70102827,  0.84395921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010016558002582179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25742561,  0.08766581, -0.96231323, -0.02265465,  0.99614994,
        0.08468802,  0.96603252,  0.        ,  0.25842055])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718326, -0.03866326,  0.22659762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001265156468559861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09692265e-14,  4.38769058e-14,  1.00000000e+00,  4.81295716e-28,
        1.00000000e+00, -4.38769058e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09692265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02850404, -0.13054743,  0.06188767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10107832e-03, 3.78401610e-03, 7.41757336e-04,-1.98015368e-05,
 -2.06944924e-06,-1.83505708e-05,-4.12419071e-05, 7.53172806e-07,
  9.16272349e-06, 4.37621198e-05,-4.36368830e-05,-9.87659588e-06,
  2.64055979e-03, 2.55325042e-03, 7.63618742e-03, 3.71589030e-03,
 -1.06642062e-05, 3.90715641e-05,-1.21645962e+00, 1.57122316e-03,
  5.44880806e-04, 5.90241724e-05]


--- Step 1966 ---
qpos:
[-0.01345536, 1.32943644,-0.01903072, 0.9460959 , 0.00425084, 1.33226266,
 -0.03037285, 0.94354295, 0.01691034, 1.33776206,-0.02354472, 0.95533625,
  1.35602987,-0.00475396, 1.13242147, 0.06005269,-0.00167055,-0.09796104,
  0.08166198, 0.54529492,-0.01053242,-0.00576018, 0.8381583 ]

qacc:
[ 3.48089503e-01,-1.47897293e+00, 4.83486233e+00,-3.31224653e+00,
 -6.95093340e-02, 2.97334918e+00,-1.03669069e+01, 1.32994733e+01,
 -4.74785001e-03, 1.18715692e+00,-2.03584180e+00,-4.33366173e+00,
  5.02764018e-01,-7.49952829e-01,-1.45558148e+00, 2.45411707e+00,
  9.01073347e-01, 1.41950531e+00, 2.58957830e-01, 6.45239630e+01,
  5.76771561e+01, 8.81981959e-01]

qfrc_actuator:
[ 5.84560780e-03, 3.82097595e-02, 1.15197641e-02, 1.76144270e-03,
  3.72014941e-05, 3.48592858e-02, 1.08173732e-02, 1.75682084e-03,
 -3.05299373e-03, 3.47775989e-02, 1.07518485e-02, 1.78802195e-03,
  4.09456069e-05, 4.02841534e-04, 0.00000000e+00, 1.56793057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14707693, -0.10138638,  0.10654776, -0.10138638,  0.34948759,
        0.19260548,  0.10654776,  0.19260548,  0.33035222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010141766291228357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25743053,  0.08766732, -0.96231178, -0.02265547,  0.99614981,
        0.08468936,  0.96603119,  0.        ,  0.25842552])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718529, -0.03866517,  0.22659702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.40447777,   6.73634893,   5.40447777,
        23.17230353, -11.66197964,   6.73634893, -11.66197964,
        17.99260548,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012769167893191546
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34728024e-14,  4.34728024e-14,  1.00000000e+00,  1.88988455e-27,
        1.00000000e+00, -4.34728024e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34728024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02849332, -0.1305288 ,  0.06188674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11942864e-03, 3.71918316e-03, 6.95579802e-04, 6.66994339e-06,
 -1.99869302e-05,-1.29087248e-05,-4.92376021e-05, 1.73106505e-05,
 -1.33541710e-06, 4.86596631e-05,-1.85990394e-05,-2.47355525e-05,
  2.62062612e-03, 2.53669435e-03, 7.54358813e-03, 3.76206337e-03,
 -7.68879705e-06, 1.43109917e-05,-1.21645180e+00, 1.57334872e-03,
  5.44853326e-04, 2.77092641e-05]


--- Step 1967 ---
qpos:
[-0.01346073, 1.32943319,-0.01903159, 0.94609638, 0.00425163, 1.33226307,
 -0.03037482, 0.94354254, 0.01690993, 1.33776293,-0.02354701, 0.95533871,
  1.35605269,-0.00476247, 1.13245191, 0.06004564,-0.00165472,-0.09796997,
  0.08167124, 0.54533269,-0.01010075,-0.00572129, 0.83813931]

qacc:
[-4.88070625e-02, 2.13231933e+00,-6.86617465e+00, 9.84025170e+00,
 -8.10136992e-02,-5.97967757e-01, 1.58597311e+00,-2.48503482e+00,
 -1.62345844e-02, 1.81087512e+00,-8.40117823e+00, 2.33760768e+01,
 -4.09834005e-01, 3.37963692e-01, 2.44324579e+00,-6.73880054e+00,
  8.30649739e-01, 1.34728705e+00,-3.34034553e-01, 6.07863065e+01,
  5.41240252e+01, 6.44479101e-01]

qfrc_actuator:
[ 5.80370337e-03, 3.82186453e-02, 1.15065381e-02, 1.77914265e-03,
  2.56488411e-05, 3.48265997e-02, 1.08118149e-02, 1.75039726e-03,
 -3.05688583e-03, 3.47969860e-02, 1.07755638e-02, 1.86195141e-03,
  2.77456193e-05, 4.44104527e-04, 0.00000000e+00, 1.51106906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14711736, -0.10348847,  0.10456412, -0.10348847,  0.50288189,
        0.35210476,  0.10456412,  0.35210476,  0.49560001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010261888049054729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2574347 ,  0.08766862, -0.96231055, -0.02265618,  0.99614969,
        0.08469053,  0.96603006,  0.        ,  0.25842974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718722, -0.03866708,  0.22659643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.50617513,   6.65348121,   5.50617513,
        25.29313251, -13.78452628,   6.65348121, -13.78452628,
        20.04392809,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012726440375025808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36187572e-14,  4.36187572e-14,  1.00000000e+00,  1.90259598e-27,
        1.00000000e+00, -4.36187572e-14, -1.00000000e+00,  0.00000000e+00,
       -4.36187572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0285018 , -0.13053449,  0.06188715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03645707e-03, 3.72242308e-03, 6.49542588e-04, 2.01253622e-05,
 -2.33499435e-05,-4.89431026e-05,-1.31782124e-05,-7.85628352e-06,
 -4.67879261e-06, 4.19299832e-05, 3.03837005e-05, 7.42492895e-05,
  2.59134298e-03, 2.59203753e-03, 7.60234810e-03, 3.71066392e-03,
 -8.78149329e-07, 8.58576610e-08,-1.21644750e+00, 1.57521997e-03,
  5.44394156e-04, 8.37799630e-06]


--- Step 1968 ---
qpos:
[-0.01346649, 1.32943011,-0.0190331 , 0.94609678, 0.0042521 , 1.3322631 ,
 -0.03037684, 0.9435417 , 0.01690933, 1.33776329,-0.02354804, 0.95534101,
  1.35607446,-0.00477118, 1.13248529, 0.06003822,-0.00164674,-0.09797454,
  0.08167776, 0.54536079,-0.00989034,-0.00569921, 0.83812368]

qacc:
[-1.64324903e-01, 1.81402626e+00,-5.47556198e+00, 3.66783777e+00,
 -1.34183930e-01,-1.10527796e+00, 3.87716684e+00,-7.99557355e+00,
 -7.83431335e-02,-4.31626079e+00, 1.35897104e+01,-1.32534081e+01,
 -8.52729549e-01, 6.71905855e-01, 5.46675201e+00,-1.26973600e+01,
 -1.96089954e+00, 1.08868454e+00,-6.84646874e-01,-6.74142669e+01,
  8.80992383e+01, 5.51273943e+00]

qfrc_actuator:
[ 5.78077872e-03, 3.82604705e-02, 1.14991313e-02, 1.77160101e-03,
  7.63955853e-07, 3.48070528e-02, 1.08092928e-02, 1.72902723e-03,
 -3.07678565e-03, 3.47371337e-02, 1.08260144e-02, 1.85122359e-03,
  1.37055012e-05, 5.07815184e-04, 0.00000000e+00, 1.39125246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14716075, -0.09732188,  0.11038451, -0.09732188,  0.54907811,
        0.35435546,  0.11038451,  0.35435546,  0.45958268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010389186779236059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25743866,  0.08766996, -0.96230936, -0.02265688,  0.99614958,
        0.08469172,  0.96602898,  0.        ,  0.25843374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06718919, -0.03866895,  0.22659586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012940411424739034
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57950330e-14,  8.57950330e-14,  1.00000000e+00,  7.36078768e-27,
        1.00000000e+00, -8.57950330e-14, -1.00000000e+00,  0.00000000e+00,
       -8.57950330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05304559, -0.10939283,  0.0618854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01928321e-03, 3.73820756e-03, 6.57288251e-04,-5.45634606e-06,
 -3.86683904e-05,-4.94382295e-05,-1.38255077e-05,-2.34130015e-05,
 -2.26614597e-05,-2.85339681e-05, 6.42687647e-05,-6.86731619e-06,
  2.60234467e-03, 2.65935658e-03, 7.56100357e-03, 3.61082714e-03,
  9.11667070e-06,-5.47305105e-06,-1.21644608e+00, 1.57695251e-03,
  5.43527382e-04,-1.07830051e-06]


--- Step 1969 ---
qpos:
[-0.01347299, 1.32942747,-0.0190345 , 0.94609632, 0.00425226, 1.332263  ,
 -0.03037895, 0.9435399 , 0.01690867, 1.33776337,-0.02354895, 0.95534183,
  1.35609512,-0.00477989, 1.13251755, 0.06003058,-0.00164605,-0.09797516,
  0.08167901, 0.54538025,-0.00988587,-0.00569251, 0.83811112]

qacc:
[-3.14973820e-01,-1.20277677e+00, 6.35193771e+00,-1.56263544e+01,
 -1.31036625e-01,-1.55584491e+00, 6.82690109e+00,-1.69509587e+01,
 -2.49477499e-02,-3.28436624e+00, 1.32421857e+01,-2.84297521e+01,
 -8.19404791e-01, 7.23397948e-01,-8.96701839e-01, 8.58645415e-01,
 -1.82459607e+00, 9.86059199e-01,-1.31708411e+00,-6.26326805e+01,
  8.20695800e+01, 4.96969758e+00]

qfrc_actuator:
[ 5.80506582e-03, 3.82866977e-02, 1.14956786e-02, 1.73146538e-03,
 -1.41655635e-05, 3.48132869e-02, 1.08086076e-02, 1.68128646e-03,
 -3.07062227e-03, 3.47013777e-02, 1.08204397e-02, 1.77294831e-03,
  1.52056218e-05, 5.67390164e-04, 0.00000000e+00, 1.44680951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14721051, -0.10659177,  0.10153389, -0.10659177,  0.643631  ,
        0.52114953,  0.10153389,  0.52114953,  0.69432095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010533195627500727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57443086e-01,  8.76713959e-02, -9.62308050e-01, -2.26576391e-02,
        9.96149450e-01,  8.46930047e-02,  9.66027789e-01,  3.46944695e-18,
        2.58438215e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06719141, -0.03867075,  0.22659528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.554266  ,  1.18798575, -8.554266  ,  9.01556841,
        2.73051971,  1.18798575,  2.73051971, 28.29787211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013117093438438227
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46394081e-14,  4.23197041e-14,  1.00000000e+00,  3.58191470e-27,
        1.00000000e+00, -4.23197041e-14, -1.00000000e+00,  0.00000000e+00,
       -8.46394081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300437, -0.10938752,  0.06188396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06295264e-03, 3.75600237e-03, 6.86061281e-04,-4.12396455e-05,
 -3.77543807e-05,-2.45239651e-05,-1.26152510e-05,-5.01793347e-05,
 -7.21937797e-06,-3.91870089e-05,-4.04029023e-06,-7.73973154e-05,
  2.65604439e-03, 2.72860005e-03, 7.41351646e-03, 3.68407161e-03,
  2.30281032e-06,-1.35585370e-06,-1.21644106e+00, 1.58150509e-03,
  5.44928519e-04, 2.04852671e-05]


--- Step 1970 ---
qpos:
[-0.01348046, 1.32942307,-0.01903539, 0.94609591, 0.00425217, 1.33226264,
 -0.03038107, 0.94353825, 0.01690801, 1.33776353,-0.02355031, 0.95534066,
  1.35611529,-0.00478722, 1.13254103, 0.06002304,-0.0016522 ,-0.09797217,
  0.08167286, 0.54539185,-0.01007458,-0.0057    , 0.83810127]

qacc:
[-4.08359954e-01,-3.58267179e+00, 8.82454448e+00,-6.10633264e+00,
 -1.08005716e-01,-7.81282507e-02,-4.35333224e-01, 2.13979968e+00,
 -9.54624015e-04,-2.08244092e+00, 1.09181691e+01,-3.23657960e+01,
 -9.26980536e-01, 1.98838295e+00,-1.31937587e+01, 2.74862132e+01,
 -1.71061526e+00, 9.02657269e-01,-1.85090314e+00,-5.86578884e+01,
  7.70415398e+01, 4.51737039e+00]

qfrc_actuator:
[ 5.80493284e-03, 3.83032238e-02, 1.14940969e-02, 1.72582702e-03,
 -2.30025862e-05, 3.47993999e-02, 1.08091002e-02, 1.68944022e-03,
 -3.06662584e-03, 3.47155723e-02, 1.07996286e-02, 1.67329061e-03,
  2.60733076e-05, 6.24378275e-04, 0.00000000e+00, 1.73187699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14725985, -0.10069228,  0.10745477, -0.10069228,  0.20109748,
        0.05044945,  0.10745477,  0.05044945,  0.19453434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010673983867211245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57446964e-01,  8.76730255e-02, -9.62306864e-01, -2.26584048e-02,
        9.96149306e-01,  8.46944868e-02,  9.66026737e-01,  6.93889390e-18,
        2.58442145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06719354, -0.03867242,  0.22659473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.55864455,  1.15601914, -8.55864455,  9.06088194,
        3.14294214,  1.15601914,  3.14294214, 31.90529043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013112404020124147
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23348389e-14,  8.46696779e-14,  1.00000000e+00, -3.58447718e-27,
        1.00000000e+00, -8.46696779e-14, -1.00000000e+00,  0.00000000e+00,
        4.23348389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300552, -0.1093911 ,  0.06188401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09998852e-03, 3.75036328e-03, 6.78741849e-04,-4.48101235e-06,
 -3.11214283e-05,-3.14309798e-05,-7.21188295e-06, 5.87772125e-06,
 -2.67797267e-07,-1.05552640e-05,-3.11851785e-05,-1.02737884e-04,
  2.72233011e-03, 2.78618928e-03, 7.46869999e-03, 3.98059850e-03,
  7.99063884e-08, 5.82204888e-08,-1.21643999e+00, 1.58441709e-03,
  5.45837501e-04, 2.75176298e-05]


--- Step 1971 ---
qpos:
[-0.01348809, 1.32941866,-0.01903642, 0.9460967 , 0.00425189, 1.33226197,
 -0.03038289, 0.94353738, 0.01690737, 1.33776283,-0.02355136, 0.95534043,
  1.35613538,-0.00479407, 1.13256551, 0.0600153 ,-0.00166481,-0.09796585,
  0.08165751, 0.54539618,-0.01044582,-0.00572073, 0.83809377]

qacc:
[-6.89478271e-02, 2.39625575e+00,-1.02805621e+01, 2.28180923e+01,
 -8.14510235e-02, 1.46017739e-01,-2.59204796e+00, 1.16029255e+01,
  8.80433354e-03,-3.48098852e-01,-2.11554054e+00, 1.31146337e+01,
 -4.70517671e-01, 9.17508161e-01, 2.12307975e+00,-5.16910639e+00,
 -1.61479742e+00, 8.34699882e-01,-2.30146649e+00,-5.53533976e+01,
  7.28500996e+01, 4.13721919e+00]

qfrc_actuator:
[ 5.79066620e-03, 3.82626920e-02, 1.15109591e-02, 1.79359221e-03,
 -2.81147200e-05, 3.47913651e-02, 1.08280014e-02, 1.73041782e-03,
 -3.06396286e-03, 3.46352073e-02, 1.08057085e-02, 1.72166777e-03,
  3.18943787e-05, 6.42915099e-04, 0.00000000e+00, 1.62183175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14728737, -0.10327724,  0.10501134, -0.10327724,  0.33032493,
        0.18001498,  0.10501134,  0.18001498,  0.32432967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010751662023471276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57452050e-01,  8.76748907e-02, -9.62305334e-01, -2.26593383e-02,
        9.96149142e-01,  8.46961679e-02,  9.66025360e-01, -3.46944695e-18,
        2.58447294e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06719501, -0.038674  ,  0.22659422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.58262875,  0.96190469, -8.58262875,  8.98239498,
        3.08747696,  0.96190469,  3.08747696, 36.18448636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001296230161164813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.56501459e-14,  4.28250730e-14,  1.00000000e+00,  3.66797375e-27,
        1.00000000e+00, -4.28250730e-14, -1.00000000e+00,  0.00000000e+00,
       -8.56501459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0530402 , -0.1094017 ,  0.06188523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13394349e-03, 3.79757915e-03, 6.70597670e-04, 6.10822133e-05,
 -2.34820339e-05,-2.66546641e-05, 1.21048416e-05, 3.99516577e-05,
  2.50505076e-06,-9.53359136e-05,-2.53158456e-06, 4.47575007e-05,
  2.75272890e-03, 2.73542536e-03, 7.90742743e-03, 3.86541891e-03,
  1.58050385e-06,-7.23347260e-07,-1.21644218e+00, 1.58608358e-03,
  5.46354369e-04, 2.27862456e-05]


--- Step 1972 ---
qpos:
[-0.01349559, 1.32941436,-0.01903722, 0.94609757, 0.00425176, 1.3322612 ,
 -0.03038372, 0.94353764, 0.01690676, 1.33776098,-0.02355143, 0.95534352,
  1.35615529,-0.00480127, 1.13259423, 0.06000756,-0.0016741 ,-0.09795323,
  0.08164474, 0.54540247,-0.01084261,-0.00556436, 0.83808569]

qacc:
[ 5.52792831e-02,-2.93435900e-01, 9.72764338e-01, 3.46109234e-02,
  6.54110992e-02,-8.80568397e-01, 3.80958224e-01, 1.28693214e+01,
  1.16873955e-02, 1.56855523e+00,-1.36246676e+01, 5.09117261e+01,
 -9.90492801e-02,-1.61956505e-01, 6.25511969e+00,-1.27823117e+01,
  8.32249552e-01, 1.57463247e+00, 6.47239561e-01, 6.72565004e+01,
  5.90134532e+01, 1.81230354e-02]

qfrc_actuator:
[ 5.80300862e-03, 3.81868911e-02, 1.15215604e-02, 1.79771368e-03,
  4.55274778e-06, 3.48225029e-02, 1.08931527e-02, 1.79038307e-03,
 -3.06212184e-03, 3.45877916e-02, 1.08628560e-02, 1.89224939e-03,
  3.46683737e-05, 6.56488880e-04, 0.00000000e+00, 1.48800753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14731681, -0.10268102,  0.10563546, -0.10268102,  0.3288701 ,
        0.17647557,  0.10563546,  0.17647557,  0.31885667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010834132217623499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57457275e-01,  8.76767963e-02, -9.62303762e-01, -2.26602945e-02,
        9.96148974e-01,  8.46978847e-02,  9.66023945e-01, -3.46944695e-18,
        2.58452583e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06719654, -0.03867563,  0.22659369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012728312865989827
  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([-0.02850702, -0.13053155,  0.06188711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15441989e-03, 3.72273275e-03, 6.87471636e-04, 5.37721230e-06,
  1.88065721e-05, 1.99667437e-05, 6.24878532e-05, 6.04403501e-05,
  3.31629460e-06,-9.92985423e-05, 3.95535895e-05, 1.68723372e-04,
  2.75963328e-03, 2.72524063e-03, 7.85657600e-03, 3.74133186e-03,
  6.17632053e-06,-3.33114987e-06,-1.21644711e+00, 1.58679307e-03,
  5.46552927e-04, 8.31974085e-06]


--- Step 1973 ---
qpos:
[-0.01350294, 1.32940888,-0.01903708, 0.94609752, 0.00425188, 1.33226113,
 -0.03038437, 0.94353894, 0.01690618, 1.33775877,-0.02355092, 0.95534583,
  1.35617578,-0.00480833, 1.13261932, 0.06000017,-0.00168028,-0.09793472,
  0.08163192, 0.5454105 ,-0.01126343,-0.00524198, 0.83807699]

qacc:
[ 6.53398146e-02,-5.71792437e+00, 1.86447734e+01,-2.61241836e+01,
  1.06359272e-01, 2.18427094e+00,-8.13187027e+00, 1.85698932e+01,
  1.15330334e-02,-3.40667809e+00, 1.21117910e+01,-1.93772218e+01,
  5.54684394e-01,-4.53229025e-01,-6.44341180e+00, 1.46514074e+01,
  7.76055623e-01, 1.47137479e+00,-1.33417514e-02, 6.30152291e+01,
  5.53437827e+01, 6.98750921e-02]

qfrc_actuator:
[ 5.81333584e-03, 3.81785655e-02, 1.15458650e-02, 1.74653142e-03,
  2.41131391e-05, 3.48948136e-02, 1.09142267e-02, 1.84332981e-03,
 -3.06078889e-03, 3.45962715e-02, 1.08965767e-02, 1.84933936e-03,
  3.56258760e-05, 5.96720345e-04, 0.00000000e+00, 1.65934438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14735593, -0.10153987,  0.10678682, -0.10153987,  0.28573347,
        0.13157839,  0.10678682,  0.13157839,  0.27246924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010942724292040129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25746218,  0.08767867, -0.96230228, -0.02266121,  0.99614881,
        0.08469958,  0.96602262,  0.        ,  0.25845755])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0671984 , -0.03867729,  0.22659313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001275675267495252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.70302226e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.70302226e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02850295, -0.13052655,  0.06188681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15822900e-03, 3.70867012e-03, 7.00896786e-04,-4.99459497e-05,
  3.06609667e-05, 9.74053405e-05, 3.38659320e-05, 5.67789057e-05,
  3.28561635e-06,-3.36932516e-05, 2.37673438e-05,-4.07643088e-05,
  2.76958518e-03, 2.68359685e-03, 7.64420886e-03, 3.91251387e-03,
 -2.08320766e-06, 3.45116103e-06,-1.21644956e+00, 1.58847573e-03,
  5.45613029e-04, 1.92834343e-05]


--- Step 1974 ---
qpos:
[-0.01350963, 1.32940346,-0.01903638, 0.94609643, 0.00425224, 1.33226134,
 -0.0303846 , 0.94354157, 0.01690576, 1.33775627,-0.02355057, 0.95534695,
  1.35619683,-0.00481591, 1.13264438, 0.05999293,-0.00168354,-0.09791066,
  0.08161683, 0.54542001,-0.01170702,-0.00476283, 0.83806758]

qacc:
[  0.27541573, -3.21399479, 12.7241566 ,-23.26503218,  0.10288246,
   1.52817433, -7.30995052, 21.72917711,  0.07184042, -1.98864523,
   8.43925186,-20.87049959,  0.82301262, -1.25833002, -0.58903409,
   1.84956963,  0.72916499,  1.38576095, -0.56892634, 59.4951628 ,
  52.30208018,  0.12791289]

qfrc_actuator:
[ 5.85788387e-03, 3.82119791e-02, 1.15953254e-02, 1.69863720e-03,
  3.56505416e-05, 3.48845469e-02, 1.09270176e-02, 1.90946655e-03,
 -3.04201874e-03, 3.45669630e-02, 1.08807535e-02, 1.78763932e-03,
  3.54313343e-05, 5.45840245e-04, 0.00000000e+00, 1.64063006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14738545, -0.10229332,  0.1061063 , -0.10229332,  0.56843573,
        0.40591965,  0.1061063 ,  0.40591965,  0.5387182 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000110238999201831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57467310e-01,  8.76805056e-02, -9.62300740e-01, -2.26621438e-02,
        9.96148648e-01,  8.47012296e-02,  9.66021227e-01, -3.46944695e-18,
        2.58462741e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672    , -0.03867895,  0.22659257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012640143727122508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39165507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39165507e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02851669, -0.13054301,  0.06188772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19510102e-03, 3.80136565e-03, 7.02899227e-04,-5.20786595e-05,
  2.96376256e-05, 5.19541856e-05, 3.73676043e-05, 7.13759028e-05,
  2.07077013e-05,-4.44888437e-05,-2.08896290e-05,-6.29504115e-05,
  2.74023988e-03, 2.62544153e-03, 7.82557463e-03, 3.87655236e-03,
 -5.90433176e-06, 1.81124686e-05,-1.21645472e+00, 1.59031338e-03,
  5.44130638e-04, 3.90311654e-05]


--- Step 1975 ---
qpos:
[-0.01351628, 1.32939864,-0.01903629, 0.94609547, 0.00425265, 1.33226112,
 -0.03038369, 0.94354432, 0.01690554, 1.3377537 ,-0.02355117, 0.95534941,
  1.35621745,-0.00482357, 1.13267073, 0.05998533,-0.00169122,-0.0978934 ,
  0.08160615, 0.54543373,-0.01212309,-0.00449437, 0.83805422]

qacc:
[ 2.28498333e-02, 2.63432406e+00,-7.94406721e+00, 8.15675120e+00,
  2.23272416e-02,-3.44094828e+00, 1.03258812e+01,-7.43852006e+00,
  8.15082262e-02, 4.79817206e+00,-1.84722735e+01, 3.15883326e+01,
 -3.61456173e-01, 2.90341432e-01, 3.03809085e+00,-7.78198011e+00,
 -1.10405226e+00,-1.69596059e+00, 1.10403778e+00,-8.07697070e+01,
 -6.89512569e+01,-4.14072367e+00]

qfrc_actuator:
[ 5.85139620e-03, 3.82341537e-02, 1.15711394e-02, 1.70647235e-03,
  2.45293858e-05, 3.48248810e-02, 1.09700382e-02, 1.91178397e-03,
 -3.03069237e-03, 3.45682961e-02, 1.08357097e-02, 1.85740332e-03,
  2.38748866e-05, 5.89666394e-04, 0.00000000e+00, 1.57894252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14741585, -0.10437046,  0.10410686, -0.10437046,  0.65886453,
        0.51274371,  0.10410686,  0.51274371,  0.66145787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001110684797302891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25747185,  0.08768218, -0.96229937, -0.02266298,  0.9961485 ,
        0.08470274,  0.96602   ,  0.        ,  0.25846734])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720159, -0.03868063,  0.22659201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012922802908300335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29559683e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.29559683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03105024, -0.06010641,  0.06188527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15612620e-03, 3.82025671e-03, 6.51396056e-04, 8.14237397e-06,
  6.37337021e-06,-2.14650935e-05, 5.95334280e-05, 6.63369432e-06,
  2.35513557e-05,-2.91934413e-05,-5.79435490e-05, 6.63685572e-05,
  2.70057283e-03, 2.69548234e-03, 7.82658528e-03, 3.80682866e-03,
 -6.03693012e-06, 3.93275418e-05,-1.21646214e+00, 1.59223658e-03,
  5.42194922e-04, 6.61244258e-05]


--- Step 1976 ---
qpos:
[-0.0135236 , 1.32939268,-0.01903693, 0.94609512, 0.00425261, 1.33226098,
 -0.03038287, 0.94354536, 0.01690534, 1.33775111,-0.02355173, 0.95535091,
  1.35623779,-0.00483011, 1.13269214, 0.0599775 ,-0.00170293,-0.09788244,
  0.08159662, 0.54545169,-0.01251408,-0.0044204 , 0.83803718]

qacc:
[-2.87708442e-01, 1.53275004e+00,-8.03265613e+00, 1.47421122e+01,
 -1.95658753e-01,-2.55278453e+00, 1.19617957e+01,-3.01576635e+01,
  1.01556312e-02,-1.78219277e+00, 7.72679869e+00,-1.78313046e+01,
 -7.87854333e-01, 1.68989467e+00,-6.53851229e+00, 1.23987919e+01,
 -1.00709404e+00,-1.57920803e+00, 2.87876997e-01,-7.46372840e+01,
 -6.35249579e+01,-4.01887252e+00]

qfrc_actuator:
[ 5.79687007e-03, 3.82135308e-02, 1.15036928e-02, 1.72922649e-03,
 -3.55987018e-05, 3.48249325e-02, 1.09593011e-02, 1.82324908e-03,
 -3.04167602e-03, 3.45879210e-02, 1.08450002e-02, 1.80870443e-03,
  5.56975242e-06, 6.19074889e-04, 0.00000000e+00, 1.74046509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1474502 , -0.10023331,  0.10814271, -0.10023331,  0.23866412,
        0.08454267,  0.10814271,  0.08454267,  0.22580955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011199829129758879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57476403e-01,  8.76838376e-02, -9.62298003e-01, -2.26638121e-02,
        9.96148355e-01,  8.47042325e-02,  9.66018765e-01, -3.46944695e-18,
        2.58471945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720327, -0.03868227,  0.22659146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.49818022,  -5.68862292,  -6.49818022,
        22.3486815 , -15.66374039,  -5.68862292, -15.66374039,
        26.52923671,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013250976959574556
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.18921197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.18921197e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03100522, -0.06016327,  0.06188247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09888832e-03, 3.77023379e-03, 6.13927180e-04, 2.40241530e-05,
 -5.63672377e-05, 2.73795444e-08,-7.96377740e-06,-8.72760568e-05,
  2.92034803e-06,-5.84629923e-06,-1.04657769e-06,-4.97149015e-05,
  2.70341782e-03, 2.72914707e-03, 7.76098949e-03, 3.98634965e-03,
 -4.89769730e-06, 1.25318280e-05,-1.21645354e+00, 1.59184964e-03,
  5.43387322e-04, 3.53015681e-05]


--- Step 1977 ---
qpos:
[-0.01353125, 1.32938499,-0.01903768, 0.94609542, 0.00425229, 1.33226067,
 -0.03038178, 0.94354465, 0.01690525, 1.33774882,-0.02355119, 0.95535103,
  1.35625822,-0.00483556, 1.13270796, 0.05996984,-0.00171834,-0.09787742,
  0.08158549, 0.54547385,-0.01288196,-0.00452748, 0.83801661]

qacc:
[-1.38466135e-01,-8.12195264e-01,-1.38650648e+00, 9.72577475e+00,
 -1.16355891e-01,-3.95952295e+00, 1.62598094e+01,-3.43582474e+01,
  4.50568400e-02,-4.98040168e+00, 1.94656434e+01,-3.28549318e+01,
 -4.20032604e-01, 1.31100494e+00,-8.70461841e+00, 1.85688723e+01,
 -9.26920130e-01,-1.48136802e+00,-4.00158775e-01,-6.95420048e+01,
 -5.90241206e+01,-3.89973736e+00]

qfrc_actuator:
[ 5.82074823e-03, 3.82042210e-02, 1.14994198e-02, 1.76040684e-03,
 -3.58744788e-05, 3.48072154e-02, 1.09703386e-02, 1.73522566e-03,
 -3.03044861e-03, 3.46540005e-02, 1.09217921e-02, 1.74396140e-03,
  0.00000000e+00, 6.38669251e-04, 0.00000000e+00, 1.89390952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14747014, -0.09764844,  0.11050894, -0.09764844,  0.21161062,
        0.05667612,  0.11050894,  0.05667612,  0.19755056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001125340974227583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25748275,  0.08768565, -0.96229614, -0.02266484,  0.99614819,
        0.08470584,  0.96601705,  0.        ,  0.25847836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720458, -0.03868389,  0.22659091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.48020731,  -5.70908838,  -6.48020731,
        24.49001983, -17.99498833,  -5.70908838, -17.99498833,
        29.06191098,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013366944401170533
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15286767e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.15286767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03098976, -0.06018481,  0.06188145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15671991e-03, 3.81762988e-03, 6.45982610e-04, 2.48168263e-05,
 -3.35450122e-05,-2.18849999e-05, 7.57781484e-06,-9.02768400e-05,
  1.29500957e-05, 6.11901212e-05, 7.40820653e-05,-6.61063214e-05,
  2.71233888e-03, 2.69315336e-03, 8.00828800e-03, 4.15142167e-03,
  1.62444448e-06,-6.76475483e-07,-1.21644934e+00, 1.59107127e-03,
  5.44597349e-04, 1.93260745e-05]


--- Step 1978 ---
qpos:
[-0.01353912, 1.32937571,-0.01903821, 0.94609709, 0.0042518 , 1.33226039,
 -0.03038059, 0.9435415 , 0.01690542, 1.33774735,-0.02355055, 0.95535108,
  1.35627889,-0.00483977, 1.13271791, 0.0599625 ,-0.00173192,-0.09787829,
  0.08158531, 0.54549841,-0.01312991,-0.00472915, 0.83799566]

qacc:
[-9.51346166e-02,-3.25256539e-01,-4.26961032e+00, 2.06480813e+01,
 -6.82313947e-02,-4.39785046e+00, 1.94028067e+01,-4.51392322e+01,
  1.11262613e-01, 6.99445751e-01,-8.13528576e-01,-7.35960278e-01,
 -3.73848713e-01, 1.39418492e+00,-9.60806437e+00, 2.11229099e+01,
  4.59594176e-01,-1.47389689e+00, 2.73776590e+00,-6.91149930e+00,
 -7.60417710e+01,-1.99431159e+00]

qfrc_actuator:
[ 5.83833073e-03, 3.82559994e-02, 1.15327376e-02, 1.83186883e-03,
 -3.57464031e-05, 3.48145636e-02, 1.09763612e-02, 1.61273858e-03,
 -3.00598622e-03, 3.47121394e-02, 1.09314759e-02, 1.74139309e-03,
  0.00000000e+00, 6.69700545e-04, 0.00000000e+00, 2.05995208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14747322, -0.09528957,  0.11255331, -0.09528957,  0.19481771,
        0.04008266,  0.11255331,  0.04008266,  0.18140789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011261669191156565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25749088,  0.08768754, -0.96229379, -0.02266605,  0.99614803,
        0.08470746,  0.96601485,  0.        ,  0.25848656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720548, -0.03868551,  0.22659037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001346454845217282
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12276367e-14,  4.12276367e-14,  1.00000000e+00,  1.69971803e-27,
        1.00000000e+00, -4.12276367e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12276367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0060528 , -0.07666145,  0.06188058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19066035e-03, 3.95558705e-03, 6.85437494e-04, 6.40730517e-05,
 -1.96716247e-05,-5.99206067e-06,-4.55759748e-08,-1.25015569e-04,
  3.21102879e-05, 1.04500554e-04, 2.81196187e-05,-1.29823177e-07,
  2.70780848e-03, 2.66950156e-03, 8.28716450e-03, 4.30905599e-03,
  1.24343316e-05,-3.03805617e-06,-1.21644865e+00, 1.58992331e-03,
  5.45875060e-04, 1.51803390e-05]


--- Step 1979 ---
qpos:
[-0.01354731, 1.32936516,-0.019039  , 0.94609891, 0.00425123, 1.33226056,
 -0.03038018, 0.9435376 , 0.01690572, 1.33774598,-0.02354916, 0.95535009,
  1.35630001,-0.00484301, 1.1327214 , 0.05995565,-0.00173955,-0.09788279,
  0.08159225, 0.5455215 ,-0.0132082 ,-0.00492272, 0.83797828]

qacc:
[-1.36384596e-01,-7.23407221e-01, 3.44853129e-02, 2.48606245e+00,
 -3.91759341e-02, 1.39988310e+00,-2.29552000e+00,-6.96875334e+00,
  5.44280814e-02,-3.70544733e+00, 1.43109121e+01,-2.44110597e+01,
  1.03635071e-02, 7.70444264e-01,-1.10085761e+01, 2.46686649e+01,
  1.48614182e+00,-9.08071053e-01, 1.77931324e+00, 4.96663361e+01,
 -6.89105661e+01, 1.24366954e+00]

qfrc_actuator:
[ 5.85216444e-03, 3.83272430e-02, 1.15350489e-02, 1.83774536e-03,
 -3.53797375e-05, 3.48545793e-02, 1.09439374e-02, 1.57747483e-03,
 -3.00928741e-03, 3.46761044e-02, 1.09547303e-02, 1.68662478e-03,
  8.39091886e-06, 6.89261540e-04, 0.00000000e+00, 2.25107821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14745948, -0.09304499,  0.11439811, -0.09304499,  0.21257234,
        0.05295914,  0.11439811,  0.05295914,  0.19053347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011224803400645966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25750033,  0.08768946, -0.96229109, -0.02266738,  0.99614786,
        0.0847091 ,  0.9660123 ,  0.        ,  0.25849609])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720595, -0.03868715,  0.22658982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.54448202,  -4.20328061,  -7.54448202,
        17.962562  , -16.73962376,  -4.20328061, -16.73962376,
        38.68236875,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013613039897608509
  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([-0.0326267 , -0.08861432,  0.06187935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21574206e-03, 4.10681325e-03, 6.76279517e-04, 1.05631805e-06,
 -1.12438527e-05, 3.29282901e-05,-3.72726642e-05,-3.83464312e-05,
  1.56625751e-05, 2.72498947e-05, 4.68538145e-05,-5.08551937e-05,
  2.70381389e-03, 2.62727920e-03, 8.58026731e-03, 4.48374700e-03,
  1.40034385e-05, 2.06460045e-06,-1.21644583e+00, 1.58714929e-03,
  5.45621548e-04, 2.94871547e-05]


--- Step 1980 ---
qpos:
[-0.01355549, 1.32935487,-0.01904061, 0.94609964, 0.00425075, 1.33226064,
 -0.03037999, 0.94353334, 0.01690578, 1.33774471,-0.02354743, 0.95534812,
  1.35632128,-0.00484634, 1.13272481, 0.05994926,-0.00174164,-0.09789063,
  0.08160332, 0.54554331,-0.01312766,-0.00510889, 0.83796423]

qacc:
[ 6.15664830e-03, 6.94354974e-01, 3.71851301e-01,-1.30728255e+01,
  4.03320552e-02,-1.34276090e-01, 1.05205661e+00,-5.15830445e+00,
 -9.85343223e-02,-2.45842299e+00, 1.01573045e+01,-2.00982580e+01,
  2.20413125e-01,-3.01436464e-01,-1.50417676e+00, 5.06706695e+00,
  1.38699545e+00,-8.34797910e-01, 1.03034932e+00, 4.64238105e+01,
 -6.45507320e+01, 1.10145820e+00]

qfrc_actuator:
[ 5.88168866e-03, 3.83572261e-02, 1.15191514e-02, 1.78719565e-03,
 -1.71218434e-05, 3.48249823e-02, 1.09247756e-02, 1.55832368e-03,
 -3.04696989e-03, 3.46727322e-02, 1.09676746e-02, 1.63703018e-03,
  1.45840520e-05, 7.01710665e-04, 0.00000000e+00, 2.22617777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1474285 , -0.09524762,  0.11253024, -0.09524762,  0.40723791,
        0.21990734,  0.11253024,  0.21990734,  0.33356202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011141200125526496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25751126,  0.08769146, -0.96228798, -0.02266887,  0.99614768,
        0.08471077,  0.96600936,  0.        ,  0.25850711])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720594, -0.0386888 ,  0.22658928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.62378045,  0.4660339 ,  8.62378045,  8.83797977,
       -3.73083002,  0.4660339 , -3.73083002, 77.67395662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013632997430916075
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07182291e-14,  8.14364581e-14,  1.00000000e+00,  3.31594836e-27,
        1.00000000e+00, -8.14364581e-14, -1.00000000e+00,  0.00000000e+00,
       -4.07182291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03262494, -0.08861301,  0.06187922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26137551e-03, 4.20074528e-03, 6.73269526e-04,-5.69522850e-05,
  1.16228443e-05,-1.98333062e-05,-1.80923830e-05,-2.01474497e-05,
 -2.84333465e-05, 1.93472662e-05, 2.21008498e-05,-4.86020128e-05,
  2.68777130e-03, 2.59118448e-03, 8.90336967e-03, 4.43437900e-03,
  6.00236094e-06, 4.54212469e-06,-1.21644219e+00, 1.58464507e-03,
  5.44214568e-04, 4.15822992e-05]


--- Step 1981 ---
qpos:
[-0.01356341, 1.32934543,-0.01904261, 0.94609969, 0.00425013, 1.33226075,
 -0.03037982, 0.94352919, 0.01690553, 1.33774391,-0.02354598, 0.95534592,
  1.35634233,-0.00485017, 1.13273196, 0.05994331,-0.0017385 ,-0.09790157,
  0.08161599, 0.54556398,-0.01289726,-0.00528822, 0.83795325]

qacc:
[ 1.13258272e-01, 9.92920947e-01,-4.91188216e-01,-8.05858210e+00,
 -6.09502347e-02, 2.93323462e-01,-1.18647043e+00, 2.49346510e+00,
 -1.36306904e-01, 9.72192216e-01,-1.98668731e+00,-1.21687877e+00,
  1.25758414e-02,-4.23150171e-01, 4.16902115e+00,-6.60041375e+00,
  1.30544821e+00,-7.75497688e-01, 4.03096983e-01, 4.37439429e+01,
 -6.09435935e+01, 9.78548396e-01]

qfrc_actuator:
[ 5.90266651e-03, 3.83436642e-02, 1.15107523e-02, 1.75722568e-03,
 -4.15376797e-05, 3.48427530e-02, 1.09310946e-02, 1.56651553e-03,
 -3.06946604e-03, 3.47066492e-02, 1.09567880e-02, 1.62639670e-03,
  1.21995862e-05, 7.10565343e-04, 0.00000000e+00, 2.12475634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14739818, -0.09805676,  0.11005043, -0.09805676,  0.67934328,
        0.47397189,  0.11005043,  0.47397189,  0.56971498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011058726858686335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25752272,  0.08769345, -0.96228473, -0.02267039,  0.99614751,
        0.08471242,  0.96600626,  0.        ,  0.25851867])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720595, -0.03869046,  0.22658874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.63517918,  0.14302937,  8.63517918,  8.65882776,
       -1.35623678,  0.14302937, -1.35623678, 90.51708205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001350557698422794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.2204783e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.2204783e-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([-0.0326443 , -0.08860655,  0.06188034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28161977e-03, 4.17377568e-03, 7.06157032e-04,-3.25262378e-05,
 -1.75563140e-05, 2.64760200e-06,-2.16808040e-07, 6.59229960e-06,
 -3.92854458e-05, 4.74953159e-05,-6.02210903e-06,-1.05472403e-05,
  2.67744238e-03, 2.60458209e-03, 8.90697460e-03, 4.31013033e-03,
  7.88803634e-07, 5.61298235e-06,-1.21644146e+00, 1.58299335e-03,
  5.43448993e-04, 4.45129691e-05]


--- Step 1982 ---
qpos:
[-0.01357053, 1.32933607,-0.01904507, 0.94609944, 0.0042493 , 1.33226127,
 -0.03037959, 0.94352756, 0.01690512, 1.3377438 ,-0.02354484, 0.95534429,
  1.35636278,-0.00485481, 1.13274725, 0.05993781,-0.00173041,-0.09791543,
  0.08162818, 0.54558357,-0.01252441,-0.00546117, 0.83794504]

qacc:
[  0.33287306,  0.83103806, -2.01214747, -1.61749133, -0.08574253,
   4.67312623,-19.74034646, 45.94112761, -0.06478903,  2.71751015,
  -8.8820227 , 13.71533431, -0.26738223, -0.36644191, 10.68304654,
 -19.8753837 ,  1.23844215, -0.72755102, -0.12150982, 41.53232189,
 -57.96542738,  0.87034683]

qfrc_actuator:
[ 5.91825784e-03, 3.83387896e-02, 1.15245049e-02, 1.73963890e-03,
 -5.58514477e-05, 3.49066198e-02, 1.09525815e-02, 1.69727901e-03,
 -3.06491570e-03, 3.47625547e-02, 1.09498484e-02, 1.65653887e-03,
  1.00241159e-05, 7.35463014e-04, 0.00000000e+00, 1.88849352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1473785 , -0.08264231,  0.12202734, -0.08264231,  0.7400347 ,
        0.40137302,  0.12202734,  0.40137302,  0.41920609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011004846331351056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25753375,  0.08769537, -0.96228161, -0.02267186,  0.99614734,
        0.08471401,  0.96600329,  0.        ,  0.25852978])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720626, -0.03869213,  0.2265882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013261862449796963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18577341e-14,  4.18577341e-14,  1.00000000e+00,  1.75206991e-27,
        1.00000000e+00, -4.18577341e-14, -1.00000000e+00,  0.00000000e+00,
       -4.18577341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0326802 , -0.08859603,  0.06188244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28383839e-03, 4.12633462e-03, 7.39689491e-04,-1.57150534e-05,
 -2.46759322e-05, 6.54800894e-05, 2.21675383e-05, 1.30984328e-04,
 -1.86458686e-05, 8.06805707e-05, 1.33857882e-06, 3.11249641e-05,
  2.68703826e-03, 2.65460397e-03, 8.72043064e-03, 4.05187333e-03,
 -2.12489004e-06, 5.51897534e-06,-1.21644312e+00, 1.58201370e-03,
  5.43221557e-04, 3.97872239e-05]


--- Step 1983 ---
qpos:
[-0.01357676, 1.32932681,-0.01904805, 0.94609899, 0.00424843, 1.33226177,
 -0.03037922, 0.94352823, 0.01690479, 1.33774483,-0.02354492, 0.95534407,
  1.35638266,-0.00486021, 1.13276983, 0.05993249,-0.00171907,-0.09792366,
  0.0816398 , 0.54560418,-0.01217633,-0.00547009, 0.83793669]

qacc:
[ 3.81706657e-01, 1.16225372e+00,-3.21033309e+00, 3.37487739e-01,
 -1.71906572e-02, 3.53548615e+00,-1.63201803e+01, 4.09181437e+01,
  3.34100705e-02, 7.22377784e+00,-2.46028680e+01, 3.69591502e+01,
 -2.60693609e-01,-3.41403623e-01, 1.02237169e+01,-2.00947361e+01,
  8.12994451e-01, 1.40401209e+00,-1.41548102e-01, 6.19724759e+01,
  5.51227814e+01, 6.28505445e-01]

qfrc_actuator:
[ 5.92999196e-03, 3.83218136e-02, 1.15162631e-02, 1.72935704e-03,
 -4.62354061e-05, 3.48734686e-02, 1.09475932e-02, 1.81039213e-03,
 -3.04417778e-03, 3.48312282e-02, 1.08921569e-02, 1.72820124e-03,
  2.68857276e-06, 7.34989001e-04, 0.00000000e+00, 1.71316407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14737667,  0.0444855 , -0.14050239,  0.0444855 ,  0.69884156,
        0.17460337, -0.14050239,  0.17460337,  0.20265913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010999809980995895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25754515,  0.08769709, -0.9622784 , -0.02267332,  0.99614719,
        0.0847154 ,  0.96600022,  0.        ,  0.25854126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720724, -0.03869382,  0.22658757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013000818088634292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66863741e-14, -4.26981986e-14,  1.00000000e+00, -1.13946010e-27,
        1.00000000e+00,  4.26981986e-14, -1.00000000e+00,  0.00000000e+00,
       -2.66863741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02849007, -0.1304778 ,  0.06188469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25628681e-03, 4.10579127e-03, 7.54313289e-04,-1.16150928e-05,
 -4.94655330e-06, 1.13404288e-05, 1.41820924e-05, 1.18767641e-04,
  9.73061130e-06, 1.14467989e-04,-4.08767657e-05, 7.48145468e-05,
  2.70916045e-03, 2.69465752e-03, 8.31297955e-03, 3.85416087e-03,
 -3.10307106e-06, 4.43937982e-06,-1.21644681e+00, 1.58157009e-03,
  5.43454408e-04, 2.85098377e-05]


--- Step 1984 ---
qpos:
[-0.01358286, 1.32931885,-0.01905096, 0.94609828, 0.00424774, 1.33226178,
 -0.03037886, 0.94352892, 0.01690461, 1.33774642,-0.02354499, 0.95534608,
  1.35640199,-0.00486601, 1.13279487, 0.05992705,-0.00170469,-0.09792657,
  0.08164873, 0.54562591,-0.01185147,-0.00532394, 0.83792814]

qacc:
[ 5.33655506e-02, 1.07062148e+00,-9.10226012e-01,-3.00290261e+00,
  7.28601984e-02,-5.97593917e-01, 1.13501437e+00,-4.50454667e-01,
  6.32591375e-02, 4.57623454e+00,-1.85187290e+01, 4.13964955e+01,
 -2.75156136e-01,-7.75762424e-02, 4.01613222e+00,-8.74310673e+00,
  7.59560316e-01, 1.33249297e+00,-6.72291079e-01, 5.86421515e+01,
  5.20414094e+01, 4.89779271e-01]

qfrc_actuator:
[ 5.92122949e-03, 3.82975188e-02, 1.14950644e-02, 1.72349315e-03,
 -2.23423002e-05, 3.48001366e-02, 1.09266182e-02, 1.80559804e-03,
 -3.03165121e-03, 3.48535846e-02, 1.08938073e-02, 1.84144645e-03,
  0.00000000e+00, 7.37323548e-04, 0.00000000e+00, 1.69874821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14739063, -0.07228293,  0.12844912, -0.07228293,  0.92228221,
        0.43605927,  0.12844912,  0.43605927,  0.39277682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011038092547746917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25755695,  0.08769857, -0.9622751 , -0.02267474,  0.99614706,
        0.08471656,  0.96599704,  0.        ,  0.25855314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06720882, -0.03869553,  0.22658688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.44299211,   6.70526761,   5.44299211,
        44.26590518, -28.92223317,   6.70526761, -28.92223317,
        32.11394812,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001285814739627189
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61894875e-14,  8.63439336e-14,  1.00000000e+00,  1.39786404e-27,
        1.00000000e+00, -8.63439336e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61894875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02850979, -0.1304994 ,  0.06188594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20247396e-03, 4.07648499e-03, 7.58823120e-04,-7.10632742e-06,
  2.09734579e-05,-6.07158599e-05,-1.36596508e-05,-1.28175820e-06,
  1.82769144e-05, 7.98813018e-05, 2.15459780e-05, 1.17181559e-04,
  2.73516354e-03, 2.73532168e-03, 7.94791162e-03, 3.83051897e-03,
  3.59404608e-06,-2.79278186e-06,-1.21644457e+00, 1.58216281e-03,
  5.43292057e-04, 1.77747125e-05]


--- Step 1985 ---
qpos:
[-0.01358914, 1.3293119 ,-0.01905325, 0.94609785, 0.00424741, 1.33226159,
 -0.03037906, 0.94352852, 0.01690443, 1.33774819,-0.02354477, 0.95534772,
  1.35642067,-0.00487158, 1.13281805, 0.05992147,-0.00168744,-0.09792439,
  0.08165319, 0.54564876,-0.01154857,-0.00503011, 0.83791931]

qacc:
[-7.76032681e-02, 1.35743456e-01, 6.11461365e-01, 2.00242381e+00,
  1.54921791e-01,-5.80781101e-01, 3.84370305e+00,-1.59044909e+01,
  1.90426152e-03,-1.19733414e+00, 4.92578867e+00,-8.60726425e+00,
 -5.84150411e-01, 7.20900547e-01,-2.31702773e+00, 4.20692350e+00,
  7.15529066e-01, 1.27322967e+00,-1.11723845e+00, 5.58870336e+01,
  4.94928279e+01, 3.83479220e-01]

qfrc_actuator:
[ 5.95384149e-03, 3.83208524e-02, 1.15012192e-02, 1.73816657e-03,
  9.92079180e-06, 3.47919322e-02, 1.08961376e-02, 1.74917585e-03,
 -3.04190597e-03, 3.48305206e-02, 1.08948268e-02, 1.81848905e-03,
  0.00000000e+00, 7.76792080e-04, 0.00000000e+00, 1.78111343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14741346, -0.1041363 ,  0.10433772, -0.1041363 ,  0.36029153,
        0.21246712,  0.10433772,  0.21246712,  0.35947041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011100348532819271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57567433e-01,  8.77000311e-02, -9.62272166e-01, -2.26760443e-02,
        9.96146929e-01,  8.47177223e-02,  9.65994210e-01,  3.46944695e-18,
        2.58563697e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721057, -0.0386972 ,  0.22658621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.52704044,   6.63615859,   5.52704044,
        48.73614674, -33.39780384,   6.63615859, -33.39780384,
        36.45230715,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012606462920694561
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10084707e-14,  8.80677658e-14,  1.00000000e+00,  9.69491423e-28,
        1.00000000e+00, -8.80677658e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10084707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02854249, -0.13053709,  0.06188809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22878333e-03, 4.03491799e-03, 7.61528780e-04, 2.04786527e-05,
  4.46400728e-05,-4.45017126e-05,-4.39499479e-05,-5.86768899e-05,
  5.40709406e-07, 2.87794740e-05, 2.24968861e-05,-1.72288735e-05,
  2.76264585e-03, 2.79502456e-03, 7.82442743e-03, 3.91895045e-03,
  1.32823010e-05,-2.39709856e-06,-1.21644490e+00, 1.58279092e-03,
  5.42705530e-04, 1.57473136e-05]


--- Step 1986 ---
qpos:
[-0.01359512, 1.32930593,-0.01905529, 0.94609796, 0.0042476 , 1.33226129,
 -0.03037945, 0.94352776, 0.01690407, 1.33775008,-0.02354524, 0.95534741,
  1.35643901,-0.0048771 , 1.13284104, 0.05991568,-0.00167426,-0.09792828,
  0.08165763, 0.5456753 ,-0.01122069,-0.00492615, 0.83790709]

qacc:
[ 1.27436884e-01, 1.57970738e+00,-4.71902266e+00, 9.84105399e+00,
  2.19967973e-01,-2.87388548e-01, 1.46993503e+00,-5.30609018e+00,
 -8.16086750e-02,-1.33669706e+00, 8.49015198e+00,-2.99770402e+01,
 -3.12112477e-01, 3.40997972e-01, 4.09147162e-01,-1.78108553e+00,
 -1.01470948e+00,-1.52020509e+00,-7.21426864e-03,-7.27207567e+01,
 -6.22346316e+01,-3.63170912e+00]

qfrc_actuator:
[ 5.99378442e-03, 3.83370205e-02, 1.15054548e-02, 1.76473307e-03,
  4.69431626e-05, 3.48049492e-02, 1.08960269e-02, 1.73389282e-03,
 -3.06574414e-03, 3.47981138e-02, 1.08419142e-02, 1.71551437e-03,
  0.00000000e+00, 7.84809056e-04, 0.00000000e+00, 1.76182810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14743551, -0.10444212,  0.10406282, -0.10444212,  0.407802  ,
        0.2613155 ,  0.10406282,  0.2613155 ,  0.40970348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011160151911443483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57576331e-01,  8.77015567e-02, -9.62269645e-01, -2.26772252e-02,
        9.96146795e-01,  8.47189855e-02,  9.65991810e-01,  3.46944695e-18,
        2.58572665e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721215, -0.03869879,  0.22658561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012298351638159732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51370662e-14,  4.51370662e-14,  1.00000000e+00,  2.03735475e-27,
        1.00000000e+00, -4.51370662e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51370662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03115846, -0.06001936,  0.06189069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27789007e-03, 4.00029830e-03, 7.34766511e-04, 3.33236443e-05,
  6.33689222e-05,-2.19608640e-05,-1.55389124e-05,-1.92716139e-05,
 -2.35169981e-05,-1.26192048e-05,-4.52398401e-05,-1.01860135e-04,
  2.79482099e-03, 2.79152298e-03, 7.91695751e-03, 3.90600036e-03,
  2.55517132e-05, 4.50978629e-06,-1.21644744e+00, 1.58347485e-03,
  5.41729914e-04, 2.11694929e-05]


--- Step 1987 ---
qpos:
[-0.01360019, 1.329301  ,-0.01905696, 0.94609838, 0.00424799, 1.33226108,
 -0.03038   , 0.9435275 , 0.01690347, 1.33775183,-0.02354627, 0.95534588,
  1.35645749,-0.0048832 , 1.13286717, 0.05990973,-0.00166481,-0.09793792,
  0.08165951, 0.54570554,-0.01086965,-0.00499963, 0.83789159]

qacc:
[  0.38678948,  0.8675977 , -1.81492595,  4.47284893,  0.0823015 ,
   1.42383856, -5.50034594, 10.41426596, -0.09686291, -0.80358414,
   4.82675826,-18.07691056,  0.35931914, -0.82402857,  5.0662624 ,
 -11.07224073, -0.93451153, -1.4361162 , -0.63924797,-68.00807602,
 -58.09212045, -3.49372069]

qfrc_actuator:
[ 6.01996243e-03, 3.83307691e-02, 1.15264206e-02, 1.78029978e-03,
  3.32633787e-05, 3.48307087e-02, 1.08962214e-02, 1.76074381e-03,
 -3.07978447e-03, 3.47778375e-02, 1.08107713e-02, 1.65502824e-03,
  0.00000000e+00, 7.38533688e-04, 0.00000000e+00, 1.64618920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14745993, -0.10547572,  0.10305001, -0.10547572,  0.42878779,
        0.28795009,  0.10305001,  0.28795009,  0.44218813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011226011425682567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25758405,  0.08770302, -0.96226745, -0.02267829,  0.99614667,
        0.08472021,  0.96598973,  0.        ,  0.25858045])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721369, -0.03870036,  0.22658504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.63301362,  -5.53081433,  -6.63301362,
        22.15152096, -16.20850337,  -5.53081433, -16.20850337,
        28.07495213,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012410098928108612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47306275e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.47306275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03114522, -0.06003946,  0.06188977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28902624e-03, 3.94521413e-03, 7.43586276e-04, 2.15038930e-05,
  2.37216973e-05, 9.99532515e-06,-6.43539683e-06, 2.52859443e-05,
 -2.79258838e-05,-3.91191868e-05,-4.17304069e-05,-6.45527759e-05,
  2.81191663e-03, 2.74258144e-03, 7.92578084e-03, 3.80123022e-03,
  1.01944660e-05,-3.19382210e-06,-1.21644418e+00, 1.58113629e-03,
  5.42820915e-04, 1.38836273e-05]


--- Step 1988 ---
qpos:
[-0.0136049 , 1.32929563,-0.01905717, 0.94609905, 0.00424813, 1.33226097,
 -0.03038029, 0.94352753, 0.01690267, 1.3377536 ,-0.02354691, 0.95534323,
  1.35647633,-0.00488897, 1.13288842, 0.05990401,-0.00166276,-0.09794363,
  0.08165756, 0.54572707,-0.01073501,-0.00508865, 0.83787877]

qacc:
[ 1.52124037e-01,-4.06711279e+00, 1.20595626e+01,-7.27744338e+00,
 -1.04056977e-01,-8.32291340e-02,-1.96941635e-01, 3.59774309e+00,
 -8.50119433e-02,-2.90128677e+00, 1.17658146e+01,-2.31583684e+01,
  3.00978545e-01,-5.81212238e-02,-7.88477888e+00, 1.70878703e+01,
 -1.84987935e+00, 9.83293890e-01,-9.55293738e-01,-6.55973211e+01,
  8.63818891e+01, 4.83673646e+00]

qfrc_actuator:
[ 6.03714904e-03, 3.83638772e-02, 1.15749453e-02, 1.78928966e-03,
 -1.07204924e-05, 3.48461874e-02, 1.09144129e-02, 1.77666568e-03,
 -3.08783298e-03, 3.48183205e-02, 1.08460814e-02, 1.60232252e-03,
  0.00000000e+00, 7.13565475e-04, 0.00000000e+00, 1.84556841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14749437, -0.1012254 ,  0.10727538, -0.1012254 ,  0.2490784 ,
        0.09585503,  0.10727538,  0.09585503,  0.23794349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011318168907632417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57590410e-01,  8.77042556e-02, -9.62265631e-01, -2.26791680e-02,
        9.96146557e-01,  8.47212593e-02,  9.65988010e-01,  3.46944695e-18,
        2.58586860e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721544, -0.03870195,  0.22658448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012517345103534583
  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([ 0.05313381, -0.10947423,  0.06188888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26056582e-03, 3.92669812e-03, 7.73233014e-04, 1.52115726e-05,
 -2.99823560e-05, 2.05121447e-05, 2.01564745e-05, 1.66184172e-05,
 -2.45385184e-05, 8.77576266e-06, 2.10370931e-05,-5.65886707e-05,
  2.80516953e-03, 2.74731733e-03, 7.76860892e-03, 4.00833370e-03,
  3.51154333e-07,-8.65796782e-07,-1.21644419e+00, 1.57851335e-03,
  5.43950415e-04, 1.72551347e-05]


--- Step 1989 ---
qpos:
[-0.01360991, 1.32928982,-0.01905736, 0.94609991, 0.0042482 , 1.33226125,
 -0.03038019, 0.94352772, 0.01690187, 1.33775521,-0.02354678, 0.95533962,
  1.35649551,-0.00489404, 1.13290431, 0.05989829,-0.00166766,-0.09794572,
  0.08164945, 0.54574068,-0.01080232,-0.00519203, 0.83786841]

qacc:
[-1.26858651e-01,-2.96411423e-01,-9.82227539e-02, 2.44824248e+00,
 -2.94641405e-02,-2.48593500e-01, 1.11697483e+00, 5.99954614e-01,
 -3.75061556e-03,-3.99552750e+00, 1.46829570e+01,-2.36916264e+01,
  4.34501957e-02, 5.08717079e-01,-7.93077025e+00, 1.62400874e+01,
 -1.73466634e+00, 9.02453587e-01,-1.54249438e+00,-6.11547725e+01,
  8.06597695e+01, 4.42322196e+00]

qfrc_actuator:
[ 5.99587231e-03, 3.84039046e-02, 1.15677641e-02, 1.79425888e-03,
 -1.51391547e-06, 3.48909681e-02, 1.09430344e-02, 1.78602464e-03,
 -3.07446998e-03, 3.48063768e-02, 1.08850567e-02, 1.55467995e-03,
  0.00000000e+00, 7.18436769e-04, 0.00000000e+00, 1.98510448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14751832, -0.09887413,  0.10947859, -0.09887413,  0.25565449,
        0.09766174,  0.10947859,  0.09766174,  0.23572022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011381827010124856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57595784e-01,  8.77054121e-02, -9.62264087e-01, -2.26799426e-02,
        9.96146455e-01,  8.47222493e-02,  9.65986559e-01,  3.46944695e-18,
        2.58592281e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721681, -0.03870352,  0.22658396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.38720782,  4.47391747, -7.38720782, 17.99775977,
       15.45727636,  4.47391747, 15.45727636, 34.15898751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012647611449579377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38906203e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.38906203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310145, -0.10946937,  0.06188778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20137197e-03, 3.98857891e-03, 6.93197921e-04, 7.28189304e-06,
 -8.48923590e-06, 6.05708664e-05, 3.54160139e-05, 1.09517466e-05,
 -1.12507272e-06,-4.67478459e-06, 4.14191762e-05,-4.80863682e-05,
  2.78687562e-03, 2.73517869e-03, 8.01176957e-03, 4.13662739e-03,
 -6.85700275e-07, 1.35550414e-06,-1.21644063e+00, 1.58213608e-03,
  5.44869877e-04, 3.07637246e-05]


--- Step 1990 ---
qpos:
[-0.01361515, 1.32928448,-0.01905885, 0.94610115, 0.00424856, 1.33226213,
 -0.03038041, 0.94352839, 0.01690142, 1.33775595,-0.02354616, 0.95533624,
  1.35651478,-0.00489873, 1.13291906, 0.05989223,-0.0016791 ,-0.09794447,
  0.08163318, 0.54574698,-0.01105957,-0.00530877, 0.83786021]

qacc:
[ -0.09387223,  4.7845966 ,-15.64415493, 17.82230133,  0.12496508,
   2.45896052, -8.05728025, 12.12524967,  0.14991291, -2.06408206,
   4.91725211, -1.14841717, -0.16333219,  0.49839069, -0.64954615,
  -0.14224454, -1.6373123 ,  0.83636115, -2.03848351,-57.46045619,
  75.89054988,  4.07449125]

qfrc_actuator:
[ 5.99104264e-03, 3.84305101e-02, 1.15102697e-02, 1.81454241e-03,
  3.95291061e-05, 3.49174852e-02, 1.09244321e-02, 1.80922203e-03,
 -3.03061884e-03, 3.47099123e-02, 1.08901684e-02, 1.56362021e-03,
  0.00000000e+00, 7.40724677e-04, 0.00000000e+00, 1.96459588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14752921, -0.09982255,  0.10862931, -0.09982255,  0.38181129,
        0.21528842,  0.10862931,  0.21528842,  0.34536383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011410634093603905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57601572e-01,  8.77066416e-02, -9.62262425e-01, -2.26807726e-02,
        9.96146347e-01,  8.47232999e-02,  9.65984996e-01,  3.46944695e-18,
        2.58598119e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721775, -0.03870508,  0.22658347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.50053577,  4.28120778, -7.50053577, 18.77694676,
       17.76596943,  4.28120778, 17.76596943, 39.76176004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012610203321663654
  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([ 0.05310846, -0.10947309,  0.06188805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21152102e-03, 4.03727694e-03, 6.35137088e-04, 1.85263409e-05,
  3.60345018e-05, 6.72801776e-05,-2.40159301e-06, 2.63121256e-05,
  4.31881495e-05,-9.24017401e-05, 7.49181993e-06, 8.89180701e-06,
  2.76978595e-03, 2.72293857e-03, 8.27978691e-03, 4.11584761e-03,
  2.24671414e-06, 1.11715018e-06,-1.21644083e+00, 1.58445708e-03,
  5.45427095e-04, 3.09080532e-05]


--- Step 1991 ---
qpos:
[-0.0136198 , 1.3292792 ,-0.01906155, 0.94610197, 0.00424915, 1.33226329,
 -0.03038128, 0.94352903, 0.01690139, 1.33775567,-0.0235455 , 0.95533682,
  1.35653423,-0.00490396, 1.13293815, 0.05988611,-0.00168703,-0.09793685,
  0.08162065, 0.54575494,-0.01134352,-0.0052432 , 0.83785164]

qacc:
[  0.24387163,  2.60933896, -7.57310869,  1.68307608,  0.09645339,
   2.06928247, -6.24769555,  4.93072065,  0.17957165,  5.38270197,
 -27.14938139, 69.91513214,  0.29898687, -0.70007958,  6.58558791,
 -13.77285509,  0.87678478,  1.59403333,  0.93503077, 69.09625522,
  60.9402638 ,  0.28107833]

qfrc_actuator:
[ 6.00812253e-03, 3.84305682e-02, 1.14771408e-02, 1.79047920e-03,
  4.60790590e-05, 3.48971818e-02, 1.08780474e-02, 1.80483627e-03,
 -3.00433937e-03, 3.46522541e-02, 1.08926944e-02, 1.76548331e-03,
  0.00000000e+00, 7.20240666e-04, 0.00000000e+00, 1.79514332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1475376 , -0.10395865,  0.10468975, -0.10395865,  0.37227747,
        0.22317041,  0.10468975,  0.22317041,  0.36914951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011432775341536222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25760814,  0.08770792, -0.96226055, -0.02268168,  0.99614623,
        0.08472438,  0.96598322,  0.        ,  0.25860475])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721859, -0.03870667,  0.226583  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012670341384205877
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38118828e-14,  4.38118828e-14,  1.00000000e+00,  1.91948108e-27,
        1.00000000e+00, -4.38118828e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38118828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02854312, -0.1305202 ,  0.06188747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23965514e-03, 4.01352534e-03, 6.66454308e-04,-2.48352609e-05,
  2.78208799e-05, 1.72334800e-05,-3.27245262e-05,-1.82133719e-06,
  5.17795111e-05,-1.07037633e-04,-1.44129909e-05, 1.99549975e-04,
  2.76520503e-03, 2.68357869e-03, 8.33667356e-03, 3.96325469e-03,
  8.43021061e-06,-1.13592815e-06,-1.21644414e+00, 1.58576526e-03,
  5.45684180e-04, 2.01509160e-05]


--- Step 1992 ---
qpos:
[-0.01362417, 1.32927443,-0.01906379, 0.94610167, 0.00424962, 1.33226445,
 -0.03038263, 0.94353066, 0.01690159, 1.33775448,-0.02354561, 0.95533916,
  1.35655409,-0.00490977, 1.13295716, 0.05988019,-0.00169172,-0.09792327,
  0.08160904, 0.54576444,-0.01165242,-0.00500732, 0.83784266]

qacc:
[ 1.23163941e-01,-2.50959397e+00, 1.12612269e+01,-2.30294565e+01,
 -5.39847730e-02, 2.98207415e+00,-1.17967911e+01, 2.18058880e+01,
  9.82311046e-02, 3.94290555e+00,-1.78178205e+01, 3.62442528e+01,
  7.52793814e-01,-1.24554012e+00,-7.94682832e-01, 2.46864432e+00,
  8.12313152e-01, 1.48827172e+00, 2.29182497e-01, 6.45480031e+01,
  5.69353708e+01, 2.71913833e-01]

qfrc_actuator:
[ 6.01988687e-03, 3.83971791e-02, 1.14768221e-02, 1.74046302e-03,
  1.41297116e-05, 3.48843651e-02, 1.08509521e-02, 1.85522290e-03,
 -3.00656744e-03, 3.45828769e-02, 1.08406584e-02, 1.84848041e-03,
  0.00000000e+00, 6.57113188e-04, 0.00000000e+00, 1.85573403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14755493, -0.10113737,  0.10744156, -0.10113737,  0.6655811 ,
        0.48763071,  0.10744156,  0.48763071,  0.60657364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011478365349283301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57615837e-01,  8.77090403e-02, -9.62258388e-01, -2.26826537e-02,
        9.96146136e-01,  8.47252794e-02,  9.65981148e-01,  3.46944695e-18,
        2.58612494e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721979, -0.03870829,  0.22658248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00127658828768637
  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([-0.02853121, -0.13050479,  0.06188661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22262190e-03, 3.97755756e-03, 7.26718689e-04,-5.36829885e-05,
 -1.55279816e-05,-9.74499403e-06,-2.75010138e-05, 4.99041459e-05,
  2.83429437e-05,-1.25468556e-04,-6.87374851e-05, 8.40517176e-05,
  2.75664430e-03, 2.64780533e-03, 8.11906094e-03, 4.02703651e-03,
  3.57068724e-07,-5.55862522e-08,-1.21644469e+00, 1.58717921e-03,
  5.45022847e-04, 2.38539171e-05]


--- Step 1993 ---
qpos:
[-0.01362834, 1.32926965,-0.01906612, 0.94610154, 0.00424985, 1.33226538,
 -0.030384  , 0.94353461, 0.01690177, 1.33775285,-0.02354584, 0.95533964,
  1.35657387,-0.00491557, 1.13297547, 0.05987423,-0.00170034,-0.09791595,
  0.08159805, 0.54577821,-0.01193659,-0.00496392, 0.83782995]

qacc:
[ 8.17556717e-02, 5.42224045e-01,-2.11564070e+00, 3.77872677e+00,
 -9.87606759e-02, 3.72350451e+00,-1.72600125e+01, 4.19436894e+01,
 -8.86668587e-03,-3.46456346e+00, 1.43266511e+01,-3.35691554e+01,
 -3.58039998e-02, 3.19007517e-02,-9.43763270e-01, 1.79391696e+00,
 -9.83657775e-01,-1.56437332e+00, 1.53269520e-01,-7.38681858e+01,
 -6.28520520e+01,-3.98598067e+00]

qfrc_actuator:
[ 6.04626962e-03, 3.83787492e-02, 1.14594989e-02, 1.74674561e-03,
 -5.14990952e-06, 3.48762198e-02, 1.08532738e-02, 1.97296524e-03,
 -3.02587776e-03, 3.45955232e-02, 1.08454535e-02, 1.75426762e-03,
  0.00000000e+00, 6.75161165e-04, 0.00000000e+00, 1.87658160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14757412, -0.10114161,  0.10746393, -0.10114161,  0.36924968,
        0.20863394,  0.10746393,  0.20863394,  0.34393372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011528652252167093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2576226 ,  0.08771009, -0.96225648, -0.02268352,  0.99614604,
        0.08472614,  0.96597932,  0.        ,  0.2586193 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722098, -0.03870992,  0.22658198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012747182443270527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35477812e-14,  4.35477812e-14,  1.00000000e+00,  1.89640925e-27,
        1.00000000e+00, -4.35477812e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35477812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03110059, -0.06010825,  0.0618867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23448174e-03, 3.93371276e-03, 6.86479487e-04, 8.29824458e-06,
 -2.84451566e-05,-1.74202510e-05,-1.24834763e-06, 1.17801728e-04,
 -2.57944664e-06,-6.76572252e-05,-2.50539802e-05,-9.79817036e-05,
  2.73572595e-03, 2.69460974e-03, 8.12269550e-03, 4.03763308e-03,
 -3.07190387e-06, 9.72123671e-06,-1.21644819e+00, 1.58874328e-03,
  5.43817744e-04, 3.72867507e-05]


--- Step 1994 ---
qpos:
[-0.01363269, 1.32926482,-0.01906926, 0.94610153, 0.00424985, 1.33226596,
 -0.03038492, 0.94353889, 0.01690185, 1.33775131,-0.02354578, 0.95533961,
  1.35659319,-0.00492118, 1.13299341, 0.05986811,-0.00170719,-0.09791435,
  0.08159776, 0.5457943 ,-0.01210035,-0.00501544, 0.83781681]

qacc:
[-7.88821185e-02, 2.30225750e+00,-7.84281817e+00, 8.25454667e+00,
 -9.81801929e-02,-1.11207912e+00, 2.39716925e+00, 1.97189818e+00,
 -4.56326340e-02,-1.57400490e+00, 6.29857710e+00,-1.14131956e+01,
 -4.92440435e-01, 6.21519021e-01, 1.39572306e-02,-7.55763325e-01,
  4.41303215e-01,-1.42896064e+00, 2.67939440e+00,-6.89578310e+00,
 -7.63411998e+01,-1.95308324e+00]

qfrc_actuator:
[ 6.04589942e-03, 3.83696048e-02, 1.14145907e-02, 1.75046684e-03,
 -1.66709449e-05, 3.48533406e-02, 1.08729817e-02, 1.98738549e-03,
 -3.03752437e-03, 3.46572907e-02, 1.08840033e-02, 1.73416838e-03,
  0.00000000e+00, 7.23804026e-04, 0.00000000e+00, 1.87373672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14759174, -0.10201444,  0.10666009, -0.10201444,  0.39458309,
        0.23623347,  0.10666009,  0.23623347,  0.37353591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011574601859911868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25762945,  0.0877111 , -0.96225455, -0.02268439,  0.99614595,
        0.08472695,  0.96597748,  0.        ,  0.25862621])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722211, -0.03871152,  0.22658149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001288805780434693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72287096e-13,  4.30717739e-14,  1.00000000e+00, -7.42071084e-27,
        1.00000000e+00, -4.30717739e-14, -1.00000000e+00,  0.00000000e+00,
        1.72287096e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00605574, -0.07660928,  0.06188547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22446260e-03, 3.92482590e-03, 6.46343180e-04, 3.66647690e-06,
 -2.83112237e-05,-2.92182513e-05, 1.96185258e-05, 1.65956040e-05,
 -1.31727965e-05, 1.65719669e-05, 1.96263793e-05,-2.51185484e-05,
  2.73949313e-03, 2.74266914e-03, 8.15755256e-03, 4.03628553e-03,
  1.24480652e-06,-6.43487187e-07,-1.21644490e+00, 1.58822665e-03,
  5.44704078e-04, 2.48439624e-05]


--- Step 1995 ---
qpos:
[-0.01363708, 1.32926038,-0.01907276, 0.94610185, 0.00424981, 1.33226635,
 -0.03038497, 0.94354155, 0.01690195, 1.33775001,-0.02354567, 0.95533968,
  1.35661234,-0.00492684, 1.13301264, 0.05986185,-0.00171237,-0.0979181 ,
  0.08160506, 0.54581259,-0.01215138,-0.00515592, 0.8378033 ]

qacc:
[-1.13362581e-02, 2.09100919e+00,-6.86735646e+00, 9.53680476e+00,
 -1.97280297e-02,-5.36374790e+00, 2.05307164e+01,-3.65061309e+01,
  1.04506001e-02, 3.72303331e-01,-1.03183005e+00, 1.91842402e+00,
 -1.60385703e-01, 1.28704291e-01, 2.34954700e+00,-5.41627627e+00,
  4.18304293e-01,-1.33908923e+00, 1.89289296e+00,-6.48820433e+00,
 -7.14894810e+01,-1.84645402e+00]

qfrc_actuator:
[ 6.02977917e-03, 3.83838367e-02, 1.14071337e-02, 1.77038527e-03,
 -5.69205710e-06, 3.48573412e-02, 1.09204077e-02, 1.90536452e-03,
 -3.02672488e-03, 3.46771646e-02, 1.08891764e-02, 1.74018105e-03,
  6.47828577e-07, 7.19620126e-04, 0.00000000e+00, 1.82132456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14760776, -0.10265376,  0.10606722, -0.10265376,  0.4982907 ,
        0.33939722,  0.10606722,  0.33939722,  0.47608245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011616207854197105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25763714,  0.08771214, -0.9622524 , -0.02268534,  0.99614586,
        0.08472777,  0.9659754 ,  0.        ,  0.25863395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722322, -0.03871309,  0.226581  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012927047291166754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29418644e-14,  2.14709322e-14,  1.00000000e+00,  9.22001861e-28,
        1.00000000e+00, -2.14709322e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29418644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00605426, -0.07661284,  0.06188514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21764039e-03, 3.94185201e-03, 6.78966995e-04, 1.76367769e-05,
 -5.73236362e-06,-7.82401321e-06, 4.44357487e-05,-8.19340501e-05,
  3.02073132e-06, 3.21366245e-05, 9.90632108e-06, 6.49087752e-06,
  2.76379570e-03, 2.72952516e-03, 8.17554097e-03, 3.99242186e-03,
  2.64841075e-06,-4.94569110e-07,-1.21644191e+00, 1.58636851e-03,
  5.44566580e-04, 3.06583884e-05]


--- Step 1996 ---
qpos:
[-0.01364163, 1.32925648,-0.01907609, 0.9461027 , 0.00424993, 1.33226687,
 -0.03038454, 0.9435425 , 0.01690197, 1.33774891,-0.02354462, 0.95533943,
  1.35663119,-0.00493267, 1.13303455, 0.05985551,-0.00171419,-0.09791612,
  0.08161266, 0.54583189,-0.01222773,-0.00512853, 0.83778979]

qacc:
[-7.22973967e-02, 1.16166127e+00,-4.03207774e+00, 9.40619184e+00,
  7.29891292e-02,-4.02785962e+00, 1.68608148e+01,-3.44726558e+01,
 -3.29765891e-02,-2.83161697e+00, 1.01952936e+01,-1.26263369e+01,
 -2.57770408e-01, 1.37392253e-01, 4.18082003e+00,-8.85944944e+00,
  8.39799313e-01, 1.43109077e+00, 7.79548953e-02, 6.34206037e+01,
  5.64228567e+01, 6.64108164e-01]

qfrc_actuator:
[ 6.00412387e-03, 3.83761631e-02, 1.14220380e-02, 1.79976581e-03,
  1.86945627e-05, 3.48774554e-02, 1.09483645e-02, 1.82055692e-03,
 -3.03805245e-03, 3.47072147e-02, 1.09454666e-02, 1.72594643e-03,
  0.00000000e+00, 7.37159136e-04, 0.00000000e+00, 1.73921014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14762748, -0.10444002,  0.10433674, -0.10444002,  0.61263565,
        0.46546849,  0.10433674,  0.46546849,  0.61355675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001166723131904128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2576448 ,  0.08771319, -0.96225026, -0.02268629,  0.99614577,
        0.08472861,  0.96597334,  0.        ,  0.25864166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722443, -0.03871466,  0.22658051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012925782109398792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14730338e-14,  4.29460676e-14,  1.00000000e+00,  9.22182361e-28,
        1.00000000e+00, -4.29460676e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14730338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.028516  , -0.13047684,  0.06188519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19331460e-03, 3.91456982e-03, 7.12454014e-04, 3.06338969e-05,
  2.10031410e-05, 2.20157802e-05, 2.90835224e-05,-8.56350656e-05,
 -9.54352283e-06, 4.99567621e-05, 6.38828631e-05,-1.28435893e-05,
  2.77100566e-03, 2.74979678e-03, 8.11042974e-03, 3.91731234e-03,
  3.00680890e-06, 2.46582309e-06,-1.21644111e+00, 1.58459154e-03,
  5.44549715e-04, 3.68886161e-05]


--- Step 1997 ---
qpos:
[-0.01364693, 1.32925125,-0.01907834, 0.9461016 , 0.00424999, 1.33226718,
 -0.03038392, 0.94354248, 0.01690189, 1.33774845,-0.0235436 , 0.95533869,
  1.35665019,-0.00493834, 1.1330514 , 0.05984984,-0.00171289,-0.09790873,
  0.08161831, 0.54585223,-0.01232783,-0.00494282, 0.83777618]

qacc:
[-3.16361526e-01,-8.08719247e+00, 2.82599835e+01,-4.64281442e+01,
 -2.98847814e-02,-2.48782399e+00, 9.78265148e+00,-1.96854277e+01,
 -4.30355556e-02, 6.95422282e-02, 1.79013037e+00,-7.72438657e+00,
  3.01695896e-01,-2.56057125e-01,-9.52093794e+00, 2.24118868e+01,
  7.80947509e-01, 1.35538496e+00,-4.88416920e-01, 5.98412434e+01,
  5.31590363e+01, 5.63371532e-01]

qfrc_actuator:
[ 5.97290218e-03, 3.83727967e-02, 1.14499582e-02, 1.69246092e-03,
 -2.33236926e-06, 3.48359763e-02, 1.09469273e-02, 1.77031268e-03,
 -3.04481060e-03, 3.47433126e-02, 1.09427468e-02, 1.69994249e-03,
  0.00000000e+00, 7.14607684e-04, 0.00000000e+00, 1.95881071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14765499, -0.10025901,  0.108398  , -0.10025901,  0.30687699,
        0.14726693,  0.108398  ,  0.14726693,  0.28386449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011738005157803377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57651768e-01,  8.77142956e-02, -9.62248289e-01, -2.26871871e-02,
        9.96145673e-01,  8.47295060e-02,  9.65971458e-01,  3.46944695e-18,
        2.58648684e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722584, -0.03871623,  0.22658002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.21880023,   6.8811991 ,   5.21880023,
        47.96226413, -29.82532778,   6.8811991 , -29.82532778,
        31.25632061,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012833210795463318
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16279278e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.16279278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02852948, -0.13049056,  0.061886  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17062302e-03, 3.88433773e-03, 7.31482423e-04,-1.03585568e-04,
 -8.62923031e-06,-2.61878870e-05, 3.66825842e-06,-5.07120014e-05,
 -1.23924098e-05, 7.58235046e-05, 1.39193447e-05,-2.29547769e-05,
  2.78607098e-03, 2.73562849e-03, 7.97652359e-03, 4.14052676e-03,
  8.34278384e-08, 2.08661308e-07,-1.21644064e+00, 1.58621726e-03,
  5.43756016e-04, 3.50812089e-05]


--- Step 1998 ---
qpos:
[-0.01365249, 1.32924483,-0.01907968, 0.94609957, 0.00424975, 1.33226715,
 -0.03038327, 0.94354257, 0.01690201, 1.33774851,-0.02354316, 0.95533802,
  1.3566698 ,-0.0049437 , 1.13306342, 0.05984479,-0.00171015,-0.09790656,
  0.08163131, 0.54587457,-0.01231507,-0.00484577, 0.83776238]

qacc:
[ -0.10877276, -5.62347235, 18.35387724,-26.04971982, -0.12299151,
  -0.31332517,  0.27152562,  1.23421691,  0.08387181,  2.36040489,
  -7.05149549,  6.71562148,  0.52947741, -0.30022424, -9.0063118 ,
  21.07230512,  0.36020394, -1.30515026,  1.83817861, -6.32815507,
 -71.46787406, -1.71167102]

qfrc_actuator:
[ 5.97449110e-03, 3.83914176e-02, 1.15024591e-02, 1.64744196e-03,
 -3.26808303e-05, 3.48110974e-02, 1.09456969e-02, 1.77626687e-03,
 -3.01326720e-03, 3.47470197e-02, 1.09052239e-02, 1.70269297e-03,
  0.00000000e+00, 6.67748858e-04, 0.00000000e+00, 2.11018439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14766878, -0.09743093,  0.11096523, -0.09743093,  0.26795201,
        0.10561243,  0.11096523,  0.10561243,  0.24039978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011773313667364296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25765897,  0.08771559, -0.96224624, -0.02268816,  0.99614556,
        0.08473058,  0.96596952,  0.        ,  0.25865594])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722689, -0.03871775,  0.22657953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012818703178270746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.16524053e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.16524053e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00605377, -0.07660293,  0.06188615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20959108e-03, 3.96938094e-03, 7.29572670e-04,-5.09535603e-05,
 -3.54424508e-05,-4.01764539e-05,-7.42430190e-06, 4.09992216e-06,
  2.42283603e-05, 4.76750977e-05,-2.18075736e-05, 4.86862431e-06,
  2.77873858e-03, 2.68118371e-03, 8.22885067e-03, 4.25810520e-03,
  8.26561427e-07, 5.63361394e-06,-1.21644276e+00, 1.58786674e-03,
  5.42553007e-04, 4.19511680e-05]


--- Step 1999 ---
qpos:
[-0.01365797, 1.32923871,-0.01908119, 0.94609936, 0.0042492 , 1.33226693,
 -0.03038238, 0.94354201, 0.0169021 , 1.3377489 ,-0.02354286, 0.95533807,
  1.35668973,-0.00494862, 1.13307625, 0.05983963,-0.00170599,-0.09790934,
  0.08164909, 0.54589885,-0.01219582,-0.00483249, 0.83774838]

qacc:
[ 3.37456807e-02, 4.02467117e+00,-1.63388393e+01, 3.50534735e+01,
 -1.34831245e-01,-2.01641265e+00, 7.59539467e+00,-1.39398754e+01,
 -8.52566045e-03, 2.08228503e+00,-7.69813589e+00, 1.47730085e+01,
 -1.06116980e-01, 5.39382705e-01, 1.51898935e+00,-3.55300504e+00,
  3.53273655e-01,-1.23888529e+00, 1.19274331e+00,-6.00917891e+00,
 -6.74645014e+01,-1.64611971e+00]

qfrc_actuator:
[ 5.96006997e-03, 3.84058762e-02, 1.15162040e-02, 1.74606987e-03,
 -5.06215630e-05, 3.48141331e-02, 1.09624383e-02, 1.74423469e-03,
 -3.03001273e-03, 3.47666714e-02, 1.09006310e-02, 1.74006822e-03,
  0.00000000e+00, 6.77090547e-04, 0.00000000e+00, 2.04288918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14766932, -0.09865772,  0.10987667, -0.09865772,  0.31078705,
        0.1464626 ,  0.10987667,  0.1464626 ,  0.27917736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011774690961102036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25766645,  0.08771694, -0.96224412, -0.02268917,  0.99614544,
        0.08473171,  0.9659675 ,  0.        ,  0.25866348])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722759, -0.03871926,  0.22657906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -4.06666563,  -7.61898993,  -4.06666563,
        64.91387089, -30.03833932,  -7.61898993, -30.03833932,
        24.66944458,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012716093266450512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72839061e-14,  4.36542498e-14,  1.00000000e+00,  1.19105846e-27,
        1.00000000e+00, -4.36542498e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72839061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00605499, -0.07659346,  0.06188708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20804134e-03, 4.04360984e-03, 6.98354149e-04, 9.42341587e-05,
 -3.88613386e-05,-2.05206009e-05, 8.15659732e-06,-3.33618953e-05,
 -2.43694844e-06, 4.18999183e-05, 2.37984158e-06, 3.82620314e-05,
  2.74837342e-03, 2.67473407e-03, 8.46995811e-03, 4.16020583e-03,
  1.24301837e-06, 1.22979150e-06,-1.21644050e+00, 1.58554906e-03,
  5.42716226e-04, 3.72236398e-05]


--- Step 2000 ---
qpos:
[-0.01366359, 1.32923359,-0.01908304, 0.94610027, 0.00424852, 1.33226699,
 -0.03038181, 0.9435414 , 0.01690211, 1.33775006,-0.02354333, 0.95533753,
  1.35670962,-0.00495357, 1.1330923 , 0.0598343 ,-0.00170045,-0.09791686,
  0.08166948, 0.54592502,-0.0119753 ,-0.00489894, 0.83773412]

qacc:
[-5.63714159e-02, 4.17811108e+00,-1.43502611e+01, 2.49471339e+01,
 -5.40097594e-02, 1.16273932e+00,-3.23718544e+00, 2.06780461e+00,
 -4.00977789e-02, 2.07434094e+00,-4.34938551e+00,-3.54970604e+00,
 -1.81361967e-01, 2.05761104e-01, 5.31627653e+00,-1.16493771e+01,
  3.47157412e-01,-1.18464126e+00, 6.54408721e-01,-5.74482268e+00,
 -6.41746577e+01,-1.58968061e+00]

qfrc_actuator:
[ 5.93580850e-03, 3.84168154e-02, 1.15074075e-02, 1.80424394e-03,
 -4.32208168e-05, 3.48516659e-02, 1.09542270e-02, 1.74337799e-03,
 -3.04008732e-03, 3.48136048e-02, 1.08623367e-02, 1.70878173e-03,
  0.00000000e+00, 7.02151503e-04, 0.00000000e+00, 1.93362760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14767219, -0.10112225,  0.10761675, -0.10112225,  0.58556768,
        0.41146923,  0.10761675,  0.41146923,  0.53430994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011782017747686072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2576738 ,  0.08771828, -0.96224203, -0.02269017,  0.99614532,
        0.08473283,  0.96596551,  0.        ,  0.2586709 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722832, -0.03872085,  0.22657858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -4.35803507,  -7.45615901,  -4.35803507,
        69.3133285 , -35.46495466,  -7.45615901, -35.46495466,
        29.36520219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012503874460810943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87903208e-14,  4.43951604e-14,  1.00000000e+00, -3.94186053e-27,
        1.00000000e+00, -4.43951604e-14, -1.00000000e+00,  0.00000000e+00,
        8.87903208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00605919, -0.07657369,  0.06188894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17978938e-03, 4.03933354e-03, 6.98191532e-04, 6.16639594e-05,
 -1.55369767e-05, 2.67716438e-05,-1.22772681e-05,-2.00770137e-06,
 -1.15120226e-05, 7.16982851e-05,-2.87227792e-05,-2.90843728e-05,
  2.73205266e-03, 2.67794379e-03, 8.42959206e-03, 4.05615343e-03,
  7.88156934e-07,-4.39063088e-07,-1.21644015e+00, 1.58335201e-03,
  5.42978374e-04, 3.33869989e-05]


--- Step 2001 ---
qpos:
[-0.01366976, 1.32922848,-0.0190844 , 0.94610088, 0.00424795, 1.33226758,
 -0.0303818 , 0.94354147, 0.01690215, 1.3377517 ,-0.02354415, 0.95533558,
  1.35672916,-0.00495856, 1.1331087 , 0.05982924,-0.00169809,-0.09792924,
  0.08168227, 0.54595433,-0.01173485,-0.00511879, 0.83771711]

qacc:
[-2.40113616e-01,-1.83325645e+00, 6.62947047e+00,-9.29953549e+00,
  4.62705798e-02, 3.35451358e+00,-1.15104964e+01, 1.75024923e+01,
  1.71597515e-02,-8.63794600e-01, 6.38377803e+00,-2.19830092e+01,
 -2.52851460e-01, 2.00714825e-01,-3.02660282e-01, 1.85565219e+00,
 -7.97701228e-01,-1.21625814e+00,-1.89937322e+00,-5.88010227e+01,
 -5.01937757e+01,-3.03466869e+00]

qfrc_actuator:
[ 5.92357607e-03, 3.84070779e-02, 1.15208234e-02, 1.78484881e-03,
 -2.06789146e-05, 3.48917387e-02, 1.09315119e-02, 1.77864078e-03,
 -3.02832437e-03, 3.48230846e-02, 1.08400127e-02, 1.63732474e-03,
  0.00000000e+00, 7.36944165e-04, 0.00000000e+00, 1.95907704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14768481, -0.10152257,  0.10725658, -0.10152257,  0.45333996,
        0.28931462,  0.10725658,  0.28931462,  0.42153248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011814232556371304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25768052,  0.08771965, -0.9622401 , -0.02269112,  0.9961452 ,
        0.084734  ,  0.9659637 ,  0.        ,  0.25867767])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06722929, -0.0387225 ,  0.22657809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.10542652,  2.98141539,  8.10542652,  8.89491351,
       -0.70290675,  2.98141539, -0.70290675, 10.54732144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012207559875753449
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54727659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54727659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03119645, -0.06003088,  0.06189153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17419385e-03, 3.97985868e-03, 7.28391975e-04,-1.41293441e-05,
  1.33725218e-05, 5.24181264e-05,-1.89354086e-05, 3.56613556e-05,
  4.96851563e-06, 4.26489231e-05,-1.24392036e-05,-7.08508540e-05,
  2.73416818e-03, 2.71468407e-03, 8.26816774e-03, 4.09055533e-03,
 -4.09913329e-07, 2.20864189e-07,-1.21644142e+00, 1.58124327e-03,
  5.43338839e-04, 3.02688685e-05]


--- Step 2002 ---
qpos:
[-0.01367631, 1.32922379,-0.01908598, 0.94610126, 0.00424741, 1.33226818,
 -0.03038182, 0.9435406 , 0.01690228, 1.33775347,-0.02354493, 0.95533488,
  1.35674849,-0.00496354, 1.1331252 , 0.05982417,-0.00169228,-0.09793613,
  0.08169441, 0.54598414,-0.01151962,-0.00517417, 0.83770033]

qacc:
[-1.57152574e-01, 7.42608788e-01,-1.30799051e+00,-1.79976717e+00,
  1.33059253e-02,-1.50392996e+00, 6.86904533e+00,-1.68952052e+01,
  3.44705815e-02, 2.20495018e+00,-9.46876668e+00, 2.24181167e+01,
 -1.70612099e-01, 1.60667760e-01, 1.74044640e-01,-3.82337406e-01,
  8.65593957e-01, 1.37469032e+00,-1.63627531e-01, 6.20053414e+01,
  5.54550045e+01, 8.84477683e-01]

qfrc_actuator:
[ 5.91904838e-03, 3.84387702e-02, 1.15113677e-02, 1.77314942e-03,
 -2.47435513e-05, 3.48619771e-02, 1.09182162e-02, 1.72835434e-03,
 -3.02130880e-03, 3.48278352e-02, 1.08449059e-02, 1.70258486e-03,
  0.00000000e+00, 7.42080541e-04, 0.00000000e+00, 1.95845045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14769903, -0.10145332,  0.10734164, -0.10145332,  0.52667177,
        0.35818387,  0.10734164,  0.35818387,  0.48623443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011850386210796732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25768674,  0.08772118, -0.9622383 , -0.02269206,  0.99614507,
        0.08473533,  0.96596202,  0.        ,  0.25868395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723029, -0.03872412,  0.22657761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001208053429282166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16947708e-14,  1.37852722e-13,  1.00000000e+00,  7.12626487e-27,
        1.00000000e+00, -1.37852722e-13, -1.00000000e+00,  0.00000000e+00,
       -5.16947708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02863729, -0.13060403,  0.06189266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19801622e-03, 4.01061647e-03, 6.94318350e-04,-1.07035635e-05,
  3.83000660e-06,-3.39959048e-06,-4.15111222e-06,-4.84379012e-05,
  9.95233694e-06, 2.37947855e-05, 9.73150581e-06, 6.45083696e-05,
  2.75173850e-03, 2.72153070e-03, 8.25012466e-03, 4.07593280e-03,
 -2.48639477e-06, 8.34124955e-06,-1.21644356e+00, 1.57907042e-03,
  5.44355707e-04, 3.92672257e-05]


--- Step 2003 ---
qpos:
[-0.01368313, 1.32921913,-0.01908781, 0.94610118, 0.00424687, 1.33226904,
 -0.03038237, 0.94353879, 0.01690249, 1.33775552,-0.02354551, 0.95533736,
  1.35676827,-0.00496837, 1.13313961, 0.05981915,-0.00168325,-0.09793777,
  0.08170382, 0.54601466,-0.01132798,-0.00507394, 0.83768367]

qacc:
[-1.12347897e-01,-8.60128044e-02, 1.26282246e+00,-6.38140662e+00,
 -1.86989799e-05, 1.53193344e-01, 1.83583889e+00,-1.26163107e+01,
  3.45559795e-02, 5.31954419e+00,-2.33090613e+01, 5.67165497e+01,
  3.53924641e-01,-2.26372510e-01,-3.24920006e+00, 6.84478669e+00,
  8.02414537e-01, 1.31151077e+00,-6.82108877e-01, 5.87434091e+01,
  5.23663959e+01, 6.92651303e-01]

qfrc_actuator:
[ 5.88366890e-03, 3.84594208e-02, 1.14887114e-02, 1.74836584e-03,
 -2.69851324e-05, 3.48793755e-02, 1.08925142e-02, 1.68134383e-03,
 -3.01719875e-03, 3.48654002e-02, 1.08658801e-02, 1.86554632e-03,
  0.00000000e+00, 6.93896206e-04, 0.00000000e+00, 2.03111675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14771452, -0.09885101,  0.10976365, -0.09885101,  0.40013627,
        0.22732611,  0.10976365,  0.22732611,  0.35244   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011889644509754244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57692785e-01,  8.77228016e-02, -9.62236530e-01, -2.26930163e-02,
        9.96144924e-01,  8.47367507e-02,  9.65960380e-01, -6.93889390e-18,
        2.58690054e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672313 , -0.03872571,  0.22657714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.34351064,   6.78481178,   5.34351064,
        27.68580261, -15.00275663,   6.78481178, -15.00275663,
        20.45207678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011987193153529807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63087151e-14,  4.63087151e-14,  1.00000000e+00,  2.14449709e-27,
        1.00000000e+00, -4.63087151e-14, -1.00000000e+00,  0.00000000e+00,
       -4.63087151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02865197, -0.13061763,  0.0618935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18117893e-03, 4.01101232e-03, 6.83013981e-04,-2.38651298e-05,
  1.90593226e-08, 1.32439477e-05,-2.82617598e-05,-4.83577809e-05,
  9.98850278e-06, 5.45221418e-05, 2.86121146e-05, 1.65452768e-04,
  2.76217532e-03, 2.67333428e-03, 8.24511130e-03, 4.14894501e-03,
 -1.57951087e-07,-6.65029159e-08,-1.21644111e+00, 1.58084479e-03,
  5.43736836e-04, 2.83551883e-05]


--- Step 2004 ---
qpos:
[-0.01368906, 1.32921466,-0.01909055, 0.94610048, 0.00424646, 1.33227036,
 -0.03038287, 0.94353811, 0.01690262, 1.33775797,-0.02354542, 0.95533863,
  1.3567887 ,-0.00497384, 1.13315667, 0.05981407,-0.00167122,-0.09793438,
  0.08170876, 0.54604599,-0.01115861,-0.00482541, 0.83766698]

qacc:
[ 3.74523029e-01, 1.65061270e+00,-3.82277318e+00,-3.94622563e+00,
  5.76797523e-02, 2.40930770e+00,-9.45616033e+00, 2.10089738e+01,
 -3.29296860e-02,-3.35533953e+00, 1.40047690e+01,-2.63315880e+01,
  8.27970956e-01,-1.30578177e+00, 4.02510424e+00,-8.55096323e+00,
  7.50763254e-01, 1.25884481e+00,-1.11695855e+00, 5.60421217e+01,
  4.98143660e+01, 5.46522357e-01]

qfrc_actuator:
[ 5.93633676e-03, 3.84559005e-02, 1.14582413e-02, 1.71604683e-03,
 -1.03615580e-05, 3.49425737e-02, 1.09131317e-02, 1.74318572e-03,
 -3.03261753e-03, 3.48869528e-02, 1.08963306e-02, 1.80064770e-03,
  0.00000000e+00, 6.31323759e-04, 0.00000000e+00, 1.91691981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14772513, -0.10523826,  0.10367074, -0.10523826,  0.40226963,
        0.25839325,  0.10367074,  0.25839325,  0.41002532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011916448935019378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25769903,  0.08772449, -0.9622347 , -0.02269401,  0.99614478,
        0.08473823,  0.96595869,  0.        ,  0.25869636])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723214, -0.03872733,  0.22657669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.41004943,   6.73187508,   5.41004943,
        31.07848554, -18.03553799,   6.73187508, -18.03553799,
        23.13056486,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011784835426931345
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53279125e-14,  4.71038833e-14,  1.00000000e+00,  1.66408186e-27,
        1.00000000e+00, -4.71038833e-14, -1.00000000e+00,  0.00000000e+00,
       -3.53279125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02867954, -0.13064754,  0.06189525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24710491e-03, 4.00568724e-03, 6.64683580e-04,-3.34616121e-05,
  1.66355249e-05, 6.35339083e-05, 1.85711788e-05, 6.02882556e-05,
 -9.51848394e-06, 6.21803034e-05, 4.91918813e-05,-5.85901468e-05,
  2.73961312e-03, 2.60337798e-03, 8.34900386e-03, 4.03220277e-03,
  5.39887336e-06,-7.31891119e-07,-1.21644125e+00, 1.58254120e-03,
  5.42743740e-04, 2.62422265e-05]


--- Step 2005 ---
qpos:
[-0.0136945 , 1.32920973,-0.01909293, 0.94609974, 0.00424622, 1.33227161,
 -0.03038236, 0.94353852, 0.01690248, 1.33776043,-0.02354444, 0.9553381 ,
  1.35680876,-0.00497934, 1.13317202, 0.0598092 ,-0.00166331,-0.09793675,
  0.08171247, 0.54608039,-0.01096439,-0.00476134, 0.83764749]

qacc:
[ 2.06640851e-01,-1.67930070e+00, 4.83430214e+00,-4.45251581e+00,
  6.91176841e-02,-9.59287946e-01, 7.85314525e-01, 1.19692462e+01,
 -1.12964984e-01,-5.50139298e+00, 2.15852954e+01,-3.94684367e+01,
 -1.69485805e-01, 7.57001194e-02,-3.10857115e+00, 7.24394906e+00,
 -1.03002385e+00,-1.44149703e+00,-3.07686164e-01,-7.04677028e+01,
 -6.07449633e+01,-3.13334590e+00]

qfrc_actuator:
[ 6.04078968e-03, 3.84199542e-02, 1.14593574e-02, 1.71505873e-03,
 -3.07731174e-07, 3.49264319e-02, 1.09611810e-02, 1.79763812e-03,
 -3.05962653e-03, 3.48631608e-02, 1.09319219e-02, 1.70866875e-03,
  0.00000000e+00, 6.85109780e-04, 0.00000000e+00, 2.01024342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14774172, -0.10038117,  0.10840313, -0.10038117,  0.32854478,
        0.16742341,  0.10840313,  0.16742341,  0.3027756 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011958252661103605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25770597,  0.08772595, -0.96223271, -0.022695  ,  0.99614465,
        0.08473948,  0.96595682,  0.        ,  0.25870336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723319, -0.038729  ,  0.2265762 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012008571361104003
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08959798e-14,  2.31131371e-14,  1.00000000e+00, -1.86975987e-27,
        1.00000000e+00, -2.31131371e-14, -1.00000000e+00,  0.00000000e+00,
        8.08959798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03123852, -0.06000572,  0.06189339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.30734615e-03, 3.96012813e-03, 7.11552201e-04,-3.47615484e-06,
  1.98746345e-05, 2.44418430e-05, 6.43577176e-05, 5.83052779e-05,
 -3.26260779e-05, 1.84486674e-05, 5.16089766e-05,-9.00567583e-05,
  2.70679821e-03, 2.68894358e-03, 8.21643878e-03, 4.12852366e-03,
  1.37483133e-05, 5.22302128e-06,-1.21644362e+00, 1.58421092e-03,
  5.41396328e-04, 3.16711842e-05]


--- Step 2006 ---
qpos:
[-0.01369991, 1.32920469,-0.01909473, 0.94609964, 0.00424613, 1.33227253,
 -0.03038159, 0.9435386 , 0.01690205, 1.33776247,-0.02354233, 0.95533892,
  1.35682805,-0.00498496, 1.13318981, 0.05980452,-0.00165919,-0.09794461,
  0.08171263, 0.54611795,-0.01074717,-0.00487028, 0.83762519]

qacc:
[ 1.38865263e-02,-5.65603565e-01, 3.75144611e-01, 7.14705892e+00,
  6.17369071e-02,-1.69249658e+00, 5.65998731e+00,-8.44493068e+00,
 -1.22065425e-01,-1.29355774e+00, 8.36206084e-01, 1.50554526e+01,
 -6.29832931e-01, 5.14503791e-01, 3.03488173e+00,-5.30853299e+00,
 -9.46375748e-01,-1.37296400e+00,-8.88743394e-01,-6.61702213e+01,
 -5.68530508e+01,-3.10353504e+00]

qfrc_actuator:
[ 6.01658304e-03, 3.83651340e-02, 1.14962637e-02, 1.75029513e-03,
  5.72315412e-06, 3.48630298e-02, 1.09536952e-02, 1.77623690e-03,
 -3.07561662e-03, 3.48301370e-02, 1.09878528e-02, 1.77904217e-03,
  0.00000000e+00, 7.37358867e-04, 0.00000000e+00, 1.92604719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14775365, -0.10335508,  0.10558821, -0.10335508,  0.42777828,
        0.27410227,  0.10558821,  0.27410227,  0.41605882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011988209707444741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57713014e-01,  8.77272759e-02, -9.62230704e-01, -2.26959643e-02,
        9.96144530e-01,  8.47405932e-02,  9.65954914e-01, -3.46944695e-18,
        2.58710465e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723413, -0.03873061,  0.22657573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.36454121, -5.83775574, -6.36454121, 17.47454731,
       -9.63572076, -5.83775574, -9.63572076, 19.14158936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001206631353413798
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30025314e-14, -2.30025314e-14,  1.00000000e+00, -5.29116452e-28,
        1.00000000e+00,  2.30025314e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30025314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03123367, -0.06001774,  0.06189292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25876900e-03, 3.92864468e-03, 7.30199507e-04, 3.40049445e-05,
  1.77620315e-05,-3.55456208e-05, 6.32789425e-06,-1.74243594e-05,
 -3.52531934e-05,-1.54303519e-05, 6.27592742e-05, 7.03376879e-05,
  2.72565984e-03, 2.74322994e-03, 8.30114591e-03, 4.03423608e-03,
  3.77902099e-06,-1.17495951e-06,-1.21644083e+00, 1.58134891e-03,
  5.42967245e-04, 2.51563713e-05]


--- Step 2007 ---
qpos:
[-0.01370463, 1.32919925,-0.01909665, 0.94610002, 0.00424615, 1.33227355,
 -0.03038131, 0.94353809, 0.01690153, 1.33776411,-0.02353884, 0.95533917,
  1.3568471 ,-0.00499121, 1.13321452, 0.0597999 ,-0.001662  ,-0.09794858,
  0.081707  , 0.54614677,-0.01073436,-0.00499423, 0.83760584]

qacc:
[ 2.94264496e-01, 6.23053113e-01,-3.65340059e+00, 9.04088584e+00,
  4.87096505e-02, 4.21719607e-01, 1.64044915e-02,-7.03859501e+00,
 -4.24490269e-02,-5.22056578e+00, 1.75107157e+01,-2.13818376e+01,
 -7.76967026e-02,-3.87035513e-01, 1.00067990e+01,-2.01518089e+01,
 -1.73408488e+00, 9.73295196e-01,-1.44778320e+00,-6.21415083e+01,
  8.14787005e+01, 4.88842913e+00]

qfrc_actuator:
[ 5.98645106e-03, 3.83875797e-02, 1.15365413e-02, 1.77109305e-03,
  9.29240461e-06, 3.48780783e-02, 1.09309860e-02, 1.74580349e-03,
 -3.06711434e-03, 3.48097615e-02, 1.10553933e-02, 1.74912145e-03,
  0.00000000e+00, 7.17765613e-04, 0.00000000e+00, 1.69975748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14777173,  0.06952613, -0.13039402,  0.06952613,  1.00458734,
        0.4568543 , -0.13039402,  0.4568543 ,  0.39136656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012033458822404558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25771961,  0.0877286 , -0.96222882, -0.02269689,  0.99614441,
        0.08474172,  0.96595313,  0.        ,  0.25871712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723527, -0.03873218,  0.22657524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012177105320225756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.55864918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.55864918e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05320978, -0.10955685,  0.06189199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22700999e-03, 3.95646558e-03, 7.42019506e-04, 2.27508342e-05,
  1.40516949e-05,-3.90792604e-06,-2.94556852e-05,-3.17182945e-05,
 -1.23141985e-05,-1.45858201e-05, 7.37139433e-05,-2.68970737e-05,
  2.76401947e-03, 2.72943401e-03, 8.17928785e-03, 3.79804302e-03,
 -1.30732521e-06, 1.86485789e-06,-1.21644113e+00, 1.57835562e-03,
  5.44490485e-04, 2.87413649e-05]


--- Step 2008 ---
qpos:
[-0.01370997, 1.32919437,-0.01909731, 0.94609911, 0.00424611, 1.33227464,
 -0.03038135, 0.94353755, 0.01690098, 1.33776587,-0.02353558, 0.9553398 ,
  1.3568658 ,-0.00499757, 1.1332356 , 0.05979551,-0.00167137,-0.09794898,
  0.08169354, 0.54616763,-0.01091364,-0.00513206, 0.83758909]

qacc:
[-2.65716526e-01,-4.92850424e+00, 1.96104936e+01,-3.24307693e+01,
 -2.57205483e-02, 9.34168142e-01,-2.89240440e+00, 2.21717662e+00,
 -6.63665390e-03, 1.42992508e+00,-5.20816472e+00, 8.68755028e+00,
 -5.29252866e-03,-1.82513866e-01,-6.01042326e+00, 1.32352859e+01,
 -1.63961805e+00, 8.93615825e-01,-1.95485361e+00,-5.83013895e+01,
  7.66218868e+01, 4.45128460e+00]

qfrc_actuator:
[ 5.98759419e-03, 3.84567219e-02, 1.15792968e-02, 1.71211730e-03,
 -6.39576153e-06, 3.48866405e-02, 1.09175404e-02, 1.74586243e-03,
 -3.06174167e-03, 3.48148752e-02, 1.10404357e-02, 1.76690780e-03,
  0.00000000e+00, 7.26641300e-04, 0.00000000e+00, 1.90308548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14780507, -0.10321933,  0.10579277, -0.10321933,  0.49569598,
        0.33942834,  0.10579277,  0.33942834,  0.4789767 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012116449262493043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57726705e-01,  8.77297439e-02, -9.62226812e-01, -2.26978135e-02,
        9.96144313e-01,  8.47426530e-02,  9.65951218e-01, -3.46944695e-18,
        2.58724265e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723697, -0.0387338 ,  0.22657467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.68769464,  3.93524179, -7.68769464, 13.05629812,
        8.63456644,  3.93524179,  8.63456644, 25.50442761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001219477545422315
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55204374e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.55204374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05320351, -0.10955891,  0.06189181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19343011e-03, 4.04569836e-03, 7.90461962e-04,-6.04623616e-05,
 -7.39441970e-06,-3.23348693e-07,-1.84946078e-05,-1.65666376e-06,
 -1.89811276e-06, 1.06312509e-05,-1.02209646e-05, 1.88926950e-05,
  2.77574778e-03, 2.77005517e-03, 7.83268784e-03, 3.99774456e-03,
  1.10714136e-06, 2.44897962e-06,-1.21644050e+00, 1.58268340e-03,
  5.45658177e-04, 3.32441722e-05]


--- Step 2009 ---
qpos:
[-0.0137156 , 1.32918979,-0.01909755, 0.94609826, 0.00424595, 1.33227585,
 -0.03038188, 0.94353667, 0.01690046, 1.33776712,-0.02353258, 0.95534173,
  1.35688468,-0.00500358, 1.13325312, 0.05979106,-0.00168698,-0.09794606,
  0.08167056, 0.54618112,-0.01127473,-0.00528285, 0.83757457]

qacc:
[-1.19325658e-01,-6.46854608e-01, 2.46901206e+00,-1.67878390e+00,
 -4.77173783e-02, 9.00185925e-01,-2.04156356e+00,-2.22333968e+00,
  8.07345778e-03, 2.26429920e+00,-1.08084651e+01, 2.46911026e+01,
  7.15735905e-02, 1.86686905e-01,-5.11048014e+00, 1.02060193e+01,
 -1.55909544e+00, 8.28719346e-01,-2.38313925e+00,-5.51100961e+01,
  7.25723739e+01, 4.08580667e+00]

qfrc_actuator:
[ 5.97304143e-03, 3.84820656e-02, 1.15867012e-02, 1.71337769e-03,
 -1.57560497e-05, 3.48913003e-02, 1.08919330e-02, 1.72837280e-03,
 -3.05829171e-03, 3.47461541e-02, 1.10125461e-02, 1.83036633e-03,
  0.00000000e+00, 6.99068131e-04, 0.00000000e+00, 1.99120465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14783301, -0.10075064,  0.1081846 , -0.10075064,  0.3482917 ,
        0.18668408,  0.1081846 ,  0.18668408,  0.321689  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001218551980915368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57732030e-01,  8.77310646e-02, -9.62225265e-01, -2.26986269e-02,
        9.96144197e-01,  8.47438023e-02,  9.65949778e-01, -3.46944695e-18,
        2.58729641e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723838, -0.03873531,  0.22657416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.80724087,  3.69239311, -7.80724087, 13.37813064,
       10.02604978,  3.69239311, 10.02604978, 29.83556511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001207234054344808
  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([ 0.05322997, -0.10956787,  0.06189278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21026046e-03, 4.04281313e-03, 7.34644371e-04, 5.47934810e-06,
 -1.37246658e-05, 8.04462103e-07,-2.78258897e-05,-1.80793963e-05,
  2.33073177e-06,-6.42935051e-05,-2.64266916e-05, 6.39220798e-05,
  2.79350544e-03, 2.74795971e-03, 8.01345075e-03, 4.07495478e-03,
  6.90743186e-06, 8.97948015e-07,-1.21644305e+00, 1.58570630e-03,
  5.46440627e-04, 2.62762838e-05]


--- Step 2010 ---
qpos:
[-0.01372108, 1.3291865 ,-0.01909808, 0.94609841, 0.00424584, 1.33227689,
 -0.03038179, 0.94353626, 0.01689982, 1.33776715,-0.023529  , 0.95534407,
  1.35690412,-0.00500969, 1.13327241, 0.0597862 ,-0.00169888,-0.09793673,
  0.08165261, 0.54619589,-0.01166383,-0.00524518, 0.83755984]

qacc:
[ 6.06828306e-02, 4.25433272e+00,-1.38925152e+01, 2.29750473e+01,
  1.45538304e-02,-1.11836130e+00, 2.42139188e+00, 3.31934088e+00,
 -4.87171051e-02,-2.45190370e+00, 5.21862860e+00, 1.07417378e+00,
  3.92011904e-01,-3.97873788e-01, 3.85430899e+00,-9.72784961e+00,
  9.27864738e-01, 1.60205967e+00, 1.25916060e+00, 7.12777629e+01,
  6.31974780e+01, 5.47950767e-01]

qfrc_actuator:
[ 5.93122368e-03, 3.84811701e-02, 1.15732322e-02, 1.76769874e-03,
 -3.49085766e-06, 3.48935339e-02, 1.09303295e-02, 1.75393651e-03,
 -3.07377648e-03, 3.46514683e-02, 1.10302697e-02, 1.84913667e-03,
  0.00000000e+00, 6.49219671e-04, 0.00000000e+00, 1.88611523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14785369, -0.10156935,  0.10744478, -0.10156935,  0.7861931 ,
        0.60343293,  0.10744478,  0.60343293,  0.71828893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012236374658453064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25773666,  0.08773246, -0.9622239 , -0.0226994 ,  0.99614407,
        0.08474504,  0.96594852,  0.        ,  0.25873432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06723949, -0.03873681,  0.2265737 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012300079324664287
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.51307262e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.51307262e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02862699, -0.1305574 ,  0.06189076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18253222e-03, 4.02698870e-03, 7.00109382e-04, 5.69233502e-05,
  4.16463025e-06,-3.31810606e-06, 3.48550435e-05, 2.43525626e-05,
 -1.41101149e-05,-1.33515635e-04, 4.03365685e-06, 1.75898429e-05,
  2.78460117e-03, 2.68114581e-03, 8.19176499e-03, 3.97255949e-03,
  1.55399739e-05,-2.43636680e-06,-1.21644828e+00, 1.58771530e-03,
  5.46908866e-04, 9.76447362e-06]


--- Step 2011 ---
qpos:
[-0.01372646, 1.32918349,-0.01909875, 0.94610033, 0.0042458 , 1.3322774 ,
 -0.03038051, 0.94353649, 0.01689904, 1.33776705,-0.02352708, 0.95534769,
  1.35692391,-0.00501535, 1.13329068, 0.05978095,-0.00170735,-0.09792141,
  0.08163667, 0.54621189,-0.01207897,-0.00503206, 0.83754483]

qacc:
[ 4.32203180e-02, 3.81839194e+00,-1.56166417e+01, 3.38906433e+01,
  3.43835970e-02,-2.78671896e+00, 6.91983065e+00, 1.91702242e+00,
 -6.02415245e-02, 6.51429989e+00,-2.40076183e+01, 3.54845838e+01,
 -2.52850288e-02, 4.42921088e-01,-3.25432105e-01,-1.00766135e+00,
  8.54581020e-01, 1.49685543e+00, 5.03628923e-01, 6.63731791e+01,
  5.88289388e+01, 4.98782776e-01]

qfrc_actuator:
[ 5.94374477e-03, 3.84811761e-02, 1.15477913e-02, 1.85288313e-03,
  3.89536526e-06, 3.48590634e-02, 1.09884677e-02, 1.78691986e-03,
 -3.08274250e-03, 3.46663865e-02, 1.09503572e-02, 1.91246562e-03,
  0.00000000e+00, 6.57314853e-04, 0.00000000e+00, 1.91402035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14788177, -0.10028162,  0.10868585, -0.10028162,  0.32804564,
        0.16623253,  0.10868585,  0.16623253,  0.30126021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012305081215599825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25774033,  0.08773384, -0.96222279, -0.02270008,  0.99614395,
        0.08474628,  0.96594753,  0.        ,  0.25873804])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724069, -0.03873838,  0.22657326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012485462544505055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22303143e-14,  8.89212571e-14,  1.00000000e+00,  1.97674749e-27,
        1.00000000e+00, -8.89212571e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22303143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02860402, -0.13052733,  0.06188912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18787337e-03, 3.96266037e-03, 6.89642579e-04, 9.17284982e-05,
  9.84404460e-06,-2.87629881e-05, 6.21679050e-05, 3.44712123e-05,
 -1.73026784e-05,-5.76066904e-05,-1.05012891e-04, 5.99110491e-05,
  2.75637231e-03, 2.69403922e-03, 8.10255025e-03, 4.02119018e-03,
  3.39958871e-06,-2.05997788e-06,-1.21644873e+00, 1.59006127e-03,
  5.45820742e-04, 1.36564655e-05]


--- Step 2012 ---
qpos:
[-0.0137324 , 1.32917854,-0.01909917, 0.94610275, 0.00424584, 1.33227795,
 -0.03037949, 0.94353612, 0.01689828, 1.33776708,-0.02352661, 0.95535096,
  1.35694365,-0.00501994, 1.13330147, 0.05977597,-0.00171418,-0.09791202,
  0.0816337 , 0.54623008,-0.01236766,-0.00491838, 0.83752943]

qacc:
[-2.37096706e-01,-2.38266375e+00, 3.69886284e+00, 3.69135917e+00,
  3.54040366e-02,-2.93234912e-01, 2.28216318e+00,-9.14514035e+00,
  8.63789008e-03, 3.47052574e+00,-1.04058338e+01, 4.98889423e+00,
 -3.98140642e-01, 1.21952860e+00,-1.18281653e+01, 2.53990061e+01,
  4.12874394e-01,-1.47936830e+00, 3.24059385e+00,-7.09887390e+00,
 -8.01026638e+01,-1.94221842e+00]

qfrc_actuator:
[ 5.97110050e-03, 3.84644675e-02, 1.15328820e-02, 1.86665985e-03,
  8.29398729e-06, 3.48562408e-02, 1.09688635e-02, 1.75296457e-03,
 -3.06997226e-03, 3.46932174e-02, 1.08848948e-02, 1.89500025e-03,
  0.00000000e+00, 7.17423782e-04, 0.00000000e+00, 2.16387662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14790776, -0.09699053,  0.11166711, -0.09699053,  0.21297573,
        0.05651598,  0.11166711,  0.05651598,  0.19699576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001236832480632291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57743878e-01,  8.77351835e-02, -9.62221716e-01, -2.27007443e-02,
        9.96143834e-01,  8.47474993e-02,  9.65946567e-01,  3.46944695e-18,
        2.58741629e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724179, -0.03874   ,  0.22657283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012522826119063385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43279741e-14,  2.21639871e-14,  1.00000000e+00,  9.82484645e-28,
        1.00000000e+00, -2.21639871e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43279741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00604366, -0.07657559,  0.06188872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21011976e-03, 3.93222649e-03, 6.81820954e-04, 1.71525020e-05,
  1.02076070e-05,-5.54023939e-06,-1.71471332e-05,-3.21952409e-05,
  2.55073624e-06,-2.37545131e-05,-8.68894336e-05,-2.08414368e-05,
  2.73917417e-03, 2.73181650e-03, 8.15272686e-03, 4.29012821e-03,
 -3.55239354e-06, 7.61619045e-06,-1.21645232e+00, 1.59245556e-03,
  5.44217655e-04, 2.79161107e-05]


--- Step 2013 ---
qpos:
[-0.01373902, 1.32917243,-0.01909999, 0.94610355, 0.00424596, 1.33227876,
 -0.03037905, 0.94353395, 0.01689745, 1.33776708,-0.02352636, 0.95535325,
  1.35696328,-0.00502437, 1.13330931, 0.05977149,-0.00171942,-0.09790815,
  0.08164019, 0.54625042,-0.01253867,-0.00489738, 0.83751375]

qacc:
[-2.87707903e-01,-3.26509589e+00, 1.20995167e+01,-2.84874691e+01,
  2.97603991e-02,-1.15458180e+00, 7.86367135e+00,-2.77322548e+01,
 -2.87648843e-02,-1.08086894e+00, 5.43437114e+00,-1.59081876e+01,
 -2.18190827e-02, 9.30194381e-02,-5.84748638e+00, 1.41287757e+01,
  3.96494492e-01,-1.38178288e+00, 2.36653336e+00,-6.65947269e+00,
 -7.45918780e+01,-1.84441526e+00]

qfrc_actuator:
[ 5.95472047e-03, 3.84398351e-02, 1.15239505e-02, 1.78490004e-03,
  1.08648129e-05, 3.48720576e-02, 1.09390990e-02, 1.66210163e-03,
 -3.07977142e-03, 3.47092200e-02, 1.08817928e-02, 1.84791267e-03,
  0.00000000e+00, 7.36931903e-04, 0.00000000e+00, 2.22685744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14791036, -0.09785524,  0.1109136 , -0.09785524,  0.36735599,
        0.1936093 ,  0.1109136 ,  0.1936093 ,  0.31872515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012374631043565731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25774905,  0.08773666, -0.9622202 , -0.02270158,  0.9961437 ,
        0.0847488 ,  0.96594517,  0.        ,  0.25874685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724233, -0.03874158,  0.22657242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012683152717725896
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92385817e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.92385817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0060384 , -0.07659063,  0.06188736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22174425e-03, 4.00462147e-03, 6.60091229e-04,-8.93244741e-05,
  8.59560555e-06, 8.42410356e-06,-3.37462092e-05,-9.22771610e-05,
 -8.29385510e-06,-1.47147508e-05,-1.82207465e-05,-5.08129733e-05,
  2.74106005e-03, 2.69801504e-03, 8.52690506e-03, 4.33962409e-03,
 -8.00614222e-07, 1.99885612e-06,-1.21644594e+00, 1.58993040e-03,
  5.43998224e-04, 3.00969918e-05]


--- Step 2014 ---
qpos:
[-0.01374472, 1.32916529,-0.01910182, 0.94610408, 0.00424598, 1.33227993,
 -0.03037887, 0.94353241, 0.0168964 , 1.33776732,-0.02352608, 0.95535562,
  1.35698278,-0.00502956, 1.13332517, 0.05976732,-0.00171931,-0.09790749,
  0.08165032, 0.54626961,-0.01255133,-0.00486934, 0.8375012 ]

qacc:
[ 3.87923271e-01, 9.38719717e-01,-4.14075991e+00, 1.09543640e+00,
 -3.90517566e-02, 2.24525476e+00,-8.05938674e+00, 1.40726936e+01,
 -9.76612820e-02, 3.30043287e-01,-8.25932204e-01, 1.35605880e+00,
  4.93029283e-02,-6.06964866e-01, 1.08442734e+01,-2.07699132e+01,
  1.33757390e+00,-8.03192768e-01, 9.07173715e-01, 4.62024371e+01,
 -6.44045224e+01, 9.97672012e-01]

qfrc_actuator:
[ 5.98345275e-03, 3.84636995e-02, 1.15546569e-02, 1.77199599e-03,
 -5.43390781e-06, 3.49165699e-02, 1.09391626e-02, 1.69828645e-03,
 -3.10303177e-03, 3.47543446e-02, 1.08977290e-02, 1.85483019e-03,
  0.00000000e+00, 7.32563537e-04, 0.00000000e+00, 1.92884299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14790263,  0.09673001, -0.11188606,  0.09673001,  0.6672556 ,
        0.4490016 , -0.11188606,  0.4490016 ,  0.53608262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001235585827218874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57755712e-01,  8.77382943e-02, -9.62218262e-01, -2.27025978e-02,
        9.96143560e-01,  8.47502233e-02,  9.65943365e-01, -3.46944695e-18,
        2.58753580e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724269, -0.0387431 ,  0.22657199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.43262023, -4.39806019, -7.43262023, 10.42305827,
       -3.01947269, -4.39806019, -3.01947269, 13.73920281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001270650995211342
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36871741e-14,  8.73743482e-14,  1.00000000e+00,  3.81713836e-27,
        1.00000000e+00, -8.73743482e-14, -1.00000000e+00,  0.00000000e+00,
       -4.36871741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03274684, -0.08853545,  0.0618872 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28444279e-03, 4.08639238e-03, 7.10420629e-04,-2.16014356e-05,
 -1.12246523e-05, 3.97870848e-05,-4.83939568e-06, 3.33080450e-05,
 -2.81583660e-05, 3.19269077e-05, 9.50826049e-06, 4.76958270e-06,
  2.74677696e-03, 2.68589899e-03, 8.67422365e-03, 4.01685972e-03,
  7.21468105e-07,-1.63932528e-07,-1.21644218e+00, 1.58757627e-03,
  5.43895426e-04, 3.30122679e-05]


--- Step 2015 ---
qpos:
[-0.01374956, 1.32915883,-0.01910362, 0.94610631, 0.00424573, 1.33228072,
 -0.03037875, 0.94353276, 0.01689553, 1.33776733,-0.0235259 , 0.95535603,
  1.35700183,-0.00503529, 1.13334869, 0.05976299,-0.00171413,-0.09790984,
  0.08166168, 0.54628777,-0.01241438,-0.0048347 , 0.8374916 ]

qacc:
[ 3.66938555e-01, 3.77630844e+00,-1.46997945e+01, 3.20917730e+01,
 -1.18403394e-01, 2.88341472e+00,-1.38892133e+01, 3.41226459e+01,
  8.06318927e-02,-3.41129482e+00, 1.46719854e+01,-3.51187015e+01,
 -3.60495013e-01,-1.51018099e-02, 1.18705410e+01,-2.50052776e+01,
  1.26778828e+00,-7.51598361e-01, 3.09803980e-01, 4.36212042e+01,
 -6.08682442e+01, 9.14636767e-01]

qfrc_actuator:
[ 6.00242385e-03, 3.84814924e-02, 1.15921813e-02, 1.87072174e-03,
 -3.29200812e-05, 3.48538343e-02, 1.09215325e-02, 1.79124486e-03,
 -3.06316841e-03, 3.46924104e-02, 1.08716476e-02, 1.75147709e-03,
  0.00000000e+00, 7.50226120e-04, 0.00000000e+00, 1.73375386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14791075, -0.07316986,  0.12854479, -0.07316986,  0.91249592,
        0.43521475,  0.12854479,  0.43521475,  0.39564231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012375571841141686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25776436,  0.08773968, -0.96221582, -0.02270372,  0.99614344,
        0.08475135,  0.96594103,  0.        ,  0.2587623 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724374, -0.03874469,  0.22657145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012608167734306092
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.75174555e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.75174555e-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([-0.03276132, -0.08853063,  0.06188808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25763120e-03, 4.15574151e-03, 7.99120767e-04, 9.07840201e-05,
 -3.41099802e-05,-4.06815069e-05,-9.42432510e-06, 9.47848598e-05,
  2.32369467e-05,-4.22814077e-05,-1.86239260e-05,-1.02014147e-04,
  2.75364243e-03, 2.74156465e-03, 8.27342435e-03, 3.80562900e-03,
  1.20564299e-07, 1.80534219e-07,-1.21644012e+00, 1.58537126e-03,
  5.43105784e-04, 3.69190289e-05]


--- Step 2016 ---
qpos:
[-0.01375455, 1.32915363,-0.01910474, 0.94610858, 0.00424532, 1.33228066,
 -0.03037824, 0.94353285, 0.01689511, 1.3377671 ,-0.02352687, 0.95535491,
  1.35702038,-0.00504133, 1.13337283, 0.05975849,-0.00170746,-0.09791707,
  0.08167681, 0.54630794,-0.01217361,-0.00488207, 0.8374817 ]

qacc:
[-6.48012617e-02,-1.30251782e-01, 2.33712138e+00,-2.36546090e+00,
 -6.44224340e-02,-2.60312838e+00, 7.67936674e+00,-9.05858339e+00,
  1.92775513e-01, 1.58851971e-01, 2.20252104e+00,-1.94247327e+01,
 -2.13425802e-01,-8.05505294e-02, 1.41716137e+00,-3.62184683e+00,
  3.72821206e-01,-1.22057345e+00, 9.42387580e-01,-5.96256254e+00,
 -6.58701007e+01,-1.68534450e+00]

qfrc_actuator:
[ 5.99746877e-03, 3.84943400e-02, 1.15976458e-02, 1.87478494e-03,
 -3.13891635e-05, 3.47806043e-02, 1.09286983e-02, 1.77474239e-03,
 -3.02126480e-03, 3.46553962e-02, 1.08027330e-02, 1.67272284e-03,
  0.00000000e+00, 7.63437685e-04, 0.00000000e+00, 1.77831003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14793946, -0.07411135,  0.12803746, -0.07411135,  0.83410603,
        0.39717071,  0.12803746,  0.39717071,  0.377832  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001244499246155599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25777233,  0.08774084, -0.96221358, -0.02270473,  0.99614334,
        0.08475229,  0.96593888,  0.        ,  0.25877032])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724537, -0.03874632,  0.22657085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001244547017282313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46034987e-14,  2.23017493e-14,  1.00000000e+00,  9.94736047e-28,
        1.00000000e+00, -2.23017493e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46034987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00604163, -0.07656858,  0.06188949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20936614e-03, 4.13441566e-03, 8.03022733e-04, 9.70447786e-06,
 -1.86036032e-05,-9.47346670e-05, 9.14048884e-07,-1.58030186e-05,
  5.56238664e-05,-6.70522630e-05,-8.22721890e-05,-8.29249807e-05,
  2.77575828e-03, 2.78179695e-03, 7.88914156e-03, 3.85863229e-03,
  1.53435723e-06,-6.07187968e-07,-1.21644051e+00, 1.58384762e-03,
  5.42829996e-04, 3.31703644e-05]


--- Step 2017 ---
qpos:
[-0.01375977, 1.32914871,-0.01910577, 0.94610962, 0.00424498, 1.33228038,
 -0.03037757, 0.9435327 , 0.01689489, 1.33776683,-0.0235286 , 0.9553542 ,
  1.35703793,-0.00504767, 1.13339651, 0.05975397,-0.00169934,-0.09792898,
  0.08169373, 0.54633002,-0.01183371,-0.00500774, 0.83747143]

qacc:
[-1.00815988e-01,-2.02671406e+00, 9.55888807e+00,-2.27582140e+01,
  2.76207403e-02,-1.12366269e+00, 3.79982566e+00,-5.93711394e+00,
  7.74649336e-02, 2.69129661e+00,-9.66689888e+00, 1.31236044e+01,
 -5.41092300e-01, 1.89411468e-01,-5.92596051e-01, 1.15257474e+00,
  3.62322237e-01,-1.16996943e+00, 4.46895375e-01,-5.70371287e+00,
 -6.28888904e+01,-1.61976997e+00]

qfrc_actuator:
[ 6.04984124e-03, 3.85388790e-02, 1.16009615e-02, 1.80528000e-03,
 -1.24632997e-05, 3.48082037e-02, 1.09503075e-02, 1.76495528e-03,
 -3.03173635e-03, 3.46866740e-02, 1.07802138e-02, 1.69784898e-03,
  0.00000000e+00, 8.27219551e-04, 0.00000000e+00, 1.78919096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001252828291938811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57778413e-01,  8.77420644e-02, -9.62211837e-01, -2.27055803e-02,
        9.96143228e-01,  8.47533273e-02,  9.65937237e-01, -3.46944695e-18,
        2.58776454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724702, -0.0387479 ,  0.22657029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012200533712893244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82484298e-14,  4.54989532e-14,  1.00000000e+00, -3.10523211e-27,
        1.00000000e+00, -4.54989532e-14, -1.00000000e+00,  0.00000000e+00,
        6.82484298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00604706, -0.07654584,  0.06189162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26939019e-03, 4.11613613e-03, 7.72126359e-04,-6.17858738e-05,
  7.94209764e-06,-2.51045661e-05, 2.71677635e-06,-1.29746075e-05,
  2.23722047e-05,-2.43199269e-05,-4.73891646e-05, 1.87997498e-05,
  2.80068633e-03, 2.86099637e-03, 7.85796253e-03, 3.87773788e-03,
  2.71684179e-07,-4.98044630e-07,-1.21644199e+00, 1.58224657e-03,
  5.43198384e-04, 2.88180628e-05]


--- Step 2018 ---
qpos:
[-0.01376518, 1.32914502,-0.01910676, 0.94611009, 0.00424476, 1.33227993,
 -0.03037671, 0.94353243, 0.01689486, 1.33776644,-0.02353065, 0.95535412,
  1.35705464,-0.00505409, 1.13341813, 0.05974914,-0.00168807,-0.09793556,
  0.08170782, 0.54635301,-0.01151703,-0.00497824, 0.83746102]

qacc:
[-7.48685515e-02, 5.10440022e-01, 1.45756988e+00,-8.70226274e+00,
  5.60751719e-02,-9.50589101e-01, 3.11060553e+00,-4.05480296e+00,
  8.54644957e-02, 1.81505665e+00,-7.38517433e+00, 1.37898830e+01,
 -5.15395930e-01, 3.60659675e-01,-2.08521185e+00, 2.91526563e+00,
  7.85899666e-01, 1.33310585e+00,-7.05582488e-01, 5.86363245e+01,
  5.21146774e+01, 5.59733567e-01]

qfrc_actuator:
[ 6.10125121e-03, 3.85674034e-02, 1.15855533e-02, 1.78165280e-03,
 -1.00964412e-06, 3.48072605e-02, 1.09629138e-02, 1.75928596e-03,
 -3.02028498e-03, 3.46878227e-02, 1.07678466e-02, 1.73071686e-03,
  0.00000000e+00, 8.50457567e-04, 0.00000000e+00, 1.85079605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012611614277277527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57784139e-01,  8.77433520e-02, -9.62210186e-01, -2.27064205e-02,
        9.96143114e-01,  8.47544352e-02,  9.65935689e-01,  3.46944695e-18,
        2.58782233e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06724865, -0.03874935,  0.22656977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011881455128544202
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67208356e-14,  4.67208356e-14,  1.00000000e+00,  2.18283648e-27,
        1.00000000e+00, -4.67208356e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67208356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02869261, -0.13061574,  0.06189439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33270429e-03, 4.13076620e-03, 7.52098094e-04,-2.38347011e-05,
  1.61404626e-05,-1.46883603e-05, 7.62317949e-06,-6.64504782e-06,
  2.46610489e-05,-2.09940173e-05,-2.19506531e-05, 3.11949356e-05,
  2.85071806e-03, 2.89976925e-03, 7.88040778e-03, 3.94018010e-03,
 -1.66749351e-06, 1.77109913e-06,-1.21644493e+00, 1.58067849e-03,
  5.43665853e-04, 2.51579516e-05]


--- Step 2019 ---
qpos:
[-0.01377048, 1.32914086,-0.01910718, 0.94611108, 0.00424483, 1.33227964,
 -0.03037611, 0.94353209, 0.01689515, 1.33776575,-0.02353154, 0.95535195,
  1.35707137,-0.00505981, 1.13343433, 0.05974428,-0.00168024,-0.09794739,
  0.08171643, 0.54637938,-0.01117914,-0.00511257, 0.83744758]

qacc:
[ 4.31840528e-02,-1.23941266e+00, 2.21778544e+00, 4.45985852e+00,
  1.18511507e-01, 7.96503119e-01,-2.22321095e+00, 1.03544089e+00,
  1.35730604e-01,-7.11879599e+00, 2.69423302e+01,-4.72104569e+01,
 -2.15262673e-01, 7.46160185e-01,-7.89120585e+00, 1.60474506e+01,
 -8.58083369e-01,-1.31310912e+00,-1.37145508e+00,-6.27947697e+01,
 -5.36151601e+01,-3.24345454e+00]

qfrc_actuator:
[ 6.11661214e-03, 3.85319960e-02, 1.15766795e-02, 1.80314219e-03,
  2.36200942e-05, 3.48247178e-02, 1.09522616e-02, 1.75606880e-03,
 -2.99577190e-03, 3.46887407e-02, 1.08324528e-02, 1.62581970e-03,
  0.00000000e+00, 8.31508722e-04, 0.00000000e+00, 2.01414753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14804281, -0.10213992,  0.10716394, -0.10213992,  0.26517389,
        0.11163979,  0.10716394,  0.11163979,  0.25444875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001269150789889907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25778864,  0.0877447 , -0.96220886, -0.02270717,  0.996143  ,
        0.08475563,  0.96593447,  0.        ,  0.25878678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725009, -0.03875068,  0.22656932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011801504518918898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70373512e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.70373512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03129429, -0.05999977,  0.06189513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35689428e-03, 4.03377884e-03, 7.41260542e-04, 2.64656246e-05,
  3.41558146e-05, 1.06254650e-05,-1.28538641e-05,-3.58919756e-06,
  3.90741512e-05,-1.40484890e-05, 5.89270889e-05,-1.05438577e-04,
  2.89258760e-03, 2.88480047e-03, 7.98355746e-03, 4.11907678e-03,
  4.99003384e-06,-2.93774898e-06,-1.21644358e+00, 1.58146721e-03,
  5.43294120e-04, 1.75649571e-05]


--- Step 2020 ---
qpos:
[-0.0137759 , 1.32913426,-0.01910674, 0.94611352, 0.00424504, 1.33227968,
 -0.03037573, 0.943531  , 0.01689546, 1.33776442,-0.02353119, 0.95534858,
  1.35708856,-0.00506407, 1.133442  , 0.05973984,-0.00166911,-0.0979538 ,
  0.08172344, 0.54640652,-0.0108654 ,-0.00508629, 0.83743417]

qacc:
[-4.89604525e-02,-3.00794378e+00, 3.02860365e+00, 1.55936252e+01,
  5.89235144e-02,-2.86947286e-01, 2.99098784e+00,-1.14572369e+01,
  7.09208221e-03,-6.31770853e+00, 2.20144944e+01,-3.26655142e+01,
 -2.26570845e-01, 1.42048277e+00,-1.38058946e+01, 3.00863160e+01,
  8.24914377e-01, 1.35503912e+00,-4.00846092e-01, 6.06591373e+01,
  5.39961820e+01, 6.47075540e-01]

qfrc_actuator:
[ 6.11013607e-03, 3.84594457e-02, 1.15889370e-02, 1.86858075e-03,
  2.04496793e-05, 3.48529737e-02, 1.09457922e-02, 1.71881137e-03,
 -3.01687853e-03, 3.46364836e-02, 1.08886287e-02, 1.56499859e-03,
  0.00000000e+00, 8.39765673e-04, 0.00000000e+00, 2.27388881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1480622 , -0.09735511,  0.11155445, -0.09735511,  0.18461569,
        0.03190074,  0.11155445,  0.03190074,  0.17590241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001273718425762703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25779305,  0.08774602, -0.96220756, -0.0227079 ,  0.99614288,
        0.0847568 ,  0.96593328,  0.        ,  0.25879124])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725111, -0.03875198,  0.22656891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001168220312005322
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78191404e-14,  9.50354153e-14,  1.00000000e+00,  1.69344940e-27,
        1.00000000e+00, -9.50354153e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78191404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02872259, -0.13064542,  0.06189617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34533796e-03, 3.98510477e-03, 7.25237974e-04, 6.55176051e-05,
  1.69898066e-05, 3.15134984e-05,-5.95975830e-06,-3.73982456e-05,
  1.96606016e-06,-5.16367108e-05, 5.70426810e-05,-6.19727812e-05,
  2.89198265e-03, 2.85848245e-03, 8.25371204e-03, 4.37997074e-03,
 -1.99803683e-06, 2.25483417e-06,-1.21644465e+00, 1.57930591e-03,
  5.44198867e-04, 2.38088246e-05]


--- Step 2021 ---
qpos:
[-0.01378114, 1.32912812,-0.01910658, 0.94611652, 0.00424517, 1.33227953,
 -0.03037523, 0.9435295 , 0.01689567, 1.33776208,-0.02353122, 0.95534841,
  1.35710594,-0.00506851, 1.13345327, 0.05973547,-0.00166533,-0.09795627,
  0.08172554, 0.546425  ,-0.01076147,-0.0050751 , 0.83742352]

qacc:
[ 7.57374596e-02, 2.33979390e+00,-8.08089711e+00, 1.33583031e+01,
 -3.39502857e-02,-1.21705848e+00, 4.52695532e+00,-8.55604827e+00,
 -4.03722477e-02, 5.29117484e+00,-2.53043457e+01, 5.95917835e+01,
  1.03958481e-01,-1.95954474e-01, 5.08103340e+00,-1.00922352e+01,
 -1.83960366e+00, 9.85962741e-01,-1.22699557e+00,-6.36788090e+01,
  8.36868520e+01, 4.83621126e+00]

qfrc_actuator:
[ 6.09073503e-03, 3.84377635e-02, 1.16133507e-02, 1.90600062e-03,
  6.27906876e-07, 3.48164593e-02, 1.09418790e-02, 1.69733973e-03,
 -3.02967583e-03, 3.45350405e-02, 1.08504309e-02, 1.72586394e-03,
  0.00000000e+00, 8.45541651e-04, 0.00000000e+00, 2.09395951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14805383, -0.10210137,  0.10721589, -0.10210137,  0.67093681,
        0.49793989,  0.10721589,  0.49793989,  0.62224048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012717488131735316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25779897,  0.08774735, -0.96220585, -0.02270877,  0.99614276,
        0.08475795,  0.96593167,  0.        ,  0.25879722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725149, -0.03875329,  0.2265685 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011846505217037312
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68586728e-14,  9.37173457e-14,  1.00000000e+00, -4.39147044e-27,
        1.00000000e+00, -9.37173457e-14, -1.00000000e+00,  0.00000000e+00,
        4.68586728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328108, -0.10961788,  0.06189482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33175298e-03, 4.08493934e-03, 7.06564854e-04, 3.05891950e-05,
 -9.79259966e-06,-2.13733194e-05, 4.74704797e-07,-2.15667154e-05,
 -1.16384035e-05,-1.20689129e-04,-4.36159801e-05, 1.59556464e-04,
  2.86854063e-03, 2.79093310e-03, 8.67974300e-03, 4.17920761e-03,
  4.72175451e-06,-2.88795777e-06,-1.21644323e+00, 1.58049093e-03,
  5.43644834e-04, 1.57354862e-05]


--- Step 2022 ---
qpos:
[-0.01378526, 1.32912107,-0.01910753, 0.94611943, 0.0042453 , 1.33227915,
 -0.03037507, 0.94352882, 0.01689591, 1.3377588 ,-0.02353192, 0.9553495 ,
  1.35712365,-0.00507366, 1.13347165, 0.05973122,-0.00166846,-0.09795511,
  0.08172057, 0.54643559,-0.01085418,-0.00507787, 0.8374154 ]

qacc:
[ 4.72575663e-01, 1.64557489e+00,-6.60254459e+00, 5.14842207e+00,
  2.29027123e-04, 2.00009684e+00,-8.57640688e+00, 1.70809892e+01,
  1.09679043e-02, 2.71071135e+00,-1.28418262e+01, 2.60936864e+01,
  4.06794673e-01,-8.95604652e-01, 1.01156069e+01,-2.01947915e+01,
 -1.72650955e+00, 9.04757500e-01,-1.76633160e+00,-5.96027359e+01,
  7.84922284e+01, 4.41093546e+00]

qfrc_actuator:
[ 6.09883555e-03, 3.84802000e-02, 1.16103502e-02, 1.89140270e-03,
  6.48435155e-06, 3.47947169e-02, 1.09215180e-02, 1.73855857e-03,
 -3.01962999e-03, 3.44757108e-02, 1.08100114e-02, 1.78501506e-03,
  0.00000000e+00, 8.15389101e-04, 0.00000000e+00, 1.86344030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14805556, -0.09146696,  0.11642269, -0.09146696,  0.75045195,
        0.47327002,  0.11642269,  0.47327002,  0.51987802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012721563562239843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57804737e-01,  8.77486417e-02, -9.62204185e-01, -2.27096145e-02,
        9.96142648e-01,  8.47590557e-02,  9.65930117e-01,  6.93889390e-18,
        2.58803031e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725214, -0.03875466,  0.22656806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.35342596,  2.19249892, -8.35342596, 10.45431003,
        6.92637997,  2.19249892,  6.92637997, 35.02588739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011945225874747875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.64714119e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.64714119e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325732, -0.10961529,  0.061894  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33090871e-03, 4.10493695e-03, 7.17586789e-04,-1.24855289e-05,
  7.58620898e-08,-3.41236485e-05,-2.51230385e-05, 4.00885489e-05,
  3.16736598e-06,-1.29845814e-04,-6.42736330e-05, 5.80114577e-05,
  2.85900780e-03, 2.77010524e-03, 8.50018309e-03, 3.94520594e-03,
  5.81004467e-07,-3.35145256e-07,-1.21644017e+00, 1.58338355e-03,
  5.44506370e-04, 2.90876747e-05]


--- Step 2023 ---
qpos:
[-0.01378902, 1.32911409,-0.0191094 , 0.94612135, 0.00424546, 1.33227838,
 -0.03037453, 0.94352897, 0.01689593, 1.3377546 ,-0.02353193, 0.95534983,
  1.35714149,-0.00507926, 1.13349196, 0.05972687,-0.00167812,-0.09795061,
  0.08170672, 0.54643891,-0.01113257,-0.00509364, 0.83740948]

qacc:
[ 1.55867615e-01, 8.62998192e-01,-6.98691398e-01,-1.08140318e+01,
  1.22516999e-02,-1.47919447e-01,-1.84255825e+00, 1.13851111e+01,
 -9.59187076e-02,-4.40445193e+00, 1.44191552e+01,-2.06162208e+01,
  3.25195697e-01,-6.94923572e-01, 3.11675503e+00,-6.82404432e+00,
 -1.63137794e+00, 8.38492059e-01,-2.22166760e+00,-5.62133734e+01,
  7.41622032e+01, 4.05290254e+00]

qfrc_actuator:
[ 6.08692352e-03, 3.85800382e-02, 1.15918484e-02, 1.84603797e-03,
  9.94630229e-06, 3.47819606e-02, 1.09449444e-02, 1.78082275e-03,
 -3.04921935e-03, 3.44597441e-02, 1.08574511e-02, 1.74831296e-03,
  0.00000000e+00, 7.99777305e-04, 0.00000000e+00, 1.85102781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14807144, -0.08160597,  0.1235541 , -0.08160597,  0.90020487,
        0.49677491,  0.1235541 ,  0.49677491,  0.47618517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012758903773409103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25781246,  0.08774963, -0.96220203, -0.02271055,  0.99614256,
        0.08475982,  0.96592803,  0.        ,  0.2588108 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725339, -0.03875614,  0.22656752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.39649745,  2.02128854, -8.39649745, 10.45005339,
        7.53412542,  2.02128854,  7.53412542, 39.93336239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011891213936313857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66824931e-14,  4.66824931e-14,  1.00000000e+00,  2.17925516e-27,
        1.00000000e+00, -4.66824931e-14, -1.00000000e+00,  0.00000000e+00,
       -4.66824931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326928, -0.10962043,  0.06189443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26322115e-03, 4.25023651e-03, 7.54860532e-04,-5.27475057e-05,
  3.50540696e-06,-3.53411341e-05, 1.50667907e-05, 4.14294057e-05,
 -2.77257648e-05,-9.85780129e-05, 1.64823794e-05,-4.10815830e-05,
  2.84262190e-03, 2.78978404e-03, 8.14411699e-03, 3.92684778e-03,
  3.99497368e-07,-1.36090191e-07,-1.21644062e+00, 1.58504935e-03,
  5.44997976e-04, 2.98397631e-05]


--- Step 2024 ---
qpos:
[-0.0137916 , 1.32910556,-0.01911313, 0.94612291, 0.0042455 , 1.33227693,
 -0.03037387, 0.94353   , 0.01689566, 1.33775007,-0.02353136, 0.95535036,
  1.35715901,-0.00508558, 1.13352071, 0.05972242,-0.0016845 ,-0.09793994,
  0.08169418, 0.54644406,-0.01143575,-0.00493692, 0.83740297]

qacc:
[ 4.98949326e-01, 2.34861160e+00,-9.37974604e+00, 4.93977348e+00,
 -4.74368084e-02, 2.95239524e-01,-3.85537394e+00, 1.40748464e+01,
 -1.17783198e-01,-1.62940827e+00, 4.38453677e+00,-1.27143689e+00,
 -1.70617382e-01,-3.46177886e-01, 1.27623570e+01,-2.65184005e+01,
  8.19963994e-01, 1.54169181e+00, 3.27985913e-01, 6.54605219e+01,
  5.75164296e+01, 9.02041795e-02]

qfrc_actuator:
[ 6.09881042e-03, 3.86426873e-02, 1.15820447e-02, 1.81864128e-03,
 -5.80944324e-06, 3.47215992e-02, 1.09408031e-02, 1.82338339e-03,
 -3.06684192e-03, 3.44879027e-02, 1.09032475e-02, 1.76211713e-03,
  0.00000000e+00, 8.28433867e-04, 0.00000000e+00, 1.54358415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14809165,  0.09215632, -0.1159239 ,  0.09215632,  0.37281281,
        0.17864714, -0.1159239 ,  0.17864714,  0.29011122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001280625507721206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57820993e-01,  8.77505104e-02, -9.62199659e-01, -2.27115338e-02,
        9.96142484e-01,  8.47604761e-02,  9.65925733e-01, -6.93889390e-18,
        2.58819393e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672548 , -0.03875762,  0.22656695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011758412646685687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90121653e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.90121653e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02871687, -0.13063221,  0.06189548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25670477e-03, 4.30919576e-03, 7.90843411e-04,-3.09444519e-05,
 -1.36881856e-05,-7.57135613e-05,-8.12494880e-06, 4.29000271e-05,
 -3.40003939e-05,-2.43234175e-05, 2.72221490e-05, 1.04055588e-05,
  2.83623047e-03, 2.84160216e-03, 8.04716340e-03, 3.62419788e-03,
  3.50053021e-06,-1.88992047e-06,-1.21644401e+00, 1.58576650e-03,
  5.45186260e-04, 2.01838389e-05]


--- Step 2025 ---
qpos:
[-0.0137936 , 1.32909749,-0.01911725, 0.94612421, 0.0042454 , 1.33227476,
 -0.03037237, 0.94353254, 0.01689529, 1.33774652,-0.02353168, 0.95535136,
  1.3571761 ,-0.00509239, 1.13355217, 0.05971762,-0.0016946 ,-0.09793531,
  0.08168066, 0.54645354,-0.01171543,-0.00496563, 0.83739275]

qacc:
[ 2.42718943e-01, 1.22631907e+00,-2.77616225e+00,-7.46907284e-01,
 -6.05308818e-02,-5.98637596e-01,-2.28743183e+00, 1.99106792e+01,
 -4.40350164e-02, 4.51843867e+00,-1.41084267e+01, 1.69818333e+01,
 -1.52241074e-01,-2.54729696e-01, 5.08846560e+00,-1.19741494e+01,
 -9.31519643e-01,-1.51156027e+00,-2.43454012e-01,-7.12056839e+01,
 -6.04789179e+01,-3.93981570e+00]

qfrc_actuator:
[ 6.14177223e-03, 3.86313587e-02, 1.15610131e-02, 1.81955204e-03,
 -1.52137976e-05, 3.47041161e-02, 1.09912332e-02, 1.90123185e-03,
 -3.05938955e-03, 3.45955715e-02, 1.08768967e-02, 1.78781842e-03,
  0.00000000e+00, 8.30833904e-04, 0.00000000e+00, 1.52072902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14812687,  0.06530534, -0.13295406,  0.06530534,  0.48525291,
        0.16559202, -0.13295406,  0.16559202,  0.22946357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012888320904700518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25783282,  0.08775106, -0.96219644, -0.02271272,  0.99614244,
        0.08476073,  0.96592255,  0.        ,  0.25883128])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725694, -0.03875915,  0.22656624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011991888940216452
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62905815e-14,  2.31452907e-14,  1.00000000e+00,  1.07140897e-27,
        1.00000000e+00, -2.31452907e-14, -1.00000000e+00,  0.00000000e+00,
       -4.62905815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03127435, -0.06004338,  0.06189346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24077327e-03, 4.37537659e-03, 8.62582775e-04,-1.18238102e-05,
 -1.74863942e-05,-5.96567190e-05, 3.59543522e-05, 7.63283047e-05,
 -1.26283453e-05, 9.98717313e-05,-2.76977920e-05, 2.60150012e-05,
  2.85222278e-03, 2.87999750e-03, 7.62454489e-03, 3.60609066e-03,
 -2.06029264e-06, 4.04151642e-06,-1.21644615e+00, 1.58701437e-03,
  5.44395323e-04, 2.93302918e-05]


--- Step 2026 ---
qpos:
[-0.01379596, 1.32909151,-0.01912052, 0.94612565, 0.00424532, 1.33227234,
 -0.0303695 , 0.94353419, 0.01689505, 1.33774419,-0.02353248, 0.95535157,
  1.35719253,-0.00509928, 1.13358153, 0.05971229,-0.00170818,-0.09793639,
  0.0816638 , 0.5464672 ,-0.01197324,-0.00516816, 0.83737897]

qacc:
[-1.48101977e-01, 7.01766979e-01, 7.71161014e-01,-4.92789939e-01,
  6.87050812e-03,-5.56955476e+00, 1.95956874e+01,-2.71157469e+01,
  5.17526272e-02, 1.50611659e+00,-1.42940828e+00,-8.48678846e+00,
 -3.73179812e-01, 2.21868990e-01,-1.51676066e+00, 8.44297517e-01,
 -8.67435216e-01,-1.42741682e+00,-8.36879610e-01,-6.67836713e+01,
 -5.66072166e+01,-3.80171988e+00]

qfrc_actuator:
[ 6.16800743e-03, 3.85920133e-02, 1.15502778e-02, 1.83747844e-03,
 -2.97870075e-06, 3.47304299e-02, 1.10736566e-02, 1.85725901e-03,
 -3.03695578e-03, 3.46787522e-02, 1.08617546e-02, 1.74930326e-03,
  0.00000000e+00, 8.53036843e-04, 0.00000000e+00, 1.61566873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14817008, -0.09416916,  0.11439643, -0.09416916,  1.02148836,
        0.71890046,  0.11439643,  0.71890046,  0.73995647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012988257144184306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25784459,  0.08775146, -0.96219325, -0.02271386,  0.9961424 ,
        0.08476084,  0.96591938,  0.        ,  0.2588431 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06725928, -0.03876065,  0.22656552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.43210622,  -4.39892873,  -7.43210622,
        21.14851037, -21.13960222,  -4.39892873, -21.13960222,
        44.35227967,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012056076962066592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60441248e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.60441248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03126507, -0.06005657,  0.06189286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23836008e-03, 4.31341352e-03, 8.71542527e-04, 1.85804566e-05,
  1.91161474e-06, 2.65708911e-06, 7.70872649e-05,-4.29403150e-05,
  1.49780305e-05, 1.33794619e-04, 1.97983234e-06,-3.57663817e-05,
  2.87373655e-03, 2.92644276e-03, 7.48832022e-03, 3.71880360e-03,
  4.23489700e-06,-1.92276353e-06,-1.21644440e+00, 1.58687715e-03,
  5.45027331e-04, 2.17127983e-05]


--- Step 2027 ---
qpos:
[-0.01379876, 1.32908673,-0.01912257, 0.94612631, 0.00424531, 1.33227077,
 -0.03036776, 0.94353465, 0.01689498, 1.33774282,-0.02353368, 0.955351  ,
  1.35720817,-0.00510638, 1.13360852, 0.05970685,-0.00171803,-0.0979311 ,
  0.08165158, 0.54648205,-0.01225893,-0.00518394, 0.83736504]

qacc:
[-1.91174955e-01,-3.11527828e+00, 1.36441741e+01,-2.16315993e+01,
  2.92503975e-02, 2.11640326e+00,-3.11028424e+00,-1.17093120e+01,
  7.72917234e-02, 1.01275349e+00,-1.75570568e-01,-9.55944953e+00,
 -3.61407076e-01, 8.83856961e-02,-3.14115370e+00, 5.92059680e+00,
  9.29130533e-01, 1.59398485e+00, 1.16117066e+00, 7.05760184e+01,
  6.26984565e+01, 6.53667416e-01]

qfrc_actuator:
[ 6.20265260e-03, 3.85872911e-02, 1.15801476e-02, 1.79432526e-03,
  4.38581570e-06, 3.47828421e-02, 1.10146167e-02, 1.79524059e-03,
 -3.02347048e-03, 3.47111166e-02, 1.08355139e-02, 1.70882171e-03,
  0.00000000e+00, 8.86923633e-04, 0.00000000e+00, 1.67507252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013091729230900462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25785352,  0.08775198, -0.96219081, -0.02271478,  0.99614235,
        0.08476113,  0.96591697,  0.        ,  0.25885208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672614 , -0.03876204,  0.22656491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012339329579407199
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24935848e-14,  4.49871696e-14,  1.00000000e+00,  1.01192271e-27,
        1.00000000e+00, -4.49871696e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24935848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02864507, -0.13054111,  0.0618904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29048205e-03, 4.20390579e-03, 8.59328419e-04,-3.10088399e-05,
  8.49292133e-06, 6.76870165e-05,-5.10050364e-05,-6.06704581e-05,
  2.23331166e-05, 1.05695276e-04,-9.31296107e-07,-3.72981423e-05,
  2.90642199e-03, 2.96503895e-03, 7.59274025e-03, 3.80398040e-03,
  1.45104249e-05, 1.59691116e-06,-1.21644569e+00, 1.58630678e-03,
  5.45783344e-04, 2.43866305e-05]


--- Step 2028 ---
qpos:
[-0.01380212, 1.32908353,-0.01912357, 0.94612677, 0.00424537, 1.33227021,
 -0.03036776, 0.94353437, 0.01689495, 1.33774136,-0.02353418, 0.95534998,
  1.35722366,-0.0051134 , 1.1336321 , 0.05970112,-0.00172447,-0.09791985,
  0.08164106, 0.5464981 ,-0.01257054,-0.00502568, 0.83735091]

qacc:
[-2.35025376e-01,-1.09972896e+00, 6.48628031e+00,-8.94534592e+00,
  3.22780249e-02, 4.78998974e+00,-1.25132608e+01, 1.74563219e+00,
  1.20629431e-02,-2.77593431e+00, 9.79504942e+00,-1.35468431e+01,
 -1.42850137e-02, 1.85450747e-02,-4.14888307e+00, 7.21693062e+00,
  8.55532169e-01, 1.49024130e+00, 4.22151491e-01, 6.57929449e+01,
  5.84105151e+01, 5.78134316e-01]

qfrc_actuator:
[ 6.17157503e-03, 3.86034023e-02, 1.15981456e-02, 1.78638817e-03,
  8.76783421e-06, 3.48321686e-02, 1.09259186e-02, 1.75856472e-03,
 -3.03321619e-03, 3.46594884e-02, 1.08559994e-02, 1.68523618e-03,
  0.00000000e+00, 8.56956872e-04, 0.00000000e+00, 1.76621938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14825949, -0.10697189,  0.10265422, -0.10697189,  0.73104784,
        0.6073006 ,  0.10265422,  0.6073006 ,  0.78110332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013192450476678594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57860101e-01,  8.77526403e-02, -9.62188985e-01, -2.27155345e-02,
        9.96142296e-01,  8.47616091e-02,  9.65915200e-01,  3.46944695e-18,
        2.58858701e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672633 , -0.03876331,  0.22656438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012504519111298726
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21964358e-14,  4.43928717e-14,  1.00000000e+00, -9.85363528e-28,
        1.00000000e+00, -4.43928717e-14, -1.00000000e+00,  0.00000000e+00,
        2.21964358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02862516, -0.13051467,  0.06188895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28198216e-03, 4.16012836e-03, 8.15594923e-04,-1.44210087e-07,
  9.39753207e-06, 7.49782113e-05,-8.30399443e-05,-3.75418798e-05,
  3.44489366e-06, 5.54353225e-06, 3.99304100e-05,-2.13554544e-05,
  2.94588893e-03, 2.94529526e-03, 7.71114770e-03, 3.90089408e-03,
  3.82592616e-06,-1.78318772e-06,-1.21644486e+00, 1.58832288e-03,
  5.44961322e-04, 2.31822351e-05]


--- Step 2029 ---
qpos:
[-0.01380595, 1.32907989,-0.01912386, 0.9461287 , 0.00424536, 1.33227042,
 -0.03036802, 0.94353395, 0.01689503, 1.33773968,-0.02353374, 0.95534904,
  1.35723927,-0.00511923, 1.13364909, 0.05969519,-0.00172514,-0.09791203,
  0.08163811, 0.54651296,-0.01270891,-0.0048599 , 0.83734011]

qacc:
[-1.96079533e-01, 9.52607819e-02,-4.01205793e+00, 2.08872935e+01,
 -3.36040404e-02, 1.44477467e+00,-3.17522813e+00, 5.31277221e-01,
  4.84772632e-02,-2.71442272e+00, 8.34540504e+00,-6.28071938e+00,
 -4.39331857e-01, 1.40164131e+00,-9.07488883e+00, 1.76790609e+01,
  1.44010631e+00,-8.59641438e-01, 1.89568624e+00, 5.04883220e+01,
 -7.04990544e+01, 1.02110331e+00]

qfrc_actuator:
[ 6.17235826e-03, 3.85779023e-02, 1.15909661e-02, 1.85257218e-03,
 -6.42750611e-06, 3.48968833e-02, 1.09270046e-02, 1.75485919e-03,
 -3.02131374e-03, 3.46469040e-02, 1.09035775e-02, 1.68951030e-03,
  0.00000000e+00, 8.77245787e-04, 0.00000000e+00, 1.94764039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14830094, -0.10285233,  0.10683898, -0.10285233,  0.23891198,
        0.08722992,  0.10683898,  0.08722992,  0.23227592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013285997726985438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25786415,  0.08775346, -0.96218782, -0.02271611,  0.99614222,
        0.08476231,  0.9659141 ,  0.        ,  0.25886279])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726489, -0.03876451,  0.22656394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001274360687361406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35599998e-14,  2.17799999e-14,  1.00000000e+00, -9.48736789e-28,
        1.00000000e+00, -2.17799999e-14, -1.00000000e+00,  0.00000000e+00,
        4.35599998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03273733, -0.0885265 ,  0.0618869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31050781e-03, 4.05602773e-03, 7.56298917e-04, 7.59973366e-05,
 -9.64566607e-06, 8.88225391e-05, 5.20298451e-06,-4.75756514e-06,
  1.39360561e-05,-2.34471238e-06, 5.25741385e-05, 5.10529086e-06,
  2.95317441e-03, 2.96200912e-03, 7.88062253e-03, 4.09663896e-03,
 -1.85742813e-06, 4.23936372e-06,-1.21644720e+00, 1.59038458e-03,
  5.43637480e-04, 3.25019934e-05]


--- Step 2030 ---
qpos:
[-0.01381021, 1.32907572,-0.01912446, 0.94613149, 0.00424522, 1.33227181,
 -0.03036851, 0.94353414, 0.01689523, 1.33773819,-0.02353379, 0.95534991,
  1.35725443,-0.00512426, 1.133663  , 0.05968909,-0.00172041,-0.09790741,
  0.08163971, 0.54652675,-0.01268541,-0.00468712, 0.83733244]

qacc:
[-1.87032909e-01, 1.59219427e+00,-7.73624601e+00, 1.68092414e+01,
 -5.13934558e-02, 3.23734219e+00,-9.96706231e+00, 1.50105664e+01,
  5.28143828e-02, 4.71307194e+00,-1.87108387e+01, 3.70823212e+01,
 -7.81213923e-01, 1.42700625e+00,-3.98002883e+00, 7.48699263e+00,
  1.35248112e+00,-7.98287494e-01, 1.13561717e+00, 4.71643512e+01,
 -6.58824442e+01, 9.52068168e-01]

qfrc_actuator:
[ 6.21014075e-03, 3.85465697e-02, 1.15686020e-02, 1.89061851e-03,
 -1.54913415e-05, 3.49884179e-02, 1.09279097e-02, 1.78840003e-03,
 -3.01427225e-03, 3.46579189e-02, 1.08781290e-02, 1.78117411e-03,
  0.00000000e+00, 9.62052879e-04, 0.00000000e+00, 1.98798226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14832419, -0.10407604,  0.10567991, -0.10407604,  0.30313006,
        0.15245644,  0.10567991,  0.15245644,  0.29846686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013338144447776548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25786794,  0.08775441, -0.96218672, -0.02271669,  0.99614214,
        0.08476313,  0.96591308,  0.        ,  0.25886661])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726593, -0.0387657 ,  0.22656356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012832146547885337
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.32594430e-14,  4.32594430e-14,  1.00000000e+00,  1.87137941e-27,
        1.00000000e+00, -4.32594430e-14, -1.00000000e+00,  0.00000000e+00,
       -4.32594430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03272375, -0.08852924,  0.06188614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37144430e-03, 4.04662584e-03, 6.98752418e-04, 4.00281706e-05,
 -1.47537988e-05, 1.41543495e-04, 1.87332667e-05, 3.62534897e-05,
  1.52696245e-05, 2.01462999e-05,-1.97824694e-05, 9.32482762e-05,
  2.94755657e-03, 2.98767640e-03, 8.21047824e-03, 4.14733635e-03,
 -2.77495187e-07, 4.70678956e-06,-1.21644283e+00, 1.58760237e-03,
  5.42619983e-04, 4.14322277e-05]


--- Step 2031 ---
qpos:
[-0.01381496, 1.32907126,-0.01912576, 0.94613332, 0.00424497, 1.33227326,
 -0.03036827, 0.94353478, 0.0168954 , 1.33773687,-0.02353466, 0.95535121,
  1.3572695 ,-0.00512934, 1.13367792, 0.05968306,-0.0017141 ,-0.09790805,
  0.08164863, 0.54654272,-0.01254964,-0.00460299, 0.83732453]

qacc:
[-2.04616397e-01,-1.19096486e-01, 1.84516702e+00,-1.23531871e+01,
 -4.85612199e-02,-1.16389058e+00, 2.97303575e+00, 2.57613274e+00,
 -1.63296401e-02, 3.17266168e+00,-1.09374105e+01, 1.42505922e+01,
 -8.26757801e-02, 4.92981890e-02, 1.27784906e+00,-2.30479297e+00,
  3.94235183e-01,-1.31599343e+00, 1.83305827e+00,-6.42567843e+00,
 -7.12162156e+01,-1.80040393e+00]

qfrc_actuator:
[ 6.14601795e-03, 3.85652563e-02, 1.15556037e-02, 1.84081825e-03,
 -2.08027307e-05, 3.49355666e-02, 1.09465505e-02, 1.80808163e-03,
 -3.02795653e-03, 3.46472484e-02, 1.08276641e-02, 1.79922431e-03,
  0.00000000e+00, 9.61206015e-04, 0.00000000e+00, 1.92595921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14833732, -0.1099355 ,  0.09958989, -0.1099355 ,  0.29304991,
        0.15974563,  0.09958989,  0.15974563,  0.32467765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013367501719909608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57872531e-01,  8.77554628e-02, -9.62185396e-01, -2.27173658e-02,
        9.96142047e-01,  8.47640404e-02,  9.65911838e-01, -3.46944695e-18,
        2.58871244e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726674, -0.03876686,  0.22656319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012799542337940048
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.50544564e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.50544564e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00602103, -0.07660746,  0.06188642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32939414e-03, 4.09153230e-03, 7.00855348e-04,-5.18553245e-05,
 -1.40145950e-05, 3.01955952e-05, 4.95247397e-05, 2.53292407e-05,
 -4.66820545e-06,-6.19706832e-07,-4.60477793e-05, 2.02375608e-05,
  2.96983845e-03, 2.94655822e-03, 8.36355366e-03, 4.09327949e-03,
  3.52380587e-06, 3.83196315e-06,-1.21644150e+00, 1.58564897e-03,
  5.42193588e-04, 4.10992078e-05]


--- Step 2032 ---
qpos:
[-0.0138205 , 1.32906656,-0.01912665, 0.94613379, 0.00424463, 1.33227424,
 -0.03036746, 0.9435357 , 0.01689547, 1.33773547,-0.02353578, 0.95535271,
  1.35728452,-0.0051343 , 1.13369059, 0.05967739,-0.00170626,-0.09791368,
  0.08166231, 0.54656076,-0.01230787,-0.00460261, 0.83731635]

qacc:
[-3.33987534e-01,-3.82952622e+00, 1.48868304e+01,-2.86272643e+01,
 -3.90612815e-02,-1.61480934e+00, 3.94128834e+00, 2.27126910e-01,
 -3.82114928e-02, 8.91536819e-01,-3.41842896e+00, 5.28142422e+00,
  6.38679370e-03, 4.99739137e-02,-4.38961752e+00, 1.05300362e+01,
  3.79818846e-01,-1.24759879e+00, 1.18758149e+00,-6.08072755e+00,
 -6.72657566e+01,-1.71496940e+00]

qfrc_actuator:
[ 6.12748573e-03, 3.85606746e-02, 1.15665022e-02, 1.77526525e-03,
 -2.38203857e-05, 3.48677355e-02, 1.09571894e-02, 1.81936733e-03,
 -3.03621038e-03, 3.46412783e-02, 1.08159826e-02, 1.80928169e-03,
  0.00000000e+00, 9.62757319e-04, 0.00000000e+00, 2.03313618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14835165, -0.10398403,  0.10580894, -0.10398403,  0.54088945,
        0.38576761,  0.10580894,  0.38576761,  0.52746584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001339945919450261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57878081e-01,  8.77566296e-02, -9.62183802e-01, -2.27181592e-02,
        9.96141945e-01,  8.47650358e-02,  9.65910338e-01, -3.46944695e-18,
        2.58876842e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726765, -0.03876802,  0.2265628 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001269369827151201
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74925069e-13,  4.37312673e-14,  1.00000000e+00, -7.64969496e-27,
        1.00000000e+00, -4.37312673e-14, -1.00000000e+00,  0.00000000e+00,
        1.74925069e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00602288, -0.07659775,  0.06188735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33500500e-03, 4.10160656e-03, 7.47044587e-04,-7.01652895e-05,
 -1.12885757e-05,-4.06870919e-05, 2.29236955e-05, 1.42364840e-05,
 -1.10114188e-05,-1.46941158e-05,-1.64391969e-05, 9.16157173e-06,
  2.97434250e-03, 2.95062885e-03, 8.31310455e-03, 4.19695197e-03,
  3.16511350e-06,-1.77244123e-07,-1.21644086e+00, 1.58415092e-03,
  5.42472429e-04, 3.38426680e-05]


--- Step 2033 ---
qpos:
[-0.01382517, 1.32906035,-0.01912867, 0.94613402, 0.00424436, 1.33227551,
 -0.03036729, 0.94353537, 0.01689531, 1.33773338,-0.02353618, 0.95535397,
  1.35729912,-0.00513971, 1.13371019, 0.05967188,-0.00170175,-0.09792464,
  0.08167061, 0.54658264,-0.01204547,-0.00476584, 0.83730497]

qacc:
[ 3.63777309e-01, 6.66752582e-01,-4.05723860e+00, 1.59992222e+00,
  3.27777689e-02,-8.16164598e-02, 3.30912837e+00,-1.76367236e+01,
 -1.01016305e-01,-3.21487772e+00, 9.85532188e+00,-1.07808261e+01,
 -3.32218178e-01, 1.09618667e-02, 9.73657912e+00,-1.91523836e+01,
 -8.30128923e-01,-1.33238564e+00,-1.34527835e+00,-6.28429693e+01,
 -5.33150215e+01,-3.53176939e+00]

qfrc_actuator:
[ 6.19006467e-03, 3.85599527e-02, 1.15731430e-02, 1.75431665e-03,
 -7.68560908e-06, 3.48979305e-02, 1.09274118e-02, 1.75458440e-03,
 -3.05889136e-03, 3.45850405e-02, 1.08450676e-02, 1.79684705e-03,
  0.00000000e+00, 1.00110504e-03, 0.00000000e+00, 1.76219944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14836005,  0.10787656, -0.10184966,  0.10787656,  0.49851529,
        0.37087548, -0.10184966,  0.37087548,  0.54118188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013418166781184113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57883458e-01,  8.77580007e-02, -9.62182236e-01, -2.27189906e-02,
        9.96141824e-01,  8.47662324e-02,  9.65908883e-01, -3.46944695e-18,
        2.58882272e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726839, -0.03876915,  0.22656242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.11617587,  2.95202746,  8.11617587,  9.59978194,
       -2.64878036,  2.95202746, -2.64878036, 15.91880512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012532518584046567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42936915e-14,  4.42936915e-14,  1.00000000e+00,  1.96193111e-27,
        1.00000000e+00, -4.42936915e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42936915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03120661, -0.06014869,  0.06188876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43701698e-03, 4.11309024e-03, 7.32713337e-04,-2.28641287e-05,
  9.47036882e-06, 1.25926599e-05,-3.47117408e-05,-6.50003749e-05,
 -2.91847867e-05,-6.72900275e-05, 2.46202453e-05,-1.31389043e-05,
  2.97714553e-03, 2.98313941e-03, 8.42526976e-03, 3.90826951e-03,
  1.98622984e-06,-1.48011827e-06,-1.21644203e+00, 1.58269511e-03,
  5.42850437e-04, 2.76063734e-05]


--- Step 2034 ---
qpos:
[-0.01382879, 1.32905287,-0.01913138, 0.94613325, 0.00424408, 1.33227699,
 -0.03036756, 0.94353564, 0.01689475, 1.3377307 ,-0.02353529, 0.95535331,
  1.35731368,-0.00514575, 1.13373461, 0.05966653,-0.00170038,-0.09794072,
  0.08167185, 0.54660821,-0.01176354,-0.00508469, 0.83729041]

qacc:
[ 4.49003958e-01,-1.51745518e+00, 4.93668386e+00,-1.49105923e+01,
 -8.50255637e-03, 2.51868143e+00,-9.14324833e+00, 1.48367308e+01,
 -1.67496891e-01,-7.62314519e+00, 2.77771728e+01,-4.58854769e+01,
  1.76176467e-01,-6.56532104e-01, 6.64974989e+00,-1.29429321e+01,
 -7.83620940e-01,-1.27892391e+00,-1.76391877e+00,-5.98000831e+01,
 -5.06740680e+01,-3.40088789e+00]

qfrc_actuator:
[ 6.21121528e-03, 3.85806594e-02, 1.15786197e-02, 1.70630285e-03,
 -1.56977258e-05, 3.49153661e-02, 1.09098501e-02, 1.78761192e-03,
 -3.09004375e-03, 3.45702989e-02, 1.09155147e-02, 1.70025625e-03,
  0.00000000e+00, 9.73295509e-04, 0.00000000e+00, 1.65499618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14838114, -0.07957838,  0.12523675, -0.07957838,  0.99445076,
        0.53761251,  0.12523675,  0.53761251,  0.48999276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013464983618889995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57891394e-01,  8.77591269e-02, -9.62180006e-01, -2.27199835e-02,
        9.96141725e-01,  8.47671322e-02,  9.65906741e-01,  3.46944695e-18,
        2.58890263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06726974, -0.03877032,  0.22656192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.76882422,  -3.77255181,  -7.76882422,
        18.59427381, -20.50634625,  -3.77255181, -20.50634625,
        50.86512742,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001231632472900493
  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([ 0.03123891, -0.06011377,  0.06189062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41523683e-03, 4.20915988e-03, 7.95126103e-04,-5.84332354e-05,
 -2.42167677e-06, 1.56474428e-05,-2.09568965e-05, 3.08828826e-05,
 -4.83896163e-05,-4.75178626e-05, 5.97245621e-05,-9.81705888e-05,
  2.99756260e-03, 2.97829630e-03, 8.07858330e-03, 3.79256324e-03,
 -2.32384273e-06, 4.42997041e-06,-1.21644346e+00, 1.58088980e-03,
  5.43576327e-04, 3.44542386e-05]


--- Step 2035 ---
qpos:
[-0.01383278, 1.32904584,-0.01913352, 0.94613032, 0.0042436 , 1.33227867,
 -0.03036839, 0.94353701, 0.0168938 , 1.33772774,-0.02353287, 0.95535318,
  1.35732809,-0.00515201, 1.13375561, 0.05966131,-0.00169533,-0.09795088,
  0.08167551, 0.54663439,-0.01150859,-0.00522596, 0.83727599]

qacc:
[ -0.15471403, -4.75837021, 20.66877724,-43.46264576, -0.08295393,
   3.6382738 ,-13.78591417, 24.46410701, -0.16207181, -3.54039164,
  10.04132069, -2.39134841,  0.22696615, -0.50565136, -5.4913894 ,
  11.79629451,  0.91785775,  1.47854745,  0.60317837, 66.97496919,
  59.82162204,  0.90111031]

qfrc_actuator:
[ 6.20696445e-03, 3.85435825e-02, 1.15656535e-02, 1.60738074e-03,
 -3.81315629e-05, 3.49251153e-02, 1.08819402e-02, 1.84245997e-03,
 -3.10827346e-03, 3.45983938e-02, 1.10099014e-02, 1.73248387e-03,
  0.00000000e+00, 9.59396580e-04, 0.00000000e+00, 1.84126065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14841062, -0.08830444,  0.11928133, -0.08830444,  0.86427528,
        0.52995745,  0.11928133,  0.52995745,  0.54074022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013530130083563505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25790123,  0.08775996, -0.96217729, -0.02272107,  0.99614165,
        0.08476771,  0.96590409,  0.        ,  0.25890016])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727151, -0.03877152,  0.22656133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001216499405175056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85199231e-14,  1.36895631e-13,  1.00000000e+00,  3.90425287e-27,
        1.00000000e+00, -1.36895631e-13, -1.00000000e+00,  0.00000000e+00,
       -2.85199231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02867907, -0.13056125,  0.0618919 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35800691e-03, 4.23581445e-03, 8.16748340e-04,-1.08092820e-04,
 -2.38626934e-05, 1.52245660e-05,-2.63290927e-05, 5.54219733e-05,
 -4.68063343e-05, 1.05883548e-05, 8.90232577e-05, 3.02795252e-05,
  2.99967770e-03, 2.99559669e-03, 7.83667388e-03, 3.97111001e-03,
 -2.94258157e-06, 1.72994734e-05,-1.21644712e+00, 1.57878148e-03,
  5.44428541e-04, 4.86769957e-05]


--- Step 2036 ---
qpos:
[-0.01383713, 1.32903964,-0.01913453, 0.94612822, 0.00424304, 1.33227991,
 -0.03036904, 0.94353973, 0.0168927 , 1.33772546,-0.02353085, 0.95535415,
  1.35734213,-0.00515789, 1.13377528, 0.05965599,-0.0016869 ,-0.09795546,
  0.081679  , 0.54666139,-0.01127865,-0.00520078, 0.83726165]

qacc:
[-1.55164326e-01,-4.75503238e-01, 1.14045388e+00, 8.25081884e+00,
 -3.28627060e-02, 1.23373895e+00,-7.51541189e+00, 2.25327388e+01,
 -7.02628060e-02, 3.83544449e+00,-1.36368346e+01, 2.39954189e+01,
 -5.08372806e-01, 8.10107437e-01,-1.60854969e+00, 2.87923009e+00,
  8.45885149e-01, 1.39696592e+00,-4.10395021e-02, 6.28500951e+01,
  5.59700096e+01, 6.96582829e-01]

qfrc_actuator:
[ 6.20622661e-03, 3.84706163e-02, 1.15938826e-02, 1.65702282e-03,
 -3.35295104e-05, 3.48769110e-02, 1.08836150e-02, 1.90967505e-03,
 -3.10085134e-03, 3.46521014e-02, 1.09936454e-02, 1.78705680e-03,
  0.00000000e+00, 9.89205919e-04, 0.00000000e+00, 1.86626359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14843338, -0.10764178,  0.10220427, -0.10764178,  0.42198998,
        0.28811046,  0.10220427,  0.28811046,  0.451872  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013580204196544932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57910065e-01,  8.77609024e-02, -9.62174840e-01, -2.27220917e-02,
        9.96141568e-01,  8.47684053e-02,  9.65901706e-01, -3.46944695e-18,
        2.58909048e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727302, -0.03877263,  0.2265608 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.7590558 ,   6.43584129,   5.7590558 ,
        28.38025021, -17.66764273,   6.43584129, -17.66764273,
        24.44609788,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012228783658136816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13484613e-14,  9.07876904e-14,  1.00000000e+00,  1.03030059e-27,
        1.00000000e+00, -9.07876904e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13484613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286735 , -0.13055058,  0.06189138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37554475e-03, 4.14014527e-03, 8.15880889e-04, 5.02420025e-05,
 -9.48202982e-06,-4.32759875e-05, 3.28305548e-06, 6.81886935e-05,
 -2.02181161e-05, 7.78589388e-05,-3.18535942e-06, 5.81952738e-05,
  3.00720122e-03, 3.03700824e-03, 8.00775572e-03, 3.98935230e-03,
 -1.97754329e-06, 3.20816243e-06,-1.21644273e+00, 1.58028262e-03,
  5.44188268e-04, 3.10575462e-05]


--- Step 2037 ---
qpos:
[-0.0138411 , 1.32903327,-0.0191348 , 0.94613064, 0.00424246, 1.33228067,
 -0.03036924, 0.94354184, 0.01689153, 1.33772429,-0.02352979, 0.95535506,
  1.35735644,-0.00516209, 1.1337907 , 0.05965014,-0.00167532,-0.09795472,
  0.08168016, 0.54668934,-0.01107213,-0.00501836, 0.83724727]

qacc:
[ 1.58773473e-01, 5.64199947e+00,-2.78407445e+01, 7.66037274e+01,
 -8.78394213e-03,-2.86334699e+00, 9.82713381e+00,-1.52559358e+01,
 -2.43266052e-02, 3.96560805e+00,-1.10495004e+01, 8.26320622e+00,
 -8.03236268e-01, 2.26831687e+00,-4.60940588e+00, 7.17226707e+00,
  7.86834806e-01, 1.32889274e+00,-5.82194015e-01, 5.94287587e+01,
  5.27817976e+01, 5.40862737e-01]

qfrc_actuator:
[ 6.24324898e-03, 3.84820829e-02, 1.16105547e-02, 1.88241792e-03,
 -3.04982262e-05, 3.48477565e-02, 1.09025179e-02, 1.87709171e-03,
 -3.09585513e-03, 3.47203400e-02, 1.09478152e-02, 1.78325371e-03,
  0.00000000e+00, 1.00921031e-03, 0.00000000e+00, 1.97221679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14845624, -0.10347762,  0.10645017, -0.10347762,  0.19864706,
        0.04878927,  0.10645017,  0.04878927,  0.19588311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001363031935327809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25791702,  0.08776195, -0.96217288, -0.02272298,  0.99614148,
        0.08476926,  0.96589983,  0.        ,  0.25891606])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727438, -0.03877371,  0.22656031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.82289939,   6.37813605,   5.82289939,
        31.36540646, -20.75040867,   6.37813605, -20.75040867,
        27.58038443,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012148427135499767
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56941056e-14,  9.13882112e-14,  1.00000000e+00,  4.17590257e-27,
        1.00000000e+00, -9.13882112e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56941056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02868539, -0.13056166,  0.06189207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43089157e-03, 4.11053575e-03, 7.76651645e-04, 2.33416707e-04,
 -2.56710631e-06,-5.04063980e-05, 1.28132662e-05,-3.22030514e-05,
 -6.94114708e-06, 1.12407929e-04,-2.92837208e-05,-2.34814767e-07,
  3.02585238e-03, 3.03778938e-03, 8.07348735e-03, 4.10026808e-03,
  2.79698496e-06,-1.62963037e-06,-1.21644144e+00, 1.58172609e-03,
  5.43506381e-04, 2.39511776e-05]


--- Step 2038 ---
qpos:
[-0.01384482, 1.32902682,-0.01913547, 0.94613477, 0.00424188, 1.33228139,
 -0.03036933, 0.94354249, 0.01689065, 1.33772396,-0.02352803, 0.95535448,
  1.35737129,-0.00516526, 1.13380038, 0.05964394,-0.00166775,-0.09795979,
  0.08167984, 0.54672062,-0.01084142,-0.00501905, 0.83722986]

qacc:
[ 1.09379159e-01, 3.92151387e+00,-1.63885432e+01, 3.40189146e+01,
  1.94198664e-03,-2.84465112e+00, 1.22378227e+01,-2.75857518e+01,
  1.21082064e-01,-3.37367128e+00, 1.53134344e+01,-3.10072823e+01,
 -4.20677722e-02, 9.02613594e-01,-7.35904628e+00, 1.34884613e+01,
 -1.00268606e+00,-1.45313971e+00,-3.69813833e-01,-7.00274532e+01,
 -6.01492829e+01,-3.30214835e+00]

qfrc_actuator:
[ 6.28458026e-03, 3.85626150e-02, 1.15847182e-02, 1.96071921e-03,
 -2.84350027e-05, 3.48657540e-02, 1.09136742e-02, 1.80380204e-03,
 -3.05685166e-03, 3.47788297e-02, 1.09914774e-02, 1.70962930e-03,
  0.00000000e+00, 1.02188423e-03, 0.00000000e+00, 2.10945559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14846695, -0.10107523,  0.10874848, -0.10107523,  0.2492023 ,
        0.09362751,  0.10874848,  0.09362751,  0.23548813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013653701887479663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57923422e-01,  8.77629144e-02, -9.62171076e-01, -2.27237934e-02,
        9.96141391e-01,  8.47700322e-02,  9.65898099e-01, -3.46944695e-18,
        2.58922503e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727535, -0.03877488,  0.22655986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012096222494428072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58913113e-14, -2.29456557e-14,  1.00000000e+00, -1.05300623e-27,
        1.00000000e+00,  2.29456557e-14, -1.00000000e+00,  0.00000000e+00,
       -4.58913113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03127913, -0.06008485,  0.06189252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45348952e-03, 4.19910517e-03, 7.13822479e-04, 8.59485323e-05,
  5.46317051e-07,-8.35118280e-06, 1.81153929e-06,-7.51725354e-05,
  3.49081463e-05, 1.14930908e-04, 6.22798057e-05,-7.11565853e-05,
  3.01207607e-03, 2.96656868e-03, 8.28616027e-03, 4.26388118e-03,
  1.07675543e-05, 1.23434147e-06,-1.21644274e+00, 1.58316143e-03,
  5.42419308e-04, 2.56156020e-05]


--- Step 2039 ---
qpos:
[-0.01384878, 1.32901953,-0.01913562, 0.94613705, 0.00424147, 1.33228237,
 -0.03036976, 0.94354295, 0.01689013, 1.33772392,-0.02352608, 0.95535274,
  1.35738676,-0.00516832, 1.13380438, 0.05963838,-0.00166745,-0.0979609 ,
  0.08167466, 0.54674316,-0.01082045,-0.00503481, 0.83721531]

qacc:
[-1.04601080e-01,-5.71626833e+00, 2.10558895e+01,-3.90754903e+01,
  6.77569189e-02, 9.21797835e-01,-2.19601194e+00,-5.27936242e-01,
  1.53282063e-01,-2.09816782e+00, 9.63090908e+00,-2.17867605e+01,
  7.23750046e-01,-6.87857952e-01,-1.04122436e+01, 2.41150532e+01,
 -1.81792024e+00, 9.91618356e-01,-1.21624686e+00,-6.36854189e+01,
  8.36401026e+01, 4.89155786e+00]

qfrc_actuator:
[ 6.27520546e-03, 3.85780599e-02, 1.16052285e-02, 1.86300975e-03,
 -9.21706423e-06, 3.48940378e-02, 1.09025871e-02, 1.79595257e-03,
 -3.03326907e-03, 3.47425520e-02, 1.09810477e-02, 1.64883210e-03,
  0.00000000e+00, 9.94642899e-04, 0.00000000e+00, 2.28325970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14846107, -0.09946108,  0.11021879, -0.09946108,  0.33768168,
        0.17075207,  0.11021879,  0.17075207,  0.30254718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001364086310413036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25793029,  0.0877638 , -0.96216915, -0.02272463,  0.99614131,
        0.08477073,  0.96589625,  0.        ,  0.25892942])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727585, -0.03877609,  0.22655944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012338019495408137
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99838929e-14,  4.49919464e-14,  1.00000000e+00,  4.04855049e-27,
        1.00000000e+00, -4.49919464e-14, -1.00000000e+00,  0.00000000e+00,
       -8.99838929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314799, -0.10963771,  0.06189048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43120123e-03, 4.21885327e-03, 7.54223094e-04,-9.67886596e-05,
  1.95403586e-05, 2.17538262e-05,-1.47190448e-05,-9.78839551e-06,
  4.41998689e-05, 3.73322577e-05, 1.70070688e-05,-5.72267173e-05,
  2.98521898e-03, 2.88841666e-03, 8.57245677e-03, 4.45558299e-03,
  1.76804986e-06,-1.38182283e-06,-1.21644120e+00, 1.58054509e-03,
  5.43762979e-04, 2.32815456e-05]


--- Step 2040 ---
qpos:
[-0.01385288, 1.32901238,-0.01913558, 0.94613739, 0.00424124, 1.33228379,
 -0.0303704 , 0.94354224, 0.0168898 , 1.33772329,-0.0235242 , 0.95535211,
  1.35740259,-0.00517191, 1.1338085 , 0.05963345,-0.00167398,-0.09795837,
  0.08166243, 0.54675775,-0.01099596,-0.00506448, 0.83720332]

qacc:
[-5.81501785e-02,-3.71508729e+00, 1.62897642e+01,-3.68116194e+01,
  8.02499376e-02,-8.54212258e-01, 5.85882453e+00,-1.87841188e+01,
  7.80116355e-02, 1.29434884e+00,-7.38758370e+00, 1.95143740e+01,
  6.98303807e-01,-1.15518950e+00,-1.75925701e+00, 6.27715026e+00,
 -1.70708421e+00, 9.08857047e-01,-1.76163255e+00,-5.95746464e+01,
  7.84133105e+01, 4.44742639e+00]

qfrc_actuator:
[ 6.25356203e-03, 3.85907454e-02, 1.16350303e-02, 1.76906503e-03,
  2.38363411e-06, 3.49282137e-02, 1.08963121e-02, 1.73792095e-03,
 -3.03688212e-03, 3.46496086e-02, 1.09561443e-02, 1.70250026e-03,
  0.00000000e+00, 9.61697662e-04, 0.00000000e+00, 2.26510363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14843839, -0.1105219 ,  0.09909019, -0.1105219 ,  0.32916718,
        0.20157886,  0.09909019,  0.20157886,  0.37327274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013591218496594726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57937455e-01,  8.77647548e-02, -9.62167146e-01, -2.27255101e-02,
        9.96141229e-01,  8.47714774e-02,  9.65894311e-01,  3.46944695e-18,
        2.58936633e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727594, -0.03877727,  0.22655906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.23345377,  2.60710873, -8.23345377, 10.98139179,
        7.40578277,  2.60710873,  7.40578277, 32.02440627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001240635337908122
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47441319e-14,  4.47441319e-14,  1.00000000e+00,  2.00203734e-27,
        1.00000000e+00, -4.47441319e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47441319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05313028, -0.10963674,  0.06188988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42193027e-03, 4.27353957e-03, 7.57761595e-04,-9.89846120e-05,
  2.31348556e-05, 4.30311982e-05,-3.98155122e-06,-5.80347282e-05,
  2.24885374e-05,-7.06758397e-05,-1.73593285e-05, 5.39393601e-05,
  2.95442066e-03, 2.84957679e-03, 8.85649330e-03, 4.40479048e-03,
  4.12659511e-08, 1.14788114e-07,-1.21643992e+00, 1.58393497e-03,
  5.44785708e-04, 3.10413249e-05]


--- Step 2041 ---
qpos:
[-0.01385648, 1.32900478,-0.01913593, 0.94613772, 0.00424104, 1.33228564,
 -0.03037145, 0.94354121, 0.0168897 , 1.33772242,-0.02352249, 0.95535349,
  1.35741846,-0.00517605, 1.1338193 , 0.05962891,-0.00168697,-0.09795247,
  0.08164131, 0.54676498,-0.01135692,-0.00510711, 0.83719352]

qacc:
[ 2.14151013e-01, 4.62228685e-01,-2.18896764e+00, 2.05330199e+00,
  9.76064868e-03, 1.11730532e+00,-2.27092639e+00,-2.17343564e+00,
  1.00111702e-01, 3.62034065e+00,-1.62093866e+01, 3.72891120e+01,
  1.09201224e-01,-5.00575061e-01, 8.67276525e+00,-1.60294177e+01,
 -1.61340403e+00, 8.41286487e-01,-2.22231233e+00,-5.61559854e+01,
  7.40553099e+01, 4.07367790e+00]

qfrc_actuator:
[ 6.22454642e-03, 3.86188929e-02, 1.16705369e-02, 1.76698823e-03,
 -8.43213304e-06, 3.49478919e-02, 1.08751724e-02, 1.72183050e-03,
 -3.02127435e-03, 3.46654635e-02, 1.09582389e-02, 1.80529933e-03,
  0.00000000e+00, 9.61430734e-04, 0.00000000e+00, 2.04277917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14841745, -0.0956533 ,  0.1134821 , -0.0956533 ,  1.00272928,
        0.72009369,  0.1134821 ,  0.72009369,  0.75537957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001354518794066395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25794432,  0.08776574, -0.96216522, -0.02272637,  0.99614114,
        0.08477227,  0.96589246,  0.        ,  0.25894354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727605, -0.03877844,  0.22655868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.31257054,  2.34263696, -8.31257054, 10.86903657,
        7.92237618,  2.34263696,  7.92237618, 36.74797975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012321916263975732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50507454e-14,  4.50507454e-14,  1.00000000e+00, -2.02956966e-27,
        1.00000000e+00, -4.50507454e-14, -1.00000000e+00,  0.00000000e+00,
        4.50507454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314825, -0.10964347,  0.06189053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39979019e-03, 4.29514944e-03, 7.84004434e-04,-3.72169206e-06,
  2.84088779e-06, 4.09495573e-05,-1.48785388e-05,-1.62586047e-05,
  2.88843624e-05,-2.50181739e-05,-1.21038431e-05, 1.01454647e-04,
  2.93580621e-03, 2.87558301e-03, 8.85058025e-03, 4.15142389e-03,
  2.11714839e-06,-6.78402259e-07,-1.21644204e+00, 1.58606050e-03,
  5.45422511e-04, 2.65782484e-05]


--- Step 2042 ---
qpos:
[-0.01386061, 1.32899878,-0.01913597, 0.94613815, 0.00424066, 1.33228773,
 -0.0303724 , 0.94353963, 0.01688967, 1.33772169,-0.02352089, 0.95535501,
  1.35743402,-0.00518024, 1.13383035, 0.05962433,-0.00169646,-0.09794026,
  0.08162368, 0.54677381,-0.01174431,-0.0049682 , 0.83718325]

qacc:
[-2.24520498e-01, 1.41816799e+00,-2.27615640e+00, 2.09727882e+00,
 -7.80959406e-02,-8.87227265e-01, 4.38569994e+00,-1.02217327e+01,
  2.96593016e-02, 7.24854346e-01,-2.44627799e+00, 3.74193921e+00,
 -2.18519380e-01, 1.53171859e-01, 4.77623572e-01,-1.10351508e+00,
  8.72564394e-01, 1.57987246e+00, 8.71749310e-01, 6.87764641e+01,
  6.07007225e+01, 3.05543040e-01]

qfrc_actuator:
[ 6.20827220e-03, 3.86745934e-02, 1.16744665e-02, 1.78337034e-03,
 -3.26072922e-05, 3.49586986e-02, 1.08809107e-02, 1.69503862e-03,
 -3.02976540e-03, 3.46932185e-02, 1.09589177e-02, 1.81196819e-03,
  0.00000000e+00, 9.81014039e-04, 0.00000000e+00, 2.10624640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14841296, -0.07675278,  0.12702526, -0.07675278,  0.84812051,
        0.42278601,  0.12702526,  0.42278601,  0.40387398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013535291503246824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57951988e-01,  8.77665949e-02, -9.62163082e-01, -2.27272707e-02,
        9.96141067e-01,  8.47729104e-02,  9.65890389e-01, -3.46944695e-18,
        2.58951264e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727672, -0.03877969,  0.22655822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012450982194304044
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.33751258e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.33751258e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286527 , -0.13050832,  0.06188935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35824623e-03, 4.37311376e-03, 8.07650917e-04, 1.32303467e-05,
 -2.24968251e-05, 3.00472379e-05, 1.15767623e-05,-2.63740816e-05,
  8.56326162e-06, 1.45680709e-05,-2.61278722e-06, 7.93846117e-06,
  2.93431225e-03, 2.92314629e-03, 8.51636815e-03, 4.19534327e-03,
  7.34292581e-06,-3.36897667e-06,-1.21644699e+00, 1.58721387e-03,
  5.45745354e-04, 1.20376952e-05]


--- Step 2043 ---
qpos:
[-0.01386475, 1.32899398,-0.01913673, 0.94613851, 0.00424019, 1.33228962,
 -0.03037279, 0.94353741, 0.01688965, 1.33772071,-0.02351911, 0.95535594,
  1.35744946,-0.0051845 , 1.13384141, 0.05961951,-0.00170982,-0.0979342 ,
  0.08160589, 0.5467869 ,-0.01210776,-0.00501811, 0.83716922]

qacc:
[-8.24314151e-03, 3.42209017e+00,-9.14667222e+00, 6.50621923e+00,
 -3.37834033e-02,-2.86218106e+00, 1.03425249e+01,-1.62627610e+01,
 -1.73705981e-04,-1.84157761e+00, 6.82644170e+00,-1.27142233e+01,
 -5.59377337e-02,-5.85710843e-03, 7.77485493e-01,-2.69907284e+00,
 -9.64316284e-01,-1.53784136e+00,-4.05831192e-02,-7.24804640e+01,
 -6.16075393e+01,-3.98061183e+00]

qfrc_actuator:
[ 6.23598107e-03, 3.87094464e-02, 1.16233894e-02, 1.77521948e-03,
 -2.90944790e-05, 3.49286983e-02, 1.09024241e-02, 1.66216587e-03,
 -3.03489127e-03, 3.46568253e-02, 1.09587493e-02, 1.77976582e-03,
  0.00000000e+00, 9.76722601e-04, 0.00000000e+00, 2.09291729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013539121734211512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57957798e-01,  8.77675999e-02, -9.62161433e-01, -2.27280448e-02,
        9.96140978e-01,  8.47737435e-02,  9.65888819e-01, -3.46944695e-18,
        2.58957119e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727737, -0.03878092,  0.2265578 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012614579745965498
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.80110988e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.80110988e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03120931, -0.06018403,  0.06188789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41244461e-03, 4.32762821e-03, 7.40647983e-04, 2.67210954e-07,
 -9.76434285e-06,-1.19230653e-05, 2.79319189e-05,-3.22416446e-05,
 -6.93074764e-08,-2.86067593e-05, 2.61302102e-06,-3.16592837e-05,
  2.94984699e-03, 2.92169589e-03, 8.50362707e-03, 4.18354556e-03,
 -1.38535210e-06, 2.43981139e-06,-1.21644917e+00, 1.58904674e-03,
  5.44697816e-04, 2.18398780e-05]


--- Step 2044 ---
qpos:
[-0.01386925, 1.3289899 ,-0.01913728, 0.94613807, 0.00423969, 1.33229152,
 -0.03037325, 0.94353483, 0.01688945, 1.33771934,-0.02351754, 0.9553565 ,
  1.35746476,-0.00518895, 1.13385195, 0.05961484,-0.00172135,-0.097934  ,
  0.08159993, 0.54680238,-0.01234833,-0.00516522, 0.83715471]

qacc:
[-1.48648185e-01,-1.03042849e+00, 6.11186319e+00,-1.49861730e+01,
 -1.18793448e-02,-4.27713218e-01, 2.14626753e+00,-6.05678469e+00,
 -7.23065713e-02,-5.50100428e-01, 1.90863825e+00,-5.56200329e+00,
  4.98907623e-02,-2.37575494e-01,-1.24381063e+00, 3.22373500e+00,
  4.54420294e-01,-1.46707381e+00, 2.95921697e+00,-7.07832010e+00,
 -7.80027835e+01,-2.03279963e+00]

qfrc_actuator:
[ 6.21877041e-03, 3.86783027e-02, 1.16112356e-02, 1.73471751e-03,
 -2.67521351e-05, 3.49278117e-02, 1.08973984e-02, 1.64371227e-03,
 -3.05570805e-03, 3.46177771e-02, 1.09400787e-02, 1.76043781e-03,
  0.00000000e+00, 9.75892584e-04, 0.00000000e+00, 2.12250782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013549747870861273
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25796315,  0.08776861, -0.9621599 , -0.02272878,  0.99614089,
        0.0847746 ,  0.96588737,  0.        ,  0.25896252])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.067278  , -0.03878213,  0.22655743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001284074029511001
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16152457e-14, -2.16152457e-14,  1.00000000e+00,  4.67218846e-28,
        1.00000000e+00,  2.16152457e-14, -1.00000000e+00,  0.00000000e+00,
        2.16152457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00600812, -0.07661365,  0.0618859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39618563e-03, 4.23678517e-03, 7.64773159e-04,-3.70598629e-05,
 -3.42123245e-06,-3.00388704e-06,-5.12975654e-06,-1.87413917e-05,
 -2.08591294e-05,-5.52884712e-05,-2.48858682e-05,-2.08332131e-05,
  2.95542052e-03, 2.92429078e-03, 8.50304031e-03, 4.22575560e-03,
  8.00497612e-06,-3.33293842e-06,-1.21644751e+00, 1.58866869e-03,
  5.45584284e-04, 1.40535792e-05]


--- Step 2045 ---
qpos:
[-0.01387421, 1.32898677,-0.01913771, 0.94613852, 0.0042392 , 1.33229339,
 -0.03037377, 0.9435324 , 0.01688905, 1.33771792,-0.0235163 , 0.95535542,
  1.35747942,-0.00519332, 1.13386486, 0.05961007,-0.001727  ,-0.09793727,
  0.08160126, 0.54681668,-0.01241737,-0.00530498, 0.83714347]

qacc:
[-1.99606842e-01, 2.47581968e+00,-8.36834777e+00, 1.69248091e+01,
 -1.39459222e-03, 3.95108057e-01,-1.63501578e+00, 3.14158990e+00,
 -8.53968064e-02,-2.03941696e+00, 9.86266340e+00,-2.74225567e+01,
 -6.67589262e-01, 7.35331749e-01, 3.82798621e+00,-8.19322247e+00,
  1.47238292e+00,-8.66872559e-01, 1.82086672e+00, 4.99780785e+01,
 -6.98158828e+01, 9.90946408e-01]

qfrc_actuator:
[ 6.19270013e-03, 3.86785748e-02, 1.16217848e-02, 1.78207882e-03,
 -2.51320441e-05, 3.49265183e-02, 1.08946065e-02, 1.65164065e-03,
 -3.06801627e-03, 3.46306303e-02, 1.09283783e-02, 1.67782173e-03,
  0.00000000e+00, 1.03054125e-03, 0.00000000e+00, 2.03552080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14842575, -0.10615682,  0.10373492, -0.10615682,  0.8726254 ,
        0.74110761,  0.10373492,  0.74110761,  0.90683607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000135634543465199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25796761,  0.08776973, -0.96215861, -0.02272946,  0.99614079,
        0.08477557,  0.96588616,  0.        ,  0.25896702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727859, -0.0387833 ,  0.22655709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.52713224,  -4.23427173,  -7.52713224,
        15.53424028, -12.26213928,  -4.23427173, -12.26213928,
        30.43438459,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013034939720666244
  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([-0.03268685, -0.08852069,  0.06188425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38765966e-03, 4.20140822e-03, 7.64548109e-04, 5.01114351e-05,
 -3.99257356e-07,-4.53864534e-06,-4.51813326e-06, 7.25160336e-06,
 -2.46279268e-05,-2.31895502e-05,-2.59341002e-05,-8.54652253e-05,
  2.96290789e-03, 2.98823195e-03, 8.52868745e-03, 4.13091466e-03,
  9.78637373e-06, 3.80343172e-08,-1.21644444e+00, 1.58682107e-03,
  5.45311631e-04, 2.61597242e-05]


--- Step 2046 ---
qpos:
[-0.01387882, 1.32898427,-0.01913816, 0.94614026, 0.00423871, 1.33229483,
 -0.03037387, 0.9435301 , 0.01688876, 1.33771603,-0.02351451, 0.95535335,
  1.35749373,-0.00519758, 1.13387894, 0.05960507,-0.00172925,-0.09793465,
  0.08160402, 0.5468322 ,-0.01251205,-0.00527226, 0.83713213]

qacc:
[ 1.53765921e-01, 3.14497679e+00,-1.18757603e+01, 2.48769763e+01,
  3.35806898e-03,-1.48158806e+00, 3.91092392e+00,-1.69354206e+00,
  4.82024568e-02,-3.77533898e+00, 1.35638363e+01,-2.28812570e+01,
 -4.40055639e-01, 5.39866179e-01, 2.49534439e+00,-6.13699302e+00,
  8.47098318e-01, 1.47481095e+00, 3.57867037e-01, 6.51894090e+01,
  5.78992846e+01, 6.03795094e-01]

qfrc_actuator:
[ 6.26809026e-03, 3.86794212e-02, 1.16104653e-02, 1.84529178e-03,
 -2.39588590e-05, 3.48895054e-02, 1.09109332e-02, 1.65728174e-03,
 -3.03961487e-03, 3.46034382e-02, 1.09565566e-02, 1.62966814e-03,
  0.00000000e+00, 1.04728183e-03, 0.00000000e+00, 2.00304162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14844149, -0.10624318,  0.103669  , -0.10624318,  0.5305322 ,
        0.39157835,  0.103669  ,  0.39157835,  0.54974305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013598004188846227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25797104,  0.08777097, -0.96215758, -0.02273009,  0.99614068,
        0.08477668,  0.96588524,  0.        ,  0.25897049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06727934, -0.03878447,  0.22655675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013135745182225739
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05649033e-14,  4.22596133e-14,  1.00000000e+00, -4.46468730e-28,
        1.00000000e+00, -4.22596133e-14, -1.00000000e+00,  0.00000000e+00,
        1.05649033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02857042, -0.13040031,  0.06188342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48659743e-03, 4.15474298e-03, 7.47500019e-04, 6.91569981e-05,
  9.37349510e-07,-4.02052231e-05, 1.51323668e-05, 5.53874116e-06,
  1.38577405e-05,-4.76050458e-05, 1.82008672e-05,-5.15901032e-05,
  2.99416089e-03, 3.00135092e-03, 8.40983005e-03, 4.10299734e-03,
  3.47437581e-06, 2.21159449e-06,-1.21644124e+00, 1.58509616e-03,
  5.44298478e-04, 3.69442605e-05]


--- Step 2047 ---
qpos:
[-0.01388296, 1.32898141,-0.019138  , 0.94614141, 0.00423823, 1.33229571,
 -0.03037278, 0.94352716, 0.01688868, 1.3377129 ,-0.02351125, 0.95535212,
  1.35750826,-0.00520197, 1.13389099, 0.05960033,-0.00172618,-0.09793518,
  0.08161057, 0.54684669,-0.01244783,-0.0052328 , 0.83712387]

qacc:
[ 1.93221786e-01,-3.16026001e+00, 1.09244956e+01,-1.60333398e+01,
  5.26434872e-03,-5.04321143e+00, 1.68423506e+01,-2.15762010e+01,
  8.79436130e-02,-4.18569139e+00, 9.98044949e+00, 1.80227359e+00,
  3.96075164e-01,-5.37938594e-01,-3.83952357e+00, 8.99251347e+00,
  1.33343757e+00,-7.88788290e-01, 9.48510150e-01, 4.62674081e+01,
 -6.46925196e+01, 8.94790260e-01]

qfrc_actuator:
[ 6.29719517e-03, 3.86627937e-02, 1.16216230e-02, 1.81074057e-03,
 -2.30634903e-05, 3.48669717e-02, 1.09737741e-02, 1.62600992e-03,
 -3.02252751e-03, 3.45171467e-02, 1.10256845e-02, 1.67320844e-03,
  0.00000000e+00, 1.00570668e-03, 0.00000000e+00, 2.09221663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14846226, -0.10411132,  0.10583892, -0.10411132,  0.44556433,
        0.2922525 ,  0.10583892,  0.2922525 ,  0.43594436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013643467968168024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25797387,  0.08777213, -0.96215671, -0.02273064,  0.99614058,
        0.08477773,  0.96588446,  0.        ,  0.25897336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728017, -0.03878563,  0.22655643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013122851996099222
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11505667e-14,  2.11505667e-14,  1.00000000e+00,  4.47346471e-28,
        1.00000000e+00, -2.11505667e-14, -1.00000000e+00,  0.00000000e+00,
       -2.11505667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03267426, -0.08852224,  0.06188354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49754786e-03, 4.10632511e-03, 7.59884467e-04,-2.98620648e-05,
  1.44712744e-06,-4.16614237e-05, 5.68554153e-05,-3.19099781e-05,
  2.52680561e-05,-1.10581461e-04, 6.03877384e-05, 4.14591691e-05,
  3.01249414e-03, 2.95436060e-03, 8.35085373e-03, 4.20420486e-03,
  3.90726691e-08, 2.16125621e-07,-1.21644081e+00, 1.58649748e-03,
  5.43619866e-04, 3.55700672e-05]


--- Step 2048 ---
qpos:
[-0.01388705, 1.32897805,-0.01913789, 0.94614185, 0.00423762, 1.33229643,
 -0.03037138, 0.94352456, 0.01688866, 1.33771019,-0.02350888, 0.95535036,
  1.35752286,-0.0052067 , 1.13390522, 0.05959585,-0.00171805,-0.09793867,
  0.08161848, 0.54686024,-0.01223362,-0.00518704, 0.83711846]

qacc:
[ 2.60080131e-02,-1.77367242e+00, 6.44620848e+00,-1.36146492e+01,
 -5.61059398e-02,-4.42814610e-01, 4.90801889e-01, 3.69338408e+00,
  2.52314212e-02, 2.05106366e+00,-4.94186646e+00,-2.09064272e+00,
  1.91141587e-01,-4.54488948e-01, 2.43181532e+00,-3.86839009e+00,
  1.26327636e+00,-7.40098967e-01, 3.39175615e-01, 4.36514869e+01,
 -6.10769856e+01, 8.23057559e-01]

qfrc_actuator:
[ 6.22728060e-03, 3.86719293e-02, 1.16456330e-02, 1.77214364e-03,
 -4.00947055e-05, 3.48712005e-02, 1.09925769e-02, 1.64430668e-03,
 -3.03012012e-03, 3.45916439e-02, 1.09939590e-02, 1.64606248e-03,
  0.00000000e+00, 1.00034874e-03, 0.00000000e+00, 2.00543661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14847731, -0.11117481,  0.09841582, -0.11117481,  0.44288392,
        0.33257454,  0.09841582,  0.33257454,  0.52416802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013676308303180867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25797646,  0.08777317, -0.96215592, -0.02273114,  0.99614049,
        0.08477868,  0.96588376,  0.        ,  0.25897598])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728084, -0.03878676,  0.22655612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00130072821684718
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26769793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.26769793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03269079, -0.08851714,  0.06188454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40484943e-03, 4.13350306e-03, 7.52933061e-04,-3.93967993e-05,
 -1.61785608e-05,-8.66664936e-06, 1.61807956e-05, 1.79701952e-05,
  7.32248132e-06, 2.63845388e-05,-4.52463001e-05,-2.76903502e-05,
  3.00071086e-03, 2.95559620e-03, 8.45241760e-03, 4.10409825e-03,
  7.26590923e-07,-4.82957042e-08,-1.21644012e+00, 1.58495376e-03,
  5.43209558e-04, 3.54294594e-05]


--- Step 2049 ---
qpos:
[-0.01389146, 1.32897508,-0.01913753, 0.94614311, 0.0042367 , 1.33229736,
 -0.03037054, 0.94352361, 0.01688879, 1.3377089 ,-0.02350824, 0.95534721,
  1.35753731,-0.00521123, 1.13392009, 0.05959126,-0.00170694,-0.09793679,
  0.08162373, 0.54687507,-0.01204222,-0.00498598, 0.83711277]

qacc:
[ -0.13880313,  1.27495233, -5.2033461 , 13.77091827, -0.12924989,
   4.56696714,-17.92165781, 34.35846907,  0.06028813,  4.15219913,
  -8.50152362, -9.53320907, -0.2947562 ,  0.47376675,  1.29028719,
  -3.08263562,  0.74492679,  1.34070209, -0.66384056, 58.76785884,
  52.01750748,  0.39260769]

qfrc_actuator:
[ 6.20468228e-03, 3.86258018e-02, 1.16422728e-02, 1.82025178e-03,
 -6.77421565e-05, 3.48912930e-02, 1.09676078e-02, 1.72712403e-03,
 -3.01695118e-03, 3.47081779e-02, 1.09212497e-02, 1.57753885e-03,
  0.00000000e+00, 1.01697680e-03, 0.00000000e+00, 2.00826736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14849685, -0.10593586,  0.10406204, -0.10593586,  0.55678165,
        0.41563669,  0.10406204,  0.41563669,  0.57161782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013718824525576698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57979587e-01,  8.77741889e-02, -9.62154990e-01, -2.27316843e-02,
        9.96140398e-01,  8.47795893e-02,  9.65882914e-01,  3.46944695e-18,
        2.58979144e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728171, -0.03878792,  0.22655577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012840502583944188
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40391146e-15, -4.32312917e-14,  1.00000000e+00,  2.33618072e-28,
        1.00000000e+00,  4.32312917e-14, -1.00000000e+00,  0.00000000e+00,
        5.40391146e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02861118, -0.1304442 ,  0.06188597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37919049e-03, 4.11269600e-03, 7.52171609e-04, 4.46129668e-05,
 -3.71969557e-05, 1.89931171e-05,-2.43022526e-05, 8.34472534e-05,
  1.74927661e-05, 1.21482097e-04,-7.35109907e-05,-6.97136409e-05,
  2.99770670e-03, 2.98901559e-03, 8.34316849e-03, 4.09414868e-03,
  3.35314015e-06,-1.41815912e-06,-1.21644180e+00, 1.58402781e-03,
  5.43287404e-04, 2.78104050e-05]


--- Step 2050 ---
qpos:
[-0.01389601, 1.32897186,-0.01913742, 0.94614467, 0.00423562, 1.33229862,
 -0.03037065, 0.943524  , 0.01688877, 1.33770842,-0.02350759, 0.95534426,
  1.35755207,-0.00521549, 1.13393378, 0.05958655,-0.00169435,-0.09794   ,
  0.0816347 , 0.54689188,-0.01174213,-0.00487072, 0.83710672]

qacc:
[-5.57450120e-02, 8.76195893e-01,-3.86098834e+00, 7.02095968e+00,
 -7.04536334e-02, 5.30781439e+00,-1.96031392e+01, 3.25441190e+01,
 -6.04493797e-02, 1.38461608e+00,-3.62550116e+00, 4.94284102e+00,
  1.01190598e-01, 1.45145277e-01,-1.41391509e+00, 2.39903117e+00,
  3.69937871e-01,-1.26899274e+00, 1.43006365e+00,-6.17478688e+00,
 -6.89450325e+01,-1.71352803e+00]

qfrc_actuator:
[ 6.19308540e-03, 3.85813254e-02, 1.16044600e-02, 1.83036951e-03,
 -6.60287829e-05, 3.49028456e-02, 1.09171155e-02, 1.79397085e-03,
 -3.04469041e-03, 3.47600138e-02, 1.09316695e-02, 1.59177712e-03,
  0.00000000e+00, 9.93142794e-04, 0.00000000e+00, 2.04737034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14851956, -0.10420668,  0.10582546, -0.10420668,  0.44859973,
        0.29548992,  0.10582546,  0.29548992,  0.43948946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013768045613520366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57982095e-01,  8.77752994e-02, -9.62154216e-01, -2.27321951e-02,
        9.96140300e-01,  8.47806021e-02,  9.65882232e-01,  3.46944695e-18,
        2.58981687e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728261, -0.03878909,  0.22655543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012650999426286544
  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([-0.00600835, -0.07659678,  0.06188758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38397282e-03, 4.04860318e-03, 7.02040961e-04, 1.37572779e-05,
 -2.02410318e-05, 1.98044776e-05,-4.70985385e-05, 6.86410181e-05,
 -1.74055700e-05, 1.02598136e-04, 2.37455019e-05, 1.40567567e-05,
  3.00511070e-03, 2.95550577e-03, 8.31080070e-03, 4.13848114e-03,
  1.12447903e-05, 2.43577165e-06,-1.21644325e+00, 1.58446232e-03,
  5.42655799e-04, 3.06531400e-05]


--- Step 2051 ---
qpos:
[-0.0139006 , 1.32896777,-0.01913753, 0.94614536, 0.00423431, 1.33229984,
 -0.03037094, 0.94352485, 0.01688824, 1.33770851,-0.02350618, 0.95534183,
  1.35756777,-0.00521943, 1.13394236, 0.05958201,-0.00168533,-0.09794888,
  0.08164247, 0.54691266,-0.01142   ,-0.00492953, 0.83709726]

qacc:
[-1.93331349e-02,-2.07732350e+00, 7.15736854e+00,-1.57597868e+01,
 -9.77054996e-02, 1.20948849e+00,-4.92162043e+00, 9.45424716e+00,
 -2.16098277e-01,-4.38824544e-01, 1.26312302e+00, 4.56571318e+00,
  7.76173358e-01,-5.20391888e-01,-8.05860742e+00, 1.71276551e+01,
 -8.92171700e-01,-1.41930876e+00,-8.02698115e-01,-6.68199984e+01,
 -5.67987709e+01,-3.66924981e+00]

qfrc_actuator:
[ 6.18802431e-03, 3.86093298e-02, 1.15818768e-02, 1.78237676e-03,
 -8.22211954e-05, 3.48913303e-02, 1.09051874e-02, 1.81535321e-03,
 -3.09674602e-03, 3.47908159e-02, 1.09731600e-02, 1.61913288e-03,
  0.00000000e+00, 9.27125122e-04, 0.00000000e+00, 2.21480069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14853787, -0.1001095 ,  0.10973417, -0.1001095 ,  0.3479876 ,
        0.18195621,  0.10973417,  0.18195621,  0.3145349 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013807605614694907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25798508,  0.08777644, -0.96215331, -0.02273276,  0.9961402 ,
        0.08478163,  0.96588142,  0.        ,  0.25898471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728342, -0.03879028,  0.22655509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.28330475,   2.44410297,   8.28330475,
        12.42231664, -12.83096613,   2.44410297, -12.83096613,
        52.12176657,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001260532662017512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80757047e-14,  8.80757047e-14,  1.00000000e+00,  7.75732975e-27,
        1.00000000e+00, -8.80757047e-14, -1.00000000e+00,  0.00000000e+00,
       -8.80757047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03122219, -0.06019365,  0.06188802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38548777e-03, 4.08882910e-03, 6.91853998e-04,-4.93692483e-05,
 -2.81387723e-05,-7.71792789e-06,-1.14015304e-05, 2.21901404e-05,
 -6.23298230e-05, 9.25881287e-05, 6.46312302e-05, 3.14121109e-05,
  2.98961086e-03, 2.87602678e-03, 8.36976594e-03, 4.31144642e-03,
  9.92474398e-06,-2.36925097e-06,-1.21644412e+00, 1.58305288e-03,
  5.43146826e-04, 1.84848038e-05]


--- Step 2052 ---
qpos:
[-0.01390489, 1.32896386,-0.01913742, 0.94614604, 0.00423293, 1.33230077,
 -0.03037039, 0.94352556, 0.01688744, 1.3377083 ,-0.02350442, 0.95533984,
  1.3575838 ,-0.00522363, 1.13395174, 0.05957763,-0.00167964,-0.09796316,
  0.08164499, 0.54693727,-0.01107715,-0.00515266, 0.83708445]

qacc:
[ 1.28427115e-01,-3.26778531e-01, 1.37790249e+00,-1.39908796e+00,
 -2.73011221e-02,-2.85429141e+00, 9.11825470e+00,-9.20085998e+00,
 -1.10932151e-01,-5.23983194e-01, 3.69223706e-01, 4.96759710e+00,
  4.17666345e-01,-6.18798700e-01, 6.45916318e-01,-6.14025648e-01,
 -8.34814634e-01,-1.35058347e+00,-1.30920320e+00,-6.30937818e+01,
 -5.35765359e+01,-3.50632798e+00]

qfrc_actuator:
[ 6.22235686e-03, 3.86282956e-02, 1.16217581e-02, 1.78933242e-03,
 -7.35207515e-05, 3.48839567e-02, 1.09515164e-02, 1.80982610e-03,
 -3.09195594e-03, 3.47024149e-02, 1.09615238e-02, 1.63620551e-03,
  0.00000000e+00, 9.24406807e-04, 0.00000000e+00, 2.15720871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14853926, -0.10244873,  0.10755543, -0.10244873,  0.64474287,
        0.47264397,  0.10755543,  0.47264397,  0.59874221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013810603315880451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25798912,  0.08777758, -0.96215212, -0.02273341,  0.9961401 ,
        0.08478264,  0.96588033,  0.        ,  0.25898879])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728384, -0.0387915 ,  0.22655476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.43888988,  -4.38744735,  -7.43888988,
        22.90666128, -24.19520146,  -4.38744735, -24.19520146,
        49.6591782 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012512749615527369
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.65455071e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.65455071e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03123713, -0.06017906,  0.06188883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42211122e-03, 4.15168578e-03, 7.42624568e-04, 1.07926817e-06,
 -7.90830732e-06,-1.32143211e-05, 4.41725369e-05,-5.57662949e-06,
 -3.20116980e-05,-2.36579454e-05, 1.47032991e-05, 2.24355798e-05,
  2.94259736e-03, 2.85757659e-03, 8.62476108e-03, 4.24597726e-03,
  7.18135162e-07,-1.02021377e-06,-1.21644395e+00, 1.58122874e-03,
  5.43826137e-04, 2.07403046e-05]


--- Step 2053 ---
qpos:
[-0.01390931, 1.32895999,-0.01913694, 0.9461468 , 0.00423185, 1.33230154,
 -0.03036986, 0.94352589, 0.01688638, 1.33770767,-0.02350237, 0.9553381 ,
  1.35759915,-0.00522813, 1.13396409, 0.0595735 ,-0.00167044,-0.09797172,
  0.08164862, 0.54696258,-0.0107601 ,-0.005204  , 0.83707172]

qacc:
[-5.60526374e-02,-8.75283485e-01, 2.73572120e+00,-1.47424214e+00,
  1.27232878e-01,-8.20230445e-01, 3.22394796e+00,-7.15831351e+00,
 -1.15409747e-01,-9.77377557e-01, 2.02143543e+00, 1.25126522e+00,
 -4.56819791e-01, 1.95852924e-01, 3.64932474e+00,-6.34440141e+00,
  8.79789706e-01, 1.42924823e+00, 2.76252138e-01, 6.48500452e+01,
  5.77786973e+01, 7.41949088e-01]

qfrc_actuator:
[ 6.22673715e-03, 3.86411242e-02, 1.16632747e-02, 1.79323675e-03,
 -3.22055216e-05, 3.48615804e-02, 1.09430877e-02, 1.78854710e-03,
 -3.10636052e-03, 3.46673767e-02, 1.09713891e-02, 1.64697716e-03,
  0.00000000e+00, 9.95623702e-04, 0.00000000e+00, 2.07104655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14854382, -0.10113173,  0.10880091, -0.10113173,  0.62525405,
        0.44310775,  0.10880091,  0.44310775,  0.56041767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001382041399287902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57992777e-01,  8.77786485e-02, -9.62151046e-01, -2.27340105e-02,
        9.96140005e-01,  8.47835827e-02,  9.65879336e-01,  3.46944695e-18,
        2.58992487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728432, -0.03879275,  0.22655443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001242820231083061
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.46654712e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.46654712e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02866988, -0.13050417,  0.06188956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41134077e-03, 4.15516075e-03, 7.73768467e-04, 5.32180980e-06,
  3.66469552e-05,-2.12192476e-05,-6.15114114e-06,-2.05072191e-05,
 -3.33078624e-05,-4.45898055e-05, 7.56826897e-06, 1.10230927e-05,
  2.92587497e-03, 2.94191544e-03, 8.58456663e-03, 4.15144617e-03,
 -4.08042125e-06, 8.36380907e-06,-1.21644638e+00, 1.57907875e-03,
  5.44626874e-04, 3.15075398e-05]


--- Step 2054 ---
qpos:
[-0.01391426, 1.32895629,-0.01913678, 0.94614763, 0.00423101, 1.33230215,
 -0.03036939, 0.94352528, 0.0168848 , 1.33770729,-0.02349993, 0.95533712,
  1.35761385,-0.00523223, 1.13397435, 0.05956928,-0.00166863,-0.0979764 ,
  0.081648  , 0.54697944,-0.0106565 ,-0.00527029, 0.83706162]

qacc:
[ -0.22307531,  1.25708779, -3.95444728,  4.10052928,  0.10040529,
  -1.69115109,  7.18808301,-17.07678449, -0.2192377 ,  0.62632264,
  -3.18769579, 11.45952768, -0.68791254,  0.95451248, -2.75403039,
   5.2646675 , -1.84699642,  0.9719031 , -1.06339293,-64.67548049,
  85.21220245,  4.73626431]

qfrc_actuator:
[ 6.23121300e-03, 3.86858616e-02, 1.16344982e-02, 1.79522562e-03,
 -2.49185440e-05, 3.48479358e-02, 1.09378264e-02, 1.74037247e-03,
 -3.14991906e-03, 3.47356322e-02, 1.10118100e-02, 1.68950238e-03,
  0.00000000e+00, 1.04032553e-03, 0.00000000e+00, 2.16287166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14855729, -0.10431427,  0.1057724 , -0.10431427,  0.46342977,
        0.31053179,  0.1057724 ,  0.31053179,  0.45480821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001384940541039395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25799604,  0.08777975, -0.96215007, -0.02273459,  0.99613991,
        0.08478457,  0.96587845,  0.        ,  0.25899578])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728504, -0.03879396,  0.22655407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012661705506888457
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38417646e-14,  4.38417646e-14,  1.00000000e+00,  1.92210032e-27,
        1.00000000e+00, -4.38417646e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38417646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305838, -0.10965388,  0.06188762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42244044e-03, 4.19858843e-03, 7.25579306e-04, 3.28015637e-06,
  2.89165185e-05,-2.72073347e-05,-1.07149413e-05,-4.94663889e-05,
 -6.32281289e-05, 4.54003180e-05, 3.28919969e-05, 4.16825837e-05,
  2.95978807e-03, 3.00125415e-03, 8.43610538e-03, 4.23074541e-03,
  9.38502569e-07,-1.23639968e-06,-1.21644347e+00, 1.58022778e-03,
  5.44303532e-04, 1.83830153e-05]


--- Step 2055 ---
qpos:
[-0.01391937, 1.32895319,-0.0191371 , 0.9461481 , 0.0042305 , 1.33230253,
 -0.03036849, 0.94352615, 0.01688285, 1.33770768,-0.02349786, 0.95533733,
  1.35762836,-0.00523633, 1.13398388, 0.05956498,-0.00167374,-0.0979775 ,
  0.08164084, 0.54698857,-0.0107524 ,-0.00535043, 0.83705392]

qacc:
[-6.96199581e-02, 1.44576163e+00,-3.03476514e+00,-1.87087596e+00,
  1.36771935e-01, 1.10153223e+00,-6.99110771e+00, 2.33639133e+01,
 -1.55417755e-01, 4.08748398e+00,-1.45155240e+01, 2.59306604e+01,
 -1.24971240e-01, 1.09248602e-01,-8.08182556e-01, 1.28174667e+00,
 -1.73069379e+00, 8.93728688e-01,-1.63441339e+00,-6.03849987e+01,
  7.96777815e+01, 4.34107427e+00]

qfrc_actuator:
[ 6.23619305e-03, 3.87318299e-02, 1.16173727e-02, 1.77829528e-03,
 -2.60004182e-06, 3.48573624e-02, 1.09700168e-02, 1.81879469e-03,
 -3.15735787e-03, 3.47943396e-02, 1.09993534e-02, 1.75045402e-03,
  0.00000000e+00, 1.03305431e-03, 0.00000000e+00, 2.16645272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14856536, -0.10414716,  0.10594828, -0.10414716,  0.81007079,
        0.65025982,  0.10594828,  0.65025982,  0.78777076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013866760257451316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25799944,  0.08778099, -0.96214904, -0.02273521,  0.9961398 ,
        0.08478569,  0.96587753,  0.        ,  0.25899923])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728561, -0.03879511,  0.22655375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.90718514,  3.47321176, -7.90718514, 15.09439543,
       14.70248763,  3.47321176, 14.70248763, 42.10834856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012754303260930147
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35234682e-14,  8.70469364e-14,  1.00000000e+00,  3.78858457e-27,
        1.00000000e+00, -8.70469364e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35234682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303564, -0.10965093,  0.06188684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45373961e-03, 4.23569488e-03, 7.25262564e-04,-1.69365062e-05,
  3.93851890e-05,-9.21266774e-06, 2.41957364e-05, 7.61436495e-05,
 -4.47729679e-05, 9.14660977e-05, 1.36308585e-06, 6.42306104e-05,
  2.99255592e-03, 2.97485500e-03, 8.54035212e-03, 4.23893127e-03,
 -3.92033549e-07, 7.45670164e-07,-1.21644035e+00, 1.58313742e-03,
  5.45034274e-04, 3.02372371e-05]


--- Step 2056 ---
qpos:
[-0.01392382, 1.32894866,-0.01913808, 0.94614821, 0.00423043, 1.3323026 ,
 -0.03036746, 0.94352866, 0.0168808 , 1.33770919,-0.02349692, 0.95533691,
  1.35764225,-0.00524092, 1.13399959, 0.059561  ,-0.00168538,-0.09797529,
  0.08162522, 0.54699054,-0.01103617,-0.00544347, 0.83704834]

qacc:
[ 2.78353729e-01,-7.20021407e-01, 8.09662230e-01,-3.97048568e+00,
  1.88869193e-01, 2.03783902e+00,-1.05384172e+01, 2.84403144e+01,
 -4.23826384e-02, 3.40607272e+00,-8.03849731e+00,-1.14095755e+00,
 -4.23494563e-01, 5.03093716e-02, 8.17253177e+00,-1.52675305e+01,
 -1.63267417e+00, 8.29768441e-01,-2.11663135e+00,-5.68168147e+01,
  7.50654862e+01, 4.00662975e+00]

qfrc_actuator:
[ 6.25907651e-03, 3.87425352e-02, 1.16430135e-02, 1.75041136e-03,
  2.85567850e-05, 3.48274937e-02, 1.09709675e-02, 1.90011933e-03,
 -3.14306880e-03, 3.48466956e-02, 1.09380172e-02, 1.71520685e-03,
  0.00000000e+00, 1.08358412e-03, 0.00000000e+00, 1.93959120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14857304, -0.10577269,  0.10433641, -0.10577269,  0.85473654,
        0.71588438,  0.10433641,  0.71588438,  0.87431213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013883232134704812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58002725e-01,  8.77822754e-02, -9.62148048e-01, -2.27358338e-02,
        9.96139685e-01,  8.47868489e-02,  9.65876636e-01, -3.46944695e-18,
        2.59002557e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728611, -0.03879622,  0.22655345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.01178435,  3.22460672, -8.01178435, 15.14976154,
       16.18303997,  3.22460672, 16.18303997, 48.84437588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012685754963784532
  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([ 0.05305052, -0.10965632,  0.06188738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48482825e-03, 4.21627549e-03, 7.74508506e-04,-2.68967253e-05,
  5.44025989e-05,-2.79431603e-05, 4.13451379e-06, 8.35251454e-05,
 -1.21455567e-05, 1.05096223e-04,-4.14428663e-05,-3.09994520e-05,
  3.00212862e-03, 3.02502884e-03, 8.57655920e-03, 4.01633100e-03,
  2.15670009e-06, 3.38224964e-07,-1.21644088e+00, 1.58484065e-03,
  5.45423694e-04, 2.91872190e-05]


--- Step 2057 ---
qpos:
[-0.01392813, 1.32894408,-0.019139  , 0.94614749, 0.00423062, 1.33230254,
 -0.0303666 , 0.94352902, 0.01687877, 1.33771156,-0.02349661, 0.95533434,
  1.35765539,-0.00524575, 1.13401606, 0.05955713,-0.00169358,-0.09796663,
  0.08161316, 0.54699446,-0.01134588,-0.00535525, 0.83704221]

qacc:
[ 6.18076852e-02,-1.69557501e+00, 7.15923281e+00,-1.59269690e+01,
  1.13924078e-01,-3.36441108e+00, 1.52172619e+01,-3.81077809e+01,
  7.79246990e-03,-8.78008873e-01, 8.53876626e+00,-3.26794175e+01,
 -4.45630924e-01, 1.74161044e-01, 7.85462262e-01,-1.05857530e+00,
  8.60311048e-01, 1.60953432e+00, 8.92920263e-01, 6.87727434e+01,
  6.04424368e+01, 1.05562084e-01]

qfrc_actuator:
[ 6.30969932e-03, 3.87338772e-02, 1.16414341e-02, 1.71609961e-03,
  2.92591415e-05, 3.48097356e-02, 1.09532928e-02, 1.78714766e-03,
 -3.13361613e-03, 3.48768329e-02, 1.09015158e-02, 1.60585116e-03,
  0.00000000e+00, 1.11602317e-03, 0.00000000e+00, 1.98239886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14859273,  0.0475439 , -0.14078131,  0.0475439 ,  1.05010905,
        0.30445522, -0.14078131,  0.30445522,  0.2514117 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001392538008757327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25800803,  0.08778337, -0.96214652, -0.02273659,  0.99613959,
        0.08478778,  0.9658752 ,  0.        ,  0.25900791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728716, -0.03879735,  0.22655305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012881391007012327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.61881317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.61881317e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02861694, -0.13043352,  0.06188566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50260890e-03, 4.27929246e-03, 8.05992198e-04,-4.32433150e-05,
  3.28112442e-05,-2.98919035e-05,-2.02190823e-05,-1.11749646e-04,
  2.28584109e-06, 7.92293011e-05,-2.15982298e-05,-1.08174482e-04,
  3.03254408e-03, 3.08163682e-03, 8.26713992e-03, 4.04286456e-03,
  7.89838447e-06,-2.03569037e-06,-1.21644444e+00, 1.58560301e-03,
  5.45528671e-04, 1.75672656e-05]


--- Step 2058 ---
qpos:
[-0.01393265, 1.32893964,-0.01913946, 0.94614735, 0.00423098, 1.33230272,
 -0.0303664 , 0.94352733, 0.01687695, 1.33771374,-0.02349651, 0.955334  ,
  1.35766891,-0.0052496 , 1.13402476, 0.05955316,-0.00169858,-0.09795198,
  0.08160187, 0.54700014,-0.01167991,-0.00509762, 0.83703551]

qacc:
[-9.20107412e-02,-3.47822570e-02,-8.65788985e-01, 7.48689759e+00,
  6.77716797e-02,-1.44864846e+00, 9.31542012e+00,-3.20378410e+01,
  8.86379745e-02, 4.16599192e+00,-1.83643987e+01, 4.17694406e+01,
 -1.30801774e-02, 7.94624622e-01,-1.11395383e+01, 2.22998154e+01,
  7.99559164e-01, 1.49944413e+00, 1.91800685e-01, 6.42621817e+01,
  5.65190427e+01, 1.36791725e-01]

qfrc_actuator:
[ 6.28845093e-03, 3.87660506e-02, 1.16230640e-02, 1.74956582e-03,
  2.94400599e-05, 3.48346803e-02, 1.09246990e-02, 1.68500767e-03,
 -3.10939108e-03, 3.48224435e-02, 1.08798680e-02, 1.72008111e-03,
  0.00000000e+00, 1.06656499e-03, 0.00000000e+00, 2.25809286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1486148 , -0.10194314,  0.10813859, -0.10194314,  0.26930065,
        0.11377154,  0.10813859,  0.11377154,  0.25586817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001397246729494296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58013329e-01,  8.77844275e-02, -9.62145008e-01, -2.27373299e-02,
        9.96139495e-01,  8.47886758e-02,  9.65873768e-01, -3.46944695e-18,
        2.59013250e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728829, -0.0387984 ,  0.22655265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012955015721706625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07122894e-14,  4.28491577e-14,  1.00000000e+00, -4.59012580e-28,
        1.00000000e+00, -4.28491577e-14, -1.00000000e+00,  0.00000000e+00,
        1.07122894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02860737, -0.13042196,  0.06188499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47407419e-03, 4.31405412e-03, 7.84529013e-04, 3.22044518e-05,
  1.95465446e-05, 1.09374261e-06,-4.00201344e-05,-1.06220940e-04,
  2.55799100e-05,-1.80190452e-05,-1.18020062e-05, 1.13426625e-04,
  3.07074798e-03, 3.04511128e-03, 8.22873080e-03, 4.31248289e-03,
 -2.24488173e-07, 4.96849434e-07,-1.21644541e+00, 1.58678346e-03,
  5.44978386e-04, 2.30698537e-05]


--- Step 2059 ---
qpos:
[-0.01393729, 1.3289354 ,-0.01914001, 0.94614729, 0.00423158, 1.33230327,
 -0.03036701, 0.94352511, 0.01687523, 1.33771533,-0.0234967 , 0.95533473,
  1.35768334,-0.00525286, 1.13402825, 0.05954922,-0.00170059,-0.09793169,
  0.08158899, 0.54700735,-0.01203691,-0.0046804 , 0.83702818]

qacc:
[-4.78627678e-02, 6.41715067e-01,-1.93405353e+00, 2.47304059e+00,
  1.01072755e-01, 1.79911773e+00,-4.18883363e+00,-2.70053992e+00,
  4.33108253e-02, 1.85489796e+00,-9.14616593e+00, 2.06063734e+01,
  5.44370430e-01,-4.65560883e-02,-7.81301804e+00, 1.61073988e+01,
  7.48946432e-01, 1.40828339e+00,-3.97928888e-01, 6.05182439e+01,
  5.32654994e+01, 1.76779891e-01]

qfrc_actuator:
[ 6.25988982e-03, 3.88048016e-02, 1.16119501e-02, 1.75159471e-03,
  4.70619136e-05, 3.48671912e-02, 1.08900995e-02, 1.66113756e-03,
 -3.11200617e-03, 3.47535396e-02, 1.08492075e-02, 1.76966175e-03,
  0.00000000e+00, 1.02008445e-03, 0.00000000e+00, 2.37190735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14861612, -0.09965876,  0.11024919, -0.09965876,  0.3348757 ,
        0.16836766,  0.11024919,  0.16836766,  0.30081056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013975280048680178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25801805,  0.08778555, -0.96214364, -0.02273804,  0.9961394 ,
        0.08478964,  0.96587249,  0.        ,  0.25901801])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728878, -0.03879943,  0.22655232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012872479479889426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39048745e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.39048745e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286171 , -0.13043349,  0.06188562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45637906e-03, 4.34594264e-03, 7.50468660e-04, 4.74132709e-06,
  2.91593403e-05, 2.20897459e-05,-4.20577537e-05,-2.74751477e-05,
  1.24900345e-05,-7.78293290e-05,-3.22047692e-05, 5.13448637e-05,
  3.05105484e-03, 2.94930648e-03, 8.61761034e-03, 4.43183317e-03,
 -3.70428755e-06, 1.15127161e-05,-1.21644928e+00, 1.58815550e-03,
  5.43857714e-04, 3.80687978e-05]


--- Step 2060 ---
qpos:
[-0.01394188, 1.32893069,-0.01914019, 0.94614763, 0.0042324 , 1.3323039 ,
 -0.03036769, 0.94352226, 0.01687371, 1.33771716,-0.02349778, 0.95533393,
  1.35769845,-0.00525561, 1.1340279 , 0.05954567,-0.00170685,-0.09791809,
  0.08157974, 0.54701902,-0.01236767,-0.00446977, 0.83701688]

qacc:
[ 2.00819099e-02,-9.05536280e-01, 1.38618209e+00, 3.78243869e+00,
  9.51155776e-02,-8.10361887e-01, 4.05101758e+00,-1.08389299e+01,
  8.37371578e-02, 1.12592202e-01, 3.09831604e+00,-2.04302618e+01,
  3.89054807e-01, 4.86113829e-02,-6.84698596e+00, 1.56687855e+01,
 -1.06548742e+00,-1.67006616e+00, 9.06489372e-01,-7.92704050e+01,
 -6.74442831e+01,-4.26123346e+00]

qfrc_actuator:
[ 6.28018150e-03, 3.87941218e-02, 1.16233065e-02, 1.77054154e-03,
  5.72528538e-05, 3.48684964e-02, 1.08878267e-02, 1.63026546e-03,
 -3.09519674e-03, 3.48006867e-02, 1.08133133e-02, 1.69196168e-03,
  0.00000000e+00, 1.01090060e-03, 0.00000000e+00, 2.47725532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14860361, -0.09851401,  0.11125656, -0.09851401,  0.29594266,
        0.13046387,  0.11125656,  0.13046387,  0.26412506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013948607528711451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58022656e-01,  8.77866950e-02, -9.62142300e-01, -2.27387438e-02,
        9.96139296e-01,  8.47906442e-02,  9.65871243e-01, -3.46944695e-18,
        2.59022666e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728885, -0.0388005 ,  0.22655205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013217331553858208
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.39975165e-14, -4.19987582e-14,  1.00000000e+00, -3.52779138e-27,
        1.00000000e+00,  4.19987582e-14, -1.00000000e+00,  0.00000000e+00,
       -8.39975165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03114183, -0.06031178,  0.06188266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48231789e-03, 4.32518726e-03, 7.66248002e-04, 1.97434777e-05,
  2.74026918e-05, 4.46614816e-06,-3.54638821e-06,-3.20813832e-05,
  2.41827411e-05,-6.69712093e-07,-5.32507698e-05,-7.97487668e-05,
  3.00627968e-03, 2.91078869e-03, 8.87754841e-03, 4.53541568e-03,
 -3.35305239e-06, 2.95249010e-05,-1.21645556e+00, 1.58964815e-03,
  5.42261348e-04, 6.09359747e-05]


--- Step 2061 ---
qpos:
[-0.01394622, 1.3289258 ,-0.01914052, 0.94614821, 0.0042334 , 1.33230448,
 -0.03036808, 0.94351941, 0.01687269, 1.33771923,-0.02349944, 0.95533323,
  1.35771378,-0.00525832, 1.13402792, 0.05954246,-0.00171703,-0.09791071,
  0.08157097, 0.54703512,-0.01267443,-0.00445021, 0.83700187]

qacc:
[  0.10970361,  0.58403985, -2.64578116,  5.03532301,  0.07580607,
  -0.84662102,  2.70014002, -2.4228793 ,  0.20919394,  2.02774746,
  -6.42565217,  6.52036406,  0.1486626 , -0.10840398, -0.52593376,
   2.60779709, -0.97635596, -1.55640305,  0.11990006,-73.37592493,
 -62.27682674, -4.09842085]

qfrc_actuator:
[ 6.31191729e-03, 3.87366213e-02, 1.16122184e-02, 1.78152711e-03,
  6.29040478e-05, 3.48689847e-02, 1.09045221e-02, 1.63100954e-03,
 -3.04911659e-03, 3.48280916e-02, 1.07927481e-02, 1.69983393e-03,
  0.00000000e+00, 1.02392919e-03, 0.00000000e+00, 2.45289270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14857963, -0.10016795,  0.10973736, -0.10016795,  0.42700164,
        0.25414282,  0.10973736,  0.25414282,  0.38056047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013897344554331115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58027363e-01,  8.77878307e-02, -9.62140934e-01, -2.27394550e-02,
        9.96139195e-01,  8.47916294e-02,  9.65869969e-01, -3.46944695e-18,
        2.59027417e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728861, -0.03880162,  0.22655179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.81977013,  -5.29882178,  -6.81977013,
        23.67326903, -19.35302648,  -5.29882178, -19.35302648,
        33.54438986,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013482113392358636
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11739240e-14,  4.11739240e-14,  1.00000000e+00,  1.69529202e-27,
        1.00000000e+00, -4.11739240e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11739240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03110522, -0.06035761,  0.0618804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51169686e-03, 4.29117622e-03, 7.36751459e-04, 1.03906083e-05,
  2.18254315e-05, 1.29398101e-06, 1.62208047e-05, 2.66132013e-08,
  6.03614109e-05, 1.42617880e-05,-2.90829283e-05, 4.43809912e-06,
  2.97162763e-03, 2.89795229e-03, 9.06957249e-03, 4.49189460e-03,
 -2.99700685e-06, 7.67729309e-06,-1.21644856e+00, 1.58946487e-03,
  5.43207177e-04, 3.58408723e-05]


--- Step 2062 ---
qpos:
[-0.01395003, 1.3289208 ,-0.01914101, 0.94614752, 0.00423438, 1.33230508,
 -0.03036862, 0.94351763, 0.01687189, 1.33772106,-0.02350007, 0.95533293,
  1.35772908,-0.00526166, 1.13402971, 0.05953979,-0.00172542,-0.09790912,
  0.08157316, 0.54705363,-0.01286108,-0.00452569, 0.83698652]

qacc:
[ 2.21694289e-01,-1.93900702e+00, 8.70002146e+00,-2.20827234e+01,
 -6.94109174e-03, 2.28182525e+00,-9.63443418e+00, 2.09020476e+01,
  9.69094357e-02,-2.43083901e+00, 6.72896070e+00,-1.04435308e+00,
  3.72746322e-01,-9.22271997e-01, 9.89594255e-01, 2.62320743e-01,
  4.45480133e-01,-1.44718233e+00, 2.74118306e+00,-6.91076358e+00,
 -7.62498929e+01,-1.97289878e+00]

qfrc_actuator:
[ 6.36804157e-03, 3.87041815e-02, 1.16057935e-02, 1.71674313e-03,
  4.80346373e-05, 3.48690786e-02, 1.08967738e-02, 1.68586197e-03,
 -3.05686007e-03, 3.48258098e-02, 1.08524277e-02, 1.72253326e-03,
  0.00000000e+00, 1.01506095e-03, 0.00000000e+00, 2.42159367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14855638, -0.10061367,  0.10929724, -0.10061367,  0.41470286,
        0.24500138,  0.10929724,  0.24500138,  0.3740926 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001384744885667838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58032392e-01,  8.77888970e-02, -9.62139488e-01, -2.27401765e-02,
        9.96139102e-01,  8.47925398e-02,  9.65868609e-01,  3.46944695e-18,
        2.59032490e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728842, -0.03880277,  0.22655151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013557378531946496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09453429e-14,  7.67725179e-15,  1.00000000e+00,  3.14347707e-28,
        1.00000000e+00, -7.67725179e-15, -1.00000000e+00,  0.00000000e+00,
       -4.09453429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00597833, -0.07668505,  0.06187973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55487753e-03, 4.26760606e-03, 7.38146012e-04,-6.57126577e-05,
 -1.98730922e-06, 3.97712648e-06,-5.65261317e-06, 5.53639065e-05,
  2.79012686e-05, 4.50631536e-08, 5.92878910e-05, 2.23735718e-05,
  2.96097116e-03, 2.88763922e-03, 9.05121777e-03, 4.44307233e-03,
  2.65956603e-06,-1.44955045e-06,-1.21644568e+00, 1.58880149e-03,
  5.44226021e-04, 2.46273083e-05]


--- Step 2063 ---
qpos:
[-0.01395329, 1.32891602,-0.0191411 , 0.94614738, 0.00423499, 1.33230568,
 -0.03036924, 0.94351687, 0.01687119, 1.33772236,-0.02349974, 0.9553319 ,
  1.35774427,-0.0052652 , 1.13403301, 0.05953743,-0.00173213,-0.09791294,
  0.0815831 , 0.54707442,-0.01293539,-0.00469015, 0.83697088]

qacc:
[ 2.31120216e-01, 2.09206947e-01,-1.43079472e+00, 7.46460617e+00,
 -1.59650708e-01, 1.96997691e+00,-8.51390883e+00, 1.91614590e+01,
  4.18604948e-02,-4.52157328e+00, 1.53779530e+01,-2.14411213e+01,
 -1.11912745e-02,-1.44318198e-01, 1.25094182e+00,-1.14952047e+00,
  4.20464980e-01,-1.35232505e+00, 1.93760645e+00,-6.49795188e+00,
 -7.13483233e+01,-1.86247494e+00]

qfrc_actuator:
[ 6.38517322e-03, 3.87222956e-02, 1.16377285e-02, 1.74991380e-03,
  3.22383779e-06, 3.48688805e-02, 1.08924295e-02, 1.73658573e-03,
 -3.06132436e-03, 3.47705981e-02, 1.08878617e-02, 1.68277314e-03,
  0.00000000e+00, 1.01145662e-03, 0.00000000e+00, 2.40356859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14853824, -0.10206184,  0.10792123, -0.10206184,  0.47630762,
        0.30997372,  0.10792123,  0.30997372,  0.44168249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013808401322685723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25803768,  0.08778983, -0.96213798, -0.02274089,  0.99613902,
        0.08479331,  0.96586718,  0.        ,  0.25903782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672884 , -0.0388039 ,  0.22655122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013571028279555017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09041600e-14,  2.04520800e-14,  1.00000000e+00,  8.36575153e-28,
        1.00000000e+00, -2.04520800e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09041600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00597765, -0.07668586,  0.06187963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54585351e-03, 4.29166805e-03, 7.77615213e-04, 3.04273530e-05,
 -4.59838085e-05, 2.55495344e-06,-2.58838185e-06, 5.19587132e-05,
  1.20121130e-05,-4.29581096e-05, 4.28331417e-05,-3.75020442e-05,
  2.96237171e-03, 2.91567493e-03, 8.96252518e-03, 4.39868514e-03,
  4.14497748e-06,-5.00022612e-07,-1.21644258e+00, 1.58665977e-03,
  5.44064519e-04, 3.20507124e-05]


--- Step 2064 ---
qpos:
[-0.01395675, 1.32891109,-0.01914076, 0.94614768, 0.0042353 , 1.33230625,
 -0.03036901, 0.94351599, 0.01687067, 1.33772319,-0.02349944, 0.95532907,
  1.35775934,-0.00526841, 1.13403482, 0.05953545,-0.00173342,-0.09792   ,
  0.08159638, 0.54709404,-0.01285339,-0.00484771, 0.83695842]

qacc:
[ -0.08237927, -0.65390846,  0.99758355,  4.20390203, -0.1258542 ,
  -2.56231523,  8.57503458, -8.86493707,  0.07771894, -3.65389204,
  14.79353705,-33.30499503, -0.22222428,  0.46450105, -3.287013  ,
   8.36006329,  1.35382523, -0.81160623,  0.83614765, 45.64562577,
 -63.54365397,  1.04052567]

qfrc_actuator:
[ 6.34317256e-03, 3.87526851e-02, 1.16566942e-02, 1.76954075e-03,
 -5.92681998e-06, 3.48862725e-02, 1.09433831e-02, 1.73120887e-03,
 -3.04602981e-03, 3.47195162e-02, 1.08729167e-02, 1.58875832e-03,
  0.00000000e+00, 1.02857054e-03, 0.00000000e+00, 2.48226626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14852578, -0.10082314,  0.10906238, -0.10082314,  0.34663013,
        0.18313834,  0.10906238,  0.18313834,  0.31782875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013781503908387796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58042372e-01,  8.77906212e-02, -9.62136654e-01, -2.27415062e-02,
        9.96138950e-01,  8.47939683e-02,  9.65865911e-01,  3.46944695e-18,
        2.59042548e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728851, -0.03880504,  0.22655092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.6501106 , -4.00781546, -7.6501106 , 12.08581299,
       -6.58430244, -4.00781546, -6.58430244, 21.20446773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013498260950063831
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11246689e-14,  8.22493378e-14,  1.00000000e+00,  3.38247678e-27,
        1.00000000e+00, -8.22493378e-14, -1.00000000e+00,  0.00000000e+00,
       -4.11246689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03261489, -0.08852476,  0.06188029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47658721e-03, 4.31042383e-03, 7.77095565e-04, 2.25359300e-05,
 -3.62918996e-05, 1.98553986e-05, 5.26815884e-05,-4.17233366e-06,
  2.23871099e-05,-6.75936208e-05,-1.95667689e-05,-9.49057702e-05,
  2.96801639e-03, 2.94216925e-03, 8.88718711e-03, 4.46131698e-03,
  4.59237831e-06, 3.20169454e-06,-1.21644167e+00, 1.58461462e-03,
  5.44025337e-04, 3.97867897e-05]


--- Step 2065 ---
qpos:
[-0.01396059, 1.32890667,-0.01914061, 0.94614748, 0.00423539, 1.33230691,
 -0.03036786, 0.94351435, 0.0168702 , 1.33772397,-0.02349988, 0.9553272 ,
  1.3577746 ,-0.0052717 , 1.13403687, 0.05953372,-0.0017296 ,-0.0979301 ,
  0.08161064, 0.5471126 ,-0.01262361,-0.00499886, 0.8369489 ]

qacc:
[-1.61178372e-01, 3.38909511e-01, 6.99228025e-01,-6.54396151e+00,
 -9.30921277e-02,-3.67250571e+00, 1.36717165e+01,-2.07373047e+01,
  1.63102683e-02, 3.61572573e+00,-1.38052199e+01, 2.31454585e+01,
  2.08281686e-01,-2.64504003e-01,-4.63450612e-01, 2.09584671e+00,
  1.27821755e+00,-7.57696543e-01, 2.42184316e-01, 4.31123108e+01,
 -6.01150791e+01, 9.33966097e-01]

qfrc_actuator:
[ 6.28396697e-03, 3.87729932e-02, 1.16499219e-02, 1.74543630e-03,
 -1.13626982e-05, 3.48964933e-02, 1.09910997e-02, 1.69290502e-03,
 -3.05450957e-03, 3.47420770e-02, 1.08460936e-02, 1.64108012e-03,
  0.00000000e+00, 1.00442955e-03, 0.00000000e+00, 2.47679946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14850958, -0.10085857,  0.10900754, -0.10085857,  0.68105973,
        0.49273883,  0.10900754,  0.49273883,  0.60441321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013746425614271848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2580468 ,  0.08779147, -0.96213539, -0.02274212,  0.99613887,
        0.08479468,  0.96586471,  0.        ,  0.25904701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672885 , -0.03880616,  0.22655063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013341849065762607
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.160679e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -4.160679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03263845, -0.08851736,  0.06188167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42711423e-03, 4.33906892e-03, 7.48449386e-04,-2.30779173e-05,
 -2.68559255e-05, 3.13783758e-05, 5.74716621e-05,-3.62585354e-05,
  4.73857019e-06,-2.14581788e-05,-4.50283529e-05, 4.75361162e-05,
  2.97402235e-03, 2.90227950e-03, 8.96128379e-03, 4.43735796e-03,
  2.80428034e-07, 4.08309851e-06,-1.21644107e+00, 1.58313584e-03,
  5.43376637e-04, 4.20356863e-05]


--- Step 2066 ---
qpos:
[-0.01396374, 1.32890152,-0.01914197, 0.94614719, 0.00423518, 1.33230757,
 -0.03036697, 0.94351336, 0.0168697 , 1.33772373,-0.02350041, 0.95532914,
  1.35779023,-0.00527546, 1.13404493, 0.05953213,-0.00172092,-0.09794305,
  0.08162388, 0.54713014,-0.01225305,-0.00514399, 0.83694206]

qacc:
[ 2.91314976e-01, 2.98112253e+00,-1.06649462e+01, 8.54498222e+00,
 -1.27679612e-01, 1.84445638e+00,-7.34718450e+00, 1.39946920e+01,
 -7.34501283e-03, 5.43898952e+00,-2.70070156e+01, 6.78543619e+01,
  3.33865569e-01,-6.26612983e-01, 8.47055250e+00,-1.67901500e+01,
  1.21609630e+00,-7.14083185e-01,-2.54354171e-01, 4.10228919e+01,
 -5.72867186e+01, 8.39033852e-01]

qfrc_actuator:
[ 6.26795983e-03, 3.87688833e-02, 1.16104029e-02, 1.73134173e-03,
 -3.22806865e-05, 3.48668130e-02, 1.09654616e-02, 1.72429446e-03,
 -3.05943007e-03, 3.46488107e-02, 1.08306222e-02, 1.83241268e-03,
  0.00000000e+00, 9.73553323e-04, 0.00000000e+00, 2.26101787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14849588, -0.09884163,  0.11082129, -0.09884163,  0.77301956,
        0.55701336,  0.11082129,  0.55701336,  0.64529671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013716709960127568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25805091,  0.08779242, -0.9621342 , -0.02274273,  0.99613879,
        0.0847955 ,  0.9658636 ,  0.        ,  0.25905116])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728852, -0.03880731,  0.22655035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013076951569010939
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24496114e-14,  1.27348834e-13,  1.00000000e+00,  5.40590852e-27,
        1.00000000e+00, -1.27348834e-13, -1.00000000e+00,  0.00000000e+00,
       -4.24496114e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03267743, -0.0885061 ,  0.06188395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43012322e-03, 4.30914482e-03, 7.18246892e-04,-1.29072370e-05,
 -3.67680941e-05,-2.17838881e-06,-1.40269114e-05, 3.31782005e-05,
 -2.12255956e-06,-1.12525210e-04,-2.33910269e-05, 1.90484057e-04,
  2.96443705e-03, 2.87523753e-03, 8.94938954e-03, 4.20835616e-03,
 -1.85962717e-06, 3.83377138e-06,-1.21644279e+00, 1.58228990e-03,
  5.43239969e-04, 3.68794136e-05]


--- Step 2067 ---
qpos:
[-0.01396714, 1.32889703,-0.01914323, 0.94614582, 0.00423469, 1.33230817,
 -0.03036663, 0.94351313, 0.01686918, 1.33772241,-0.02349982, 0.95533191,
  1.35780582,-0.00527954, 1.13405276, 0.05953076,-0.00170905,-0.09795047,
  0.0816358 , 0.54714877,-0.01190635,-0.00512804, 0.83693498]

qacc:
[-1.08762005e-01,-1.30449633e+00, 7.45457696e+00,-1.92255928e+01,
 -1.18057762e-01, 2.66828996e+00,-1.03766010e+01, 1.77892050e+01,
 -1.36217834e-02,-2.99920402e+00, 6.39490948e+00, 4.76907601e+00,
  2.17863292e-01,-5.21769188e-01,-1.05960036e+00, 3.15329293e+00,
  7.95355334e-01, 1.38114206e+00,-3.27637765e-01, 6.08917416e+01,
  5.40591373e+01, 5.32722856e-01]

qfrc_actuator:
[ 6.27695564e-03, 3.87866630e-02, 1.16059040e-02, 1.68756188e-03,
 -4.45660553e-05, 3.48487282e-02, 1.09321258e-02, 1.76088034e-03,
 -3.06217442e-03, 3.46113177e-02, 1.08926136e-02, 1.87314673e-03,
  0.00000000e+00, 9.74563346e-04, 0.00000000e+00, 2.34514386e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14849476, -0.08245553,  0.12349809, -0.08245553,  0.8267406 ,
        0.45284201,  0.12349809,  0.45284201,  0.45084218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013714269763672945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58057185e-01,  8.77931676e-02, -9.62132449e-01, -2.27434765e-02,
        9.96138725e-01,  8.47960763e-02,  9.65861907e-01, -3.46944695e-18,
        2.59057477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728904, -0.03880855,  0.22654997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012753473671450605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17631497e-14,  4.35262993e-14,  1.00000000e+00, -9.47269366e-28,
        1.00000000e+00, -4.35262993e-14, -1.00000000e+00,  0.00000000e+00,
        2.17631497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286465 , -0.13044627,  0.06188673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40472467e-03, 4.36320929e-03, 7.89851607e-04,-5.14313480e-05,
 -3.39872888e-05,-2.10445852e-05,-3.43883960e-05, 3.68790726e-05,
 -4.00268139e-06,-9.86399021e-05, 4.29360686e-05, 4.11530357e-05,
  2.94558802e-03, 2.89970273e-03, 8.64872217e-03, 4.28618300e-03,
 -2.15893635e-06, 2.62129689e-06,-1.21644649e+00, 1.58195457e-03,
  5.43545027e-04, 2.53450652e-05]


--- Step 2068 ---
qpos:
[-0.01397129, 1.32889245,-0.01914372, 0.94614398, 0.00423412, 1.33230861,
 -0.03036611, 0.94351365, 0.01686876, 1.33772121,-0.0234989 , 0.9553344 ,
  1.35782106,-0.00528317, 1.13405604, 0.05952981,-0.0016942 ,-0.09795265,
  0.08164442, 0.54716854,-0.01158211,-0.00495938, 0.83692763]

qacc:
[-3.10840318e-01,-2.99689887e+00, 1.06337799e+01,-1.48403145e+01,
 -3.23126191e-02, 6.21822339e-01,-3.82240071e+00, 1.21658604e+01,
  4.84728909e-02,-1.23123415e+00, 4.78216346e+00,-7.54020726e+00,
 -3.34977276e-01, 6.23460551e-01,-7.94337313e+00, 1.80935599e+01,
  7.46048639e-01, 1.31342888e+00,-8.26267888e-01, 5.77654474e+01,
  5.11760952e+01, 4.11019676e-01]

qfrc_actuator:
[ 6.28387004e-03, 3.87987367e-02, 1.16213898e-02, 1.66247793e-03,
 -3.38214942e-05, 3.48554384e-02, 1.09478223e-02, 1.80022540e-03,
 -3.04583813e-03, 3.46787567e-02, 1.09288979e-02, 1.86047054e-03,
  0.00000000e+00, 1.01250190e-03, 0.00000000e+00, 2.52029773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14849561, -0.10076983,  0.10907056, -0.10076983,  0.33861876,
        0.17565397,  0.10907056,  0.17565397,  0.31078157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013716125225272588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58062723e-01,  8.77939915e-02, -9.62130888e-01, -2.27441797e-02,
        9.96138653e-01,  8.47967407e-02,  9.65860411e-01,  3.46944695e-18,
        2.59063055e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728954, -0.03880977,  0.22654962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.49563527,   6.66218957,   5.49563527,
        48.75199107, -33.09135156,   6.66218957, -33.09135156,
        35.9333952 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012585050051499708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.8217609e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.8217609e-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([-0.02866937, -0.13047181,  0.0618882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42447608e-03, 4.34271234e-03, 7.99628771e-04,-2.32759134e-05,
 -9.31669827e-06,-1.05560379e-05, 8.74631242e-06, 3.85597644e-05,
  1.39680113e-05, 2.25076852e-05, 2.31098685e-05,-1.33801206e-05,
  2.94814061e-03, 2.95395712e-03, 8.66032161e-03, 4.44986878e-03,
  5.02244832e-06,-3.24722726e-06,-1.21644468e+00, 1.58233940e-03,
  5.43402887e-04, 1.61706537e-05]


--- Step 2069 ---
qpos:
[-0.01397554, 1.32888802,-0.01914407, 0.94614254, 0.00423357, 1.33230866,
 -0.03036535, 0.9435157 , 0.0168685 , 1.33772018,-0.02349825, 0.95533881,
  1.35783602,-0.00528646, 1.13405757, 0.05952909,-0.00168311,-0.0979606 ,
  0.08165083, 0.5471921 ,-0.01123494,-0.00496983, 0.83691689]

qacc:
[-4.64502833e-02, 5.00930303e-01,-2.24133992e+00, 6.66350276e+00,
  4.28555473e-03, 1.40451670e+00,-8.33171663e+00, 2.51146377e+01,
  6.28178920e-02, 4.29949376e+00,-1.76320048e+01, 3.73980062e+01,
 -3.59249322e-01, 6.18034968e-01,-3.25874405e+00, 7.71048308e+00,
 -9.39451578e-01,-1.44561469e+00,-5.54700381e-01,-6.86671905e+01,
 -5.85660487e+01,-3.60448815e+00]

qfrc_actuator:
[ 6.32562080e-03, 3.88078624e-02, 1.16304273e-02, 1.68396297e-03,
 -2.71023765e-05, 3.48238739e-02, 1.09569300e-02, 1.87642868e-03,
 -3.03594008e-03, 3.46841231e-02, 1.09145964e-02, 1.95855981e-03,
  0.00000000e+00, 1.03645251e-03, 0.00000000e+00, 2.55450968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14848512, -0.10093668,  0.10890186, -0.10093668,  0.36377893,
        0.19954703,  0.10890186,  0.19954703,  0.3334371 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001369330792471389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25806761,  0.08779501, -0.96212948, -0.02274488,  0.99613856,
        0.08479761,  0.96585909,  0.        ,  0.25906799])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0672897 , -0.03881091,  0.22654932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012434685159510364
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46421848e-14,  2.23210924e-14,  1.00000000e+00,  9.96462330e-28,
        1.00000000e+00, -2.23210924e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46421848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03126875, -0.06019248,  0.0618895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50292709e-03, 4.35608070e-03, 7.70921291e-04, 2.24580182e-05,
  1.21955600e-06,-3.45367877e-05, 9.16835986e-06, 7.70382958e-05,
  1.81459656e-05, 2.19402828e-05,-7.66772742e-06, 9.91236046e-05,
  2.96550721e-03, 2.95572680e-03, 8.88746082e-03, 4.46321853e-03,
  1.51110588e-05,-1.82530024e-06,-1.21644535e+00, 1.58278945e-03,
  5.42836302e-04, 1.53365062e-05]


--- Step 2070 ---
qpos:
[-0.01397923, 1.32888445,-0.01914433, 0.94614132, 0.0042332 , 1.33230802,
 -0.03036396, 0.94351761, 0.01686808, 1.33771905,-0.02349791, 0.9553437 ,
  1.35785115,-0.00529018, 1.13406201, 0.05952856,-0.00167552,-0.09797405,
  0.08165283, 0.54721937,-0.01086632,-0.0051488 , 0.83690285]

qacc:
[  0.23441792,  1.28163939, -3.25507053,  4.72893759,  0.07902897,
  -2.79476744,  8.29480863, -8.27808802, -0.0653538 ,  1.49384622,
  -5.9840105 , 10.72457016,  0.30022892, -0.62998351,  3.69956991,
  -6.75063193, -0.8735674 , -1.37315101, -1.09983843,-64.63832456,
 -55.05200079, -3.45659522]

qfrc_actuator:
[ 6.33468475e-03, 3.88327716e-02, 1.16536470e-02, 1.69717783e-03,
 -5.10172374e-06, 3.47696445e-02, 1.09796887e-02, 1.86716338e-03,
 -3.06549023e-03, 3.46521499e-02, 1.08881735e-02, 1.97898654e-03,
  0.00000000e+00, 9.98671452e-04, 0.00000000e+00, 2.45091547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14847086, -0.10421939,  0.10574457, -0.10421939,  0.37500608,
        0.22326785,  0.10574457,  0.22326785,  0.36851846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001366224074147923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2580722 ,  0.08779606, -0.96212816, -0.02274556,  0.99613847,
        0.08479851,  0.96585785,  0.        ,  0.25907262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728972, -0.03881202,  0.22654904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.00580907,  -5.05028872,  -7.00580907,
        23.07570976, -20.03039977,  -5.05028872, -20.03039977,
        36.42272676,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012410149530978007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11826113e-14,  2.23652226e-14,  1.00000000e+00, -2.50101590e-28,
        1.00000000e+00, -2.23652226e-14, -1.00000000e+00,  0.00000000e+00,
        1.11826113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03127438, -0.06018953,  0.06188974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51747523e-03, 4.37354132e-03, 7.86420063e-04, 1.49036156e-05,
  2.27189378e-05,-6.92232565e-05, 1.93068631e-05,-8.24516589e-06,
 -1.88356884e-05,-1.83895575e-05,-2.01030368e-05, 2.31650400e-05,
  2.97913503e-03, 2.90061074e-03, 8.97487198e-03, 4.34795198e-03,
  3.48881769e-06,-2.79995859e-06,-1.21644434e+00, 1.58071626e-03,
  5.43671301e-04, 1.51951949e-05]


--- Step 2071 ---
qpos:
[-0.01398227, 1.3288818 ,-0.01914384, 0.94614091, 0.00423319, 1.33230696,
 -0.03036234, 0.9435187 , 0.01686758, 1.33771829,-0.02349884, 0.95534673,
  1.35786619,-0.00529441, 1.13407035, 0.05952823,-0.00167522,-0.09798365,
  0.0816507 , 0.54723818,-0.01071237,-0.00534265, 0.83689131]

qacc:
[ 2.81712098e-01, 5.69912546e-01,-2.04972971e+00, 1.06324196e+01,
  1.54204681e-01,-2.58603683e+00, 9.46724735e+00,-1.74669483e+01,
 -3.77702922e-02, 7.37278614e-01, 1.92752379e+00,-2.32851093e+01,
  1.11877873e-01,-5.11832225e-01, 5.13377171e+00,-9.64237978e+00,
 -1.82644740e+00, 9.61676276e-01,-1.03457718e+00,-6.49969676e+01,
  8.57186690e+01, 4.69416746e+00]

qfrc_actuator:
[ 6.35902268e-03, 3.88486344e-02, 1.17031457e-02, 1.74097576e-03,
  2.58876261e-05, 3.47555286e-02, 1.09924191e-02, 1.82541260e-03,
 -3.06520797e-03, 3.46689835e-02, 1.08191028e-02, 1.88248675e-03,
  0.00000000e+00, 9.95501788e-04, 0.00000000e+00, 2.35335060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14846757, -0.09005263,  0.11803874, -0.09005263,  0.89276787,
        0.56783218,  0.11803874,  0.56783218,  0.58167093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013655067884941335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58075901e-01,  8.77969758e-02, -9.62127081e-01, -2.27461203e-02,
        9.96138390e-01,  8.47993099e-02,  9.65856844e-01,  3.46944695e-18,
        2.59076353e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728996, -0.03881317,  0.22654876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001252597181367776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.43168419e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.43168419e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05308139, -0.10970172,  0.06188878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51414516e-03, 4.34673768e-03, 8.32142406e-04, 4.82338660e-05,
  4.43963375e-05,-4.88746575e-05, 1.14548366e-06,-4.34537916e-05,
 -1.08420098e-05, 3.43804539e-06,-7.42608985e-05,-9.70874601e-05,
  2.97101387e-03, 2.91907574e-03, 8.82918241e-03, 4.24085939e-03,
 -3.35282373e-06, 4.82702798e-06,-1.21644613e+00, 1.57834187e-03,
  5.44595751e-04, 2.41767954e-05]


--- Step 2072 ---
qpos:
[-0.01398489, 1.32888021,-0.01914273, 0.94614103, 0.0042334 , 1.33230631,
 -0.03036177, 0.94351893, 0.01686717, 1.33771784,-0.02350034, 0.95534786,
  1.35788103,-0.00529893, 1.13407942, 0.05952792,-0.00168179,-0.09798971,
  0.08164213, 0.54724929,-0.01075891,-0.00555028, 0.83688211]

qacc:
[ 1.73411808e-01, 6.37438521e-01,-1.47407932e+00, 6.68241965e+00,
  9.29493380e-02, 1.90509730e+00,-3.80337554e+00,-6.93164310e+00,
  4.07621517e-02,-1.31737711e+00, 8.58905051e+00,-2.95166889e+01,
  1.61945872e-02,-2.79086478e-01, 1.03239551e+00,-2.04378126e+00,
 -1.71481226e+00, 8.86232605e-01,-1.60908046e+00,-6.06633956e+01,
  8.00925634e+01, 4.32603862e+00]

qfrc_actuator:
[ 6.39219222e-03, 3.88586567e-02, 1.17144368e-02, 1.76692906e-03,
  2.65127993e-05, 3.48009878e-02, 1.09460083e-02, 1.78266491e-03,
 -3.04703002e-03, 3.46969106e-02, 1.07965481e-02, 1.78898180e-03,
  0.00000000e+00, 9.95596760e-04, 0.00000000e+00, 2.36583591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14847874, -0.10415499,  0.10581907, -0.10415499,  0.7259832 ,
        0.56842277,  0.10581907,  0.56842277,  0.70796264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013679425909380802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25807797,  0.08779774, -0.96212646, -0.0227465 ,  0.99613832,
        0.08479999,  0.96585628,  0.        ,  0.25907845])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729049, -0.03881435,  0.22654847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.67156138,  5.48425434, -6.67156138, 26.46463384,
       21.68798009,  5.48425434, 21.68798009, 35.01965685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012635195548023129
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39337492e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39337492e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305404, -0.10969747,  0.06188785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51407492e-03, 4.31053837e-03, 8.05310517e-04, 3.34467088e-05,
  2.68277853e-05, 1.73477989e-05,-5.71152690e-05,-4.51890529e-05,
  1.17755380e-05, 1.24611551e-05,-3.31570204e-05,-9.78338219e-05,
  2.97537263e-03, 2.94472033e-03, 8.63450848e-03, 4.24344006e-03,
 -7.61567519e-07, 6.36067816e-06,-1.21644226e+00, 1.58184878e-03,
  5.45309591e-04, 3.62167022e-05]


--- Step 2073 ---
qpos:
[-0.01398653, 1.32887733,-0.01914366, 0.94614077, 0.0042336 , 1.33230571,
 -0.03036171, 0.94351865, 0.0168669 , 1.33771667,-0.02350067, 0.9553489 ,
  1.35789557,-0.00530392, 1.1340936 , 0.05952749,-0.00168481,-0.0979895 ,
  0.08163707, 0.54726193,-0.0108318 ,-0.00557656, 0.83687272]

qacc:
[ 4.15245030e-01, 3.15344060e+00,-1.15663732e+01, 6.55733848e+00,
 -6.17198093e-03, 5.44989030e-01,-6.61863724e-01,-5.37405035e+00,
  6.25472743e-02,-4.31098179e+00, 1.31167211e+01,-1.20397802e+01,
 -1.62123568e-01,-1.86923835e-01, 7.90886230e+00,-1.66872349e+01,
  8.88471329e-01, 1.56741853e+00, 8.79969561e-01, 6.86843987e+01,
  6.06528619e+01, 3.56074745e-01]

qfrc_actuator:
[ 6.39514506e-03, 3.88824285e-02, 1.16493900e-02, 1.72888306e-03,
  8.91794628e-06, 3.47927741e-02, 1.09185665e-02, 1.75743934e-03,
 -3.03601700e-03, 3.46426587e-02, 1.08549763e-02, 1.78682294e-03,
  0.00000000e+00, 1.01538924e-03, 0.00000000e+00, 2.16041108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14849607,  0.09604442, -0.11325437,  0.09604442,  0.54312593,
        0.33466253, -0.11325437,  0.33466253,  0.43230381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000137171302735533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58078432e-01,  8.77984060e-02, -9.62126272e-01, -2.27467168e-02,
        9.96138263e-01,  8.48006307e-02,  9.65856154e-01, -6.93889390e-18,
        2.59078926e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729105, -0.0388155 ,  0.22654822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012781847286537848
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.68593561e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.68593561e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286536 , -0.13043811,  0.06188658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49656450e-03, 4.28163484e-03, 7.09619456e-04,-3.07730741e-05,
 -1.75931171e-06,-1.11439800e-05,-3.18727418e-05,-2.74263304e-05,
  1.79667234e-05,-5.67267194e-05, 5.42347532e-05,-5.03841655e-06,
  2.98533333e-03, 2.97918890e-03, 8.59744077e-03, 4.03714486e-03,
  5.48242050e-06, 5.50555420e-06,-1.21644213e+00, 1.58411796e-03,
  5.45697824e-04, 3.51872906e-05]


--- Step 2074 ---
qpos:
[-0.01398762, 1.32887332,-0.01914587, 0.94613966, 0.00423356, 1.3323051 ,
 -0.03036175, 0.94351909, 0.01686693, 1.33771539,-0.02349993, 0.95535054,
  1.35790954,-0.00530936, 1.13411189, 0.05952706,-0.00168453,-0.09798342,
  0.08163276, 0.5472761 ,-0.01092925,-0.00543335, 0.83686313]

qacc:
[ 2.35572037e-01, 5.24927039e-01,-1.78299819e+00,-7.52899956e+00,
 -1.02148364e-01, 1.52060295e+00,-6.44677069e+00, 1.39339234e+01,
  1.21450739e-01,-1.95520364e+00, 4.97863914e+00, 2.76244125e+00,
 -3.31106638e-01,-4.80984405e-02, 6.07947328e+00,-1.23937082e+01,
  8.22449711e-01, 1.46687076e+00, 1.84032791e-01, 6.42096852e+01,
  5.66585004e+01, 2.94360575e-01]

qfrc_actuator:
[ 6.39698560e-03, 3.89163675e-02, 1.16297030e-02, 1.68863232e-03,
 -1.94626022e-05, 3.48058163e-02, 1.09201318e-02, 1.79597950e-03,
 -3.01163964e-03, 3.46820158e-02, 1.09249555e-02, 1.82067621e-03,
  0.00000000e+00, 1.04729300e-03, 0.00000000e+00, 2.05515284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1485212 , -0.08581382,  0.12122102, -0.08581382,  1.13541935,
        0.69863709,  0.12122102,  0.69863709,  0.64309481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013771585487164575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2580821 ,  0.08779879, -0.96212525, -0.02274714,  0.99613823,
        0.08480092,  0.96585516,  0.        ,  0.25908262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729207, -0.03881666,  0.22654787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012863372784958499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.31544294e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.31544294e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02864418, -0.13042523,  0.06188588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44938167e-03, 4.37985393e-03, 7.91514841e-04,-5.22547625e-05,
 -2.94192013e-05,-1.78715921e-07,-5.04596490e-06, 3.66334234e-05,
  3.49836902e-05, 1.84400652e-05, 6.49204700e-05, 3.36423015e-05,
  3.00012947e-03, 3.03459380e-03, 8.34166180e-03, 3.93774771e-03,
  6.05257087e-07,-4.62183367e-08,-1.21644046e+00, 1.58524000e-03,
  5.45348588e-04, 2.97124970e-05]


--- Step 2075 ---
qpos:
[-0.01398908, 1.32887069,-0.01914742, 0.94613844, 0.00423338, 1.33230475,
 -0.03036222, 0.94352068, 0.01686709, 1.33771542,-0.02349911, 0.95535009,
  1.357923  ,-0.00531488, 1.1341289 , 0.05952645,-0.00168118,-0.0979718 ,
  0.08162684, 0.5472917 ,-0.01104977,-0.00513048, 0.83685326]

qacc:
[-1.56810794e-01,-1.64043142e-01, 2.95017420e+00,-4.73500540e+00,
 -5.73094989e-02, 3.43362475e+00,-1.31405281e+01, 2.44751332e+01,
  6.00729244e-02,-2.12573497e+00, 1.32191181e+01,-3.64635929e+01,
 -2.88992709e-01, 1.70079765e-01,-1.32245890e+00, 1.89860118e+00,
  7.67815349e-01, 1.38340991e+00,-4.01034711e-01, 6.04968037e+01,
  5.33485713e+01, 2.57190059e-01]

qfrc_actuator:
[ 6.39819087e-03, 3.89035071e-02, 1.16373001e-02, 1.70093810e-03,
 -1.85768547e-05, 3.48316410e-02, 1.09034032e-02, 1.85400146e-03,
 -3.01494713e-03, 3.48127225e-02, 1.09482598e-02, 1.71569685e-03,
  0.00000000e+00, 1.05113562e-03, 0.00000000e+00, 2.15193895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14855288, -0.08521846,  0.12167897, -0.08521846,  1.06709269,
        0.64330389,  0.12167897,  0.64330389,  0.59909393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013839927402164304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58088106e-01,  8.77990172e-02, -9.62123621e-01, -2.27477290e-02,
        9.96138210e-01,  8.48009920e-02,  9.65853545e-01, -3.46944695e-18,
        2.59088652e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729347, -0.03881781,  0.22654744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012789151913895624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.68097456e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.68097456e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02865389, -0.13043553,  0.06188647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42278060e-03, 4.42349421e-03, 8.63480122e-04, 2.37874504e-06,
 -1.64785754e-05, 2.58441622e-05,-1.62620760e-05, 5.87176594e-05,
  1.73496650e-05, 1.54589070e-04, 3.52700343e-05,-1.01749309e-04,
  3.02896194e-03, 3.06146263e-03, 8.13539732e-03, 4.03417169e-03,
  1.40407663e-07, 3.43715451e-06,-1.21644184e+00, 1.58651933e-03,
  5.44464166e-04, 3.44224940e-05]


--- Step 2076 ---
qpos:
[-0.01399109, 1.32886896,-0.01914852, 0.94613811, 0.00423313, 1.33230443,
 -0.03036305, 0.94352192, 0.01686718, 1.33771644,-0.02349763, 0.95534734,
  1.35793656,-0.00531961, 1.13413997, 0.0595255 ,-0.00168483,-0.09795649,
  0.08161388, 0.54729918,-0.01136626,-0.00484141, 0.83684585]

qacc:
[-2.36814523e-01, 1.51736401e+00,-5.34300172e+00, 1.44567201e+01,
 -3.14346439e-02, 4.38851168e-01,-6.84953128e-01,-3.32793321e+00,
 -3.33863891e-02,-4.43105229e+00, 2.06392217e+01,-4.49408966e+01,
 -2.15901127e-01, 8.40102078e-01,-7.73968369e+00, 1.43841090e+01,
 -1.74741868e+00, 9.26149829e-01,-1.75941657e+00,-5.94387401e+01,
  7.81889246e+01, 4.49514304e+00]

qfrc_actuator:
[ 6.38196613e-03, 3.88960153e-02, 1.16065789e-02, 1.74438225e-03,
 -1.78935575e-05, 3.48116157e-02, 1.08760559e-02, 1.83423947e-03,
 -3.03483561e-03, 3.48548483e-02, 1.09796190e-02, 1.60089322e-03,
  0.00000000e+00, 1.03794074e-03, 0.00000000e+00, 2.33463604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14858636, -0.10350512,  0.10660485, -0.10350512,  0.32984629,
        0.17598948,  0.10660485,  0.17598948,  0.31945862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013911748904365737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58092141e-01,  8.77993539e-02, -9.62122508e-01, -2.27481726e-02,
        9.96138180e-01,  8.48012216e-02,  9.65852456e-01, -3.46944695e-18,
        2.59092711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729473, -0.03881888,  0.22654708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012590827160804327
  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([ 0.05306018, -0.10970921,  0.0618881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42506147e-03, 4.34704569e-03, 7.99833757e-04, 5.14409210e-05,
 -9.04215954e-06,-7.13947621e-06,-2.24170362e-05,-1.80994252e-05,
 -9.63780745e-06, 1.31484292e-04, 6.25767666e-05,-1.11561873e-04,
  3.05418654e-03, 3.05208826e-03, 8.19941710e-03, 4.22610635e-03,
  3.32548183e-06, 1.43753228e-05,-1.21644575e+00, 1.58792270e-03,
  5.43119326e-04, 4.75652036e-05]


--- Step 2077 ---
qpos:
[-0.01399395, 1.32886734,-0.01914924, 0.94613701, 0.00423284, 1.33230394,
 -0.03036384, 0.94352292, 0.01686712, 1.33771863,-0.02349654, 0.95534604,
  1.3579504 ,-0.00532391, 1.13414601, 0.05952473,-0.00169252,-0.09794757,
  0.08160257, 0.54731103,-0.01165772,-0.00474975, 0.83683461]

qacc:
[-3.58865289e-01,-2.22018964e+00, 9.01810230e+00,-1.69929365e+01,
 -1.65705704e-02,-7.61944657e-01, 2.73207915e+00,-5.14929267e+00,
 -6.12669832e-02, 5.08395007e+00,-1.76352496e+01, 3.12454221e+01,
  1.84421471e-01, 1.26140532e-01,-7.96624562e+00, 1.70392170e+01,
 -1.01154230e+00,-1.59966617e+00, 4.12293387e-01,-7.57296116e+01,
 -6.44641092e+01,-4.05665477e+00]

qfrc_actuator:
[ 6.33786757e-03, 3.89094233e-02, 1.16060667e-02, 1.69903052e-03,
 -1.73386675e-05, 3.47997063e-02, 1.08779471e-02, 1.82208584e-03,
 -3.04675584e-03, 3.49146215e-02, 1.09619407e-02, 1.67650788e-03,
  0.00000000e+00, 1.03143708e-03, 0.00000000e+00, 2.46258496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14860667, -0.10192671,  0.10814291, -0.10192671,  0.41183939,
        0.24810177,  0.10814291,  0.24810177,  0.38244723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001395514251287741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58094866e-01,  8.77998466e-02, -9.62121732e-01, -2.27485414e-02,
        9.96138136e-01,  8.48016328e-02,  9.65851720e-01, -3.46944695e-18,
        2.59095457e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729548, -0.03881992,  0.2265468 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012893714243156634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15264392e-14,  2.15264392e-14,  1.00000000e+00, -4.63387586e-28,
        1.00000000e+00, -2.15264392e-14, -1.00000000e+00,  0.00000000e+00,
        2.15264392e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03121242, -0.06028366,  0.0618855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40890642e-03, 4.31538682e-03, 7.76673135e-04,-3.86950000e-05,
 -4.78224714e-06,-2.07839627e-05,-2.58425829e-06,-1.34451406e-05,
 -1.76053622e-05, 1.41385455e-04, 1.18385467e-05, 7.87419562e-05,
  3.04946261e-03, 3.00595580e-03, 8.49614056e-03, 4.37064521e-03,
 -3.36092943e-06, 1.44454939e-05,-1.21644968e+00, 1.58833541e-03,
  5.43706000e-04, 4.20943771e-05]


--- Step 2078 ---
qpos:
[-0.01399578, 1.32886305,-0.01915174, 0.94613504, 0.00423282, 1.33230312,
 -0.03036457, 0.94352481, 0.01686706, 1.33772148,-0.02349633, 0.95534641,
  1.35796445,-0.0053289 , 1.1341609 , 0.05952435,-0.00170393,-0.09794464,
  0.08159009, 0.54732716,-0.0119261 ,-0.00484162, 0.83681976]

qacc:
[ 4.37533543e-01,-2.36384298e-01,-1.73708819e+00,-6.74185528e+00,
  1.15118486e-01, 9.20872687e-01,-5.39841933e+00, 1.53139328e+01,
  8.76663891e-04, 6.12781624e+00,-2.23324802e+01, 3.83061200e+01,
  2.32168235e-01,-6.94823910e-01, 1.18677276e+01,-2.25516268e+01,
 -9.32400884e-01,-1.49849607e+00,-2.93035739e-01,-7.04670591e+01,
 -5.98482859e+01,-3.90622715e+00]

qfrc_actuator:
[ 6.33081442e-03, 3.89002924e-02, 1.16058260e-02, 1.63722659e-03,
  1.86391598e-05, 3.47751023e-02, 1.08793701e-02, 1.86780208e-03,
 -3.03604561e-03, 3.48956472e-02, 1.08978723e-02, 1.75703393e-03,
  0.00000000e+00, 1.02899946e-03, 0.00000000e+00, 2.09574443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14861404, -0.11549142,  0.09353002, -0.11549142,  0.4760873 ,
        0.40436591,  0.09353002,  0.40436591,  0.64792746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013970841018085683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25809712,  0.08780056, -0.96212106, -0.02274893,  0.99613807,
        0.08480227,  0.96585111,  0.        ,  0.25909773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729583, -0.03882093,  0.22654658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.95107332,  -5.12536405,  -6.95107332,
        23.82626211, -20.60070211,  -5.12536405, -20.60070211,
        36.57525526,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00130601039764585
  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([ 0.03118924, -0.06031353,  0.06188405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44421110e-03, 4.30054109e-03, 7.57777805e-04,-6.13687383e-05,
  3.31544909e-05,-3.70059444e-05,-3.32836265e-06, 4.47034125e-05,
  3.20594878e-07, 6.38345652e-05,-3.28147541e-05, 8.68949620e-05,
  3.03512095e-03, 2.98233482e-03, 8.74784291e-03, 3.99515342e-03,
 -3.13007427e-07, 8.95881691e-07,-1.21644539e+00, 1.58800810e-03,
  5.44542877e-04, 2.61838717e-05]


--- Step 2079 ---
qpos:
[-0.01399737, 1.32885751,-0.01915557, 0.9461322 , 0.00423314, 1.33230217,
 -0.03036585, 0.94352587, 0.01686735, 1.33772383,-0.02349575, 0.95534641,
  1.35797792,-0.00533422, 1.13418038, 0.05952399,-0.00171882,-0.09794737,
  0.08157407, 0.54734742,-0.01217304,-0.00510552, 0.83680138]

qacc:
[  0.10318484,  0.46015261, -1.68437124, -7.85488898,  0.14226659,
  -0.06701176,  1.75225518,-11.1431742 ,  0.14625344, -2.31179305,
   7.52938641,-10.62837425, -0.44570062,  0.18668543,  6.73163893,
 -13.64808001, -0.8665441 , -1.41358834, -0.88747697,-66.09419003,
 -56.01752462, -3.76605224]

qfrc_actuator:
[ 6.34444753e-03, 3.88981434e-02, 1.15722358e-02, 1.60144589e-03,
  4.00702370e-05, 3.47608782e-02, 1.08449735e-02, 1.82292508e-03,
 -2.99409363e-03, 3.48117271e-02, 1.08953819e-02, 1.73318070e-03,
  0.00000000e+00, 1.08320642e-03, 0.00000000e+00, 2.01757627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14863556, -0.07917888,  0.12579044, -0.07917888,  1.00534263,
        0.53925486,  0.12579044,  0.53925486,  0.48806991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014016598724293783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25810367,  0.08780097, -0.96211927, -0.02274961,  0.99613804,
        0.08480251,  0.96584934,  0.        ,  0.25910432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729696, -0.03882206,  0.22654618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.86446886,  -5.24078659,  -6.86446886,
        26.9971973 , -24.04932327,  -5.24078659, -24.04932327,
        40.13656458,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013048893614354962
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25408873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.25408873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03119084, -0.06031417,  0.06188408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40621128e-03, 4.43262277e-03, 8.12640437e-04,-5.42166106e-05,
  4.09984797e-05,-3.39920212e-05,-4.06994411e-05,-4.50507499e-05,
  4.21449285e-05,-5.24744375e-05, 8.78580577e-06,-2.08955383e-05,
  3.02494130e-03, 3.07125424e-03, 8.30465778e-03, 3.89720187e-03,
  7.42712738e-06,-1.51102586e-06,-1.21644470e+00, 1.58724556e-03,
  5.45466893e-04, 2.24066507e-05]


--- Step 2080 ---
qpos:
[-0.01400026, 1.32885352,-0.01915848, 0.94612859, 0.00423347, 1.33230084,
 -0.03036715, 0.94352569, 0.01686791, 1.33772563,-0.02349534, 0.95534512,
  1.35799026,-0.00533932, 1.13419648, 0.05952355,-0.00172976,-0.09794373,
  0.08156407, 0.5473684 ,-0.01244906,-0.00517714, 0.83678316]

qacc:
[-5.52415107e-01,-1.81362839e+00, 9.93366856e+00,-1.86176713e+01,
  4.30879840e-03,-2.60023075e+00, 1.04264122e+01,-2.31982218e+01,
  1.10963206e-01,-2.46551807e+00, 9.75733543e+00,-2.29410733e+01,
 -8.68929087e-01, 9.36458020e-01,-4.67755377e+00, 9.24177742e+00,
  9.85223111e-01, 1.59268970e+00, 1.50825109e+00, 7.24991027e+01,
  6.47889340e+01, 9.82400496e-01]

qfrc_actuator:
[ 6.35311567e-03, 3.88643024e-02, 1.15721637e-02, 1.58163693e-03,
  1.70950293e-05, 3.47350402e-02, 1.08429406e-02, 1.76057173e-03,
 -2.98699816e-03, 3.47607295e-02, 1.08756783e-02, 1.66584207e-03,
  0.00000000e+00, 1.15356488e-03, 0.00000000e+00, 2.20158965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1486646 , -0.08224746,  0.1238407 , -0.08224746,  0.99821286,
        0.56421827,  0.1238407 ,  0.56421827,  0.52338405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014078072638950764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25811271,  0.08780129, -0.96211681, -0.02275049,  0.99613801,
        0.08480261,  0.96584691,  0.        ,  0.2591134 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729851, -0.03882318,  0.22654568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013211894333819696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62600265e-14,  1.68064170e-13,  1.00000000e+00,  4.41336954e-27,
        1.00000000e+00, -1.68064170e-13, -1.00000000e+00,  0.00000000e+00,
       -2.62600265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02860402, -0.13036355,  0.06188264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40269682e-03, 4.46054495e-03, 8.79139932e-04,-3.03850828e-05,
  1.22246689e-06,-5.39478538e-05,-1.46314389e-05,-6.56152051e-05,
  3.19813967e-05,-7.89329447e-05,-2.95668459e-05,-6.91179294e-05,
  3.05393009e-03, 3.15836184e-03, 8.07500152e-03, 4.08004367e-03,
  1.89895921e-05, 5.14434223e-06,-1.21644692e+00, 1.58609569e-03,
  5.46500425e-04, 2.84692346e-05]


--- Step 2081 ---
qpos:
[-0.01400319, 1.32885024,-0.01916048, 0.94612587, 0.00423354, 1.33229955,
 -0.03036839, 0.94352472, 0.0168685 , 1.33772654,-0.02349485, 0.95534547,
  1.35800205,-0.00534449, 1.13421557, 0.05952306,-0.00173474,-0.09794375,
  0.08156257, 0.547388  ,-0.01254949,-0.00524109, 0.83676844]

qacc:
[-1.58054471e-02, 5.65204556e-02,-8.66970958e-01, 1.06540196e+01,
 -1.07434786e-01,-1.44856147e+00, 6.42465153e+00,-1.47550434e+01,
  1.74458084e-02, 1.44500760e+00,-9.40651288e+00, 2.75727076e+01,
 -5.44912476e-01, 4.99093102e-01, 4.60936332e+00,-9.62110269e+00,
  1.49224535e+00,-9.15885685e-01, 2.12491575e+00, 5.12636640e+01,
 -7.13902391e+01, 1.13420646e+00]

qfrc_actuator:
[ 6.36025493e-03, 3.88446747e-02, 1.16259919e-02, 1.62492258e-03,
 -1.45797599e-05, 3.47735592e-02, 1.08599985e-02, 1.72397721e-03,
 -3.00087144e-03, 3.47119874e-02, 1.08815512e-02, 1.75099531e-03,
  0.00000000e+00, 1.16218148e-03, 0.00000000e+00, 2.06368780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014132802956935003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25811937,  0.08780197, -0.96211496, -0.02275126,  0.99613795,
        0.08480311,  0.96584511,  0.        ,  0.2591201 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06729977, -0.03882416,  0.22654528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013461671906982442
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06182232e-14, -2.06182232e-14,  1.00000000e+00,  4.25111128e-28,
        1.00000000e+00,  2.06182232e-14, -1.00000000e+00,  0.00000000e+00,
        2.06182232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03261517, -0.08850688,  0.0618805 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47503154e-03, 4.36413535e-03, 8.87126539e-04, 5.17635330e-05,
 -3.09549286e-05, 3.85051448e-06, 2.91788410e-06,-4.01708302e-05,
  5.01027256e-06,-1.00224105e-04,-1.49274574e-05, 8.03429953e-05,
  3.10980653e-03, 3.15595190e-03, 8.24358188e-03, 3.94626407e-03,
  6.57878176e-06,-1.68726467e-06,-1.21644503e+00, 1.58868842e-03,
  5.45482515e-04, 2.33729975e-05]


--- Step 2082 ---
qpos:
[-0.01400523, 1.32884742,-0.01916231, 0.94612478, 0.00423346, 1.33229877,
 -0.03036967, 0.94352362, 0.0168689 , 1.33772718,-0.02349365, 0.95534605,
  1.35801389,-0.00534986, 1.13423918, 0.05952217,-0.00173414,-0.09794714,
  0.08156635, 0.54740638,-0.01248619,-0.00529802, 0.836757  ]

qacc:
[ 3.75530177e-01, 2.97027169e+00,-1.22809181e+01, 2.93538639e+01,
 -6.74036428e-02, 5.76934535e-01,-8.33518274e-01,-1.01303148e+00,
 -8.09556299e-02,-1.88516598e+00, 5.22242782e+00,-1.59984123e+00,
 -7.04041155e-02,-1.61084346e-02, 7.88457873e+00,-1.78550730e+01,
  1.39262699e+00,-8.42714699e-01, 1.32000150e+00, 4.77546354e+01,
 -6.66037461e+01, 1.01567824e+00]

qfrc_actuator:
[ 6.38348461e-03, 3.88337802e-02, 1.16407977e-02, 1.70470376e-03,
 -1.57093112e-05, 3.48326613e-02, 1.08706923e-02, 1.72063492e-03,
 -3.02720990e-03, 3.47539176e-02, 1.09380903e-02, 1.76546076e-03,
  0.00000000e+00, 1.13395405e-03, 0.00000000e+00, 1.91016423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14872829, -0.09130227,  0.11740527, -0.09130227,  0.97226456,
        0.64043746,  0.11740527,  0.64043746,  0.64677575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014211901501622742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25812446,  0.08780268, -0.96211353, -0.02275189,  0.99613789,
        0.08480367,  0.96584373,  0.        ,  0.25912524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730123, -0.03882513,  0.22654489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013555279473217996
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04758417e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04758417e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03260164, -0.08850901,  0.06187971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50013504e-03, 4.31744994e-03, 8.56815186e-04, 8.67984234e-05,
 -1.93998970e-05, 6.06031639e-05, 1.06027786e-05,-4.07684919e-06,
 -2.33831484e-05,-1.40335015e-05, 3.76207697e-05, 1.29333230e-05,
  3.13786874e-03, 3.13121599e-03, 8.09362664e-03, 3.79522574e-03,
  1.84558093e-06, 1.86374316e-07,-1.21644101e+00, 1.58605400e-03,
  5.44208882e-04, 3.47888772e-05]


--- Step 2083 ---
qpos:
[-0.01400677, 1.32884652,-0.01916331, 0.94612519, 0.00423342, 1.33229827,
 -0.03037108, 0.94352321, 0.01686906, 1.33772776,-0.02349146, 0.95534366,
  1.35802616,-0.00535525, 1.13426155, 0.0595206 ,-0.00172892,-0.09794944,
  0.08157576, 0.54742436,-0.0123449 ,-0.0052651 , 0.83674754]

qacc:
[ 2.10651181e-01, 2.86576319e+00,-9.35097783e+00, 2.42148845e+01,
  1.99189084e-02, 1.86961481e+00,-7.04823085e+00, 1.38415588e+01,
 -1.02620283e-01,-7.88096680e+00, 3.15983850e+01,-6.16406731e+01,
  3.72020765e-01,-3.70338307e-01, 1.75349082e-01,-3.35962869e+00,
  1.15581999e+00, 2.74394486e-01, 1.40485231e+00, 5.89327627e+01,
 -8.05455077e+00, 1.07012200e+00]

qfrc_actuator:
[ 6.41545964e-03, 3.88103366e-02, 1.16325504e-02, 1.78752963e-03,
  1.49509748e-06, 3.48326287e-02, 1.08598978e-02, 1.75464563e-03,
 -3.04305868e-03, 3.47612369e-02, 1.09888575e-02, 1.61398869e-03,
  0.00000000e+00, 1.08377673e-03, 0.00000000e+00, 1.97841671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14878027, -0.09693306,  0.11286962, -0.09693306,  0.80146601,
        0.56053016,  0.11286962,  0.56053016,  0.63016672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014320142647834821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25812894,  0.08780316, -0.96211229, -0.02275241,  0.99613784,
        0.08480403,  0.96584252,  0.        ,  0.25912974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730302, -0.03882617,  0.22654446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013489504261212828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.48727069e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.48727069e-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([-0.0307933 , -0.10733603,  0.06188028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48779050e-03, 4.27070905e-03, 8.39520935e-04, 8.77750126e-05,
  5.75612532e-06, 3.54491922e-05, 2.14920873e-06, 3.60452816e-05,
 -2.96565961e-05, 7.28318926e-06, 5.26793970e-05,-1.50482432e-04,
  3.13520290e-03, 3.09101772e-03, 7.86682250e-03, 3.88315876e-03,
 -1.74788704e-07, 5.89507615e-07,-1.21644008e+00, 1.58429544e-03,
  5.43577984e-04, 3.65306248e-05]


--- Step 2084 ---
qpos:
[-0.01400848, 1.32884528,-0.01916279, 0.94612606, 0.00423349, 1.33229792,
 -0.03037256, 0.94352391, 0.01686914, 1.33772876,-0.02348972, 0.95533986,
  1.35803873,-0.00535996, 1.13427646, 0.05951902,-0.00172059,-0.09794638,
  0.08158299, 0.54744338,-0.0122269 ,-0.00507511, 0.836738  ]

qacc:
[-6.69993919e-02,-3.74225601e+00, 1.07373590e+01,-3.81864128e+00,
  4.75375184e-02, 2.28950768e+00,-9.52866117e+00, 2.10733235e+01,
 -3.19251700e-02,-6.62076131e-01, 5.65535186e+00,-2.14689339e+01,
  1.29898427e-01, 3.69604740e-01,-1.09683716e+01, 2.23782546e+01,
  7.77739962e-01, 1.33867777e+00,-5.42578948e-01, 5.93522581e+01,
  5.27431906e+01, 5.69841645e-01]

qfrc_actuator:
[ 6.43496379e-03, 3.88132348e-02, 1.16630084e-02, 1.80066238e-03,
  1.18046803e-05, 3.48326352e-02, 1.08540568e-02, 1.81031314e-03,
 -3.03473300e-03, 3.47831782e-02, 1.09645861e-02, 1.54359854e-03,
  0.00000000e+00, 1.09134447e-03, 0.00000000e+00, 2.21568146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14883573, -0.10529678,  0.10518871, -0.10529678,  0.27925383,
        0.13055209,  0.10518871,  0.13055209,  0.27952196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001443464360540575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25813077,  0.08780354, -0.96211176, -0.02275267,  0.99613781,
        0.08480435,  0.96584203,  0.        ,  0.25913158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730463, -0.03882723,  0.22654411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.86053129, -8.14887339,  2.86053129, 29.86581163,
        7.45225719, -8.14887339,  7.45225719, 11.25235899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013355522518674195
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11731446e-14,  8.31283855e-14,  1.00000000e+00,  2.59137318e-27,
        1.00000000e+00, -8.31283855e-14, -1.00000000e+00,  0.00000000e+00,
       -3.11731446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02859341, -0.13033798,  0.06188145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48242926e-03, 4.17793319e-03, 8.28511907e-04, 2.63311328e-05,
  1.37081779e-05, 2.11260343e-05, 2.39705552e-06, 5.76289504e-05,
 -9.18488141e-06, 3.17892819e-05,-2.12717046e-05,-7.21353615e-05,
  3.11374686e-03, 3.09984332e-03, 7.92899903e-03, 4.15426625e-03,
  1.55030365e-06,-6.50983056e-07,-1.21644056e+00, 1.58412869e-03,
  5.43134109e-04, 3.23840603e-05]


--- Step 2085 ---
qpos:
[-0.01401043, 1.32884396,-0.01916272, 0.94612612, 0.00423368, 1.33229753,
 -0.03037397, 0.94352459, 0.01686922, 1.33773056,-0.02348976, 0.95533769,
  1.35805102,-0.0053647 , 1.13428972, 0.05951731,-0.00170808,-0.09794226,
  0.08159236, 0.5474621 ,-0.01203652,-0.00480211, 0.83673013]

qacc:
[-1.07369753e-01,-2.78885907e-01, 2.40435624e+00,-1.13040359e+01,
  4.92385474e-02,-2.89666295e-01, 9.12022934e-01,-9.86906916e-01,
 -1.81105332e-03, 8.68146643e+00,-3.03150890e+01, 4.46359466e+01,
 -1.18508618e-01, 4.39535107e-02,-2.01433565e+00, 3.50474778e+00,
  1.04504406e+00, 2.65095834e-01, 5.34719259e-01, 5.45369943e+01,
 -7.57286986e+00, 9.07547933e-01]

qfrc_actuator:
[ 6.44744252e-03, 3.88156731e-02, 1.16446608e-02, 1.75465921e-03,
  1.78933257e-05, 3.48149400e-02, 1.08511886e-02, 1.80726141e-03,
 -3.02972577e-03, 3.48312046e-02, 1.08785940e-02, 1.62800398e-03,
  0.00000000e+00, 1.13286920e-03, 0.00000000e+00, 2.19890445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14887041, -0.12079024,  0.08701791, -0.12079024,  0.2475102 ,
        0.13692267,  0.08701791,  0.13692267,  0.33893385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001450573418784601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25813146,  0.08780397, -0.96211154, -0.02275284,  0.99613777,
        0.08480475,  0.96584184,  0.        ,  0.25913228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730564, -0.03882824,  0.22654384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013104276546438117
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11805478e-14,  4.43029156e-07,  1.00000000e+00,  9.38360022e-21,
        1.00000000e+00, -4.43029156e-07, -1.00000000e+00,  0.00000000e+00,
       -2.11805478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03084648, -0.10735521,  0.06188358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50284457e-03, 4.19734780e-03, 7.34379292e-04,-4.27877005e-05,
  1.41802102e-05,-3.80090738e-06, 3.23059296e-06,-1.01177824e-06,
 -4.13788851e-07, 5.93011093e-05,-8.43203744e-05, 8.30438373e-05,
  3.09843138e-03, 3.10764516e-03, 8.30115332e-03, 4.13796541e-03,
  7.54431345e-06, 3.26546788e-06,-1.21644210e+00, 1.58510608e-03,
  5.42274290e-04, 3.58932335e-05]


--- Step 2086 ---
qpos:
[-0.01401237, 1.32884231,-0.01916348, 0.94612568, 0.00423383, 1.33229692,
 -0.03037525, 0.94352386, 0.01686932, 1.33773232,-0.02349091, 0.95533797,
  1.35806327,-0.0053695 , 1.13430295, 0.05951541,-0.00169945,-0.09794412,
  0.0816011 , 0.54748483,-0.01182248,-0.00471544, 0.8367188 ]

qacc:
[ 7.46072225e-03, 9.37387010e-01,-2.54139311e+00,-3.45604243e+00,
 -2.03285271e-02,-3.04448605e+00, 1.24949327e+01,-2.70652103e+01,
  9.27170532e-03, 7.15913618e+00,-2.83395854e+01, 5.28274228e+01,
 -6.98890189e-03,-4.35445769e-02, 4.80448242e-01,-1.74522272e+00,
 -9.69792359e-01,-1.49752156e+00,-1.56669454e-01,-7.14603560e+01,
 -6.08726114e+01,-3.80048570e+00]

qfrc_actuator:
[ 6.43811145e-03, 3.88354681e-02, 1.16161445e-02, 1.72751054e-03,
  3.64796155e-06, 3.47867564e-02, 1.08499871e-02, 1.73415931e-03,
 -3.02675133e-03, 3.47878018e-02, 1.08103269e-02, 1.74954316e-03,
  0.00000000e+00, 1.12419705e-03, 0.00000000e+00, 2.17185776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014565525333833096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58132662e-01,  8.78044658e-02, -9.62111170e-01, -2.27530791e-02,
        9.96137729e-01,  8.48051980e-02,  9.65841512e-01,  3.46944695e-18,
        2.59133506e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730653, -0.0388292 ,  0.22654358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013049559982647521
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25387149e-14,  8.50774299e-14,  1.00000000e+00,  3.61908454e-27,
        1.00000000e+00, -8.50774299e-14, -1.00000000e+00,  0.00000000e+00,
       -4.25387149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03120186, -0.060326  ,  0.06188408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50617989e-03, 4.22134018e-03, 7.28487050e-04,-2.99003145e-05,
 -5.87588128e-06,-2.96787411e-05,-1.60401447e-06,-7.31467061e-05,
  2.73337123e-06,-2.46322608e-05,-6.38441685e-05, 1.22760614e-04,
  3.11228122e-03, 3.10075558e-03, 8.38366684e-03, 4.11790150e-03,
  1.66096173e-05, 6.32059571e-06,-1.21644479e+00, 1.58463065e-03,
  5.41782868e-04, 3.40954469e-05]


--- Step 2087 ---
qpos:
[-0.01401447, 1.32884089,-0.01916403, 0.94612447, 0.00423387, 1.33229578,
 -0.03037562, 0.94352432, 0.0168696 , 1.33773371,-0.02349246, 0.95534005,
  1.35807581,-0.00537444, 1.1343147 , 0.05951355,-0.00169441,-0.09795165,
  0.08160677, 0.54751149,-0.01158644,-0.00480315, 0.83670416]

qacc:
[-6.80412106e-02,-1.64670319e+00, 7.29918701e+00,-1.54366307e+01,
 -4.16456463e-02,-1.08221820e+00, 2.43444470e-01, 1.39263195e+01,
  7.30966635e-02, 3.68624228e+00,-1.62155256e+01, 3.49444604e+01,
  3.94297079e-01,-5.17529342e-01,-2.32383288e+00, 4.87921228e+00,
 -8.98294195e-01,-1.41503180e+00,-7.69671225e-01,-6.69147700e+01,
 -5.69097054e+01,-3.64073087e+00]

qfrc_actuator:
[ 6.41552469e-03, 3.88837044e-02, 1.16353446e-02, 1.69394984e-03,
 -4.92730888e-06, 3.47702199e-02, 1.09029566e-02, 1.79795190e-03,
 -3.00726841e-03, 3.47610820e-02, 1.07882425e-02, 1.83863652e-03,
  0.00000000e+00, 1.08544285e-03, 0.00000000e+00, 2.22750154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014620869829783112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25813499,  0.08780494, -0.9621105 , -0.02275341,  0.99613769,
        0.0848056 ,  0.96584088,  0.        ,  0.25913585])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730743, -0.03883014,  0.2265433 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.20107155,  -4.76774007,  -7.20107155,
        21.36429831, -19.22394401,  -4.76774007, -19.22394401,
        37.67171248,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001308420430591234
  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([ 0.03119928, -0.06033256,  0.06188384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48270345e-03, 4.28582755e-03, 7.89247937e-04,-3.80464129e-05,
 -1.20442125e-05,-3.54634867e-05, 4.48371297e-05, 6.11538139e-05,
  2.10967031e-05,-4.91833858e-05,-3.05582975e-05, 8.93547149e-05,
  3.11467976e-03, 3.06491954e-03, 8.38485997e-03, 4.18216962e-03,
  5.30496299e-06,-1.24576436e-06,-1.21644172e+00, 1.58277008e-03,
  5.42697742e-04, 2.65037106e-05]


--- Step 2088 ---
qpos:
[-0.01401588, 1.32883887,-0.01916528, 0.94612333, 0.00423381, 1.3322939 ,
 -0.03037445, 0.9435276 , 0.01686993, 1.33773495,-0.0234932 , 0.95534274,
  1.35808866,-0.00537968, 1.13432964, 0.05951161,-0.00169273,-0.09796457,
  0.08160729, 0.54754197,-0.01132976,-0.00505533, 0.83668624]

qacc:
[ 2.90569799e-01, 1.26864247e+00,-5.23325626e+00, 5.79215835e+00,
 -4.21494083e-02,-3.52220136e-01,-5.81793827e+00, 3.81809458e+01,
  2.15412305e-02,-1.31024382e+00, 2.77923727e+00, 4.86497309e+00,
  3.06495203e-01,-5.06273223e-01, 4.95882762e+00,-1.05420045e+01,
 -8.39250771e-01,-1.34585297e+00,-1.28554648e+00,-6.31400374e+01,
 -5.36279311e+01,-3.48929170e+00]

qfrc_actuator:
[ 6.42066115e-03, 3.89485857e-02, 1.16469489e-02, 1.69251414e-03,
 -1.00307311e-05, 3.47433190e-02, 1.09876094e-02, 1.94184542e-03,
 -3.01354503e-03, 3.47979768e-02, 1.08468631e-02, 1.87243464e-03,
  0.00000000e+00, 1.06424063e-03, 0.00000000e+00, 2.08408406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014669644709145238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25813688,  0.08780546, -0.96210995, -0.02275371,  0.99613764,
        0.08480606,  0.96584037,  0.        ,  0.25913776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673082 , -0.03883108,  0.22654305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.26477475,  -4.67009901,  -7.26477475,
        23.32770737, -22.85375594,  -4.67009901, -22.85375594,
        44.18751336,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012969840736814855
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28001796e-14,  4.28001796e-14,  1.00000000e+00, -1.83185537e-27,
        1.00000000e+00, -4.28001796e-14, -1.00000000e+00,  0.00000000e+00,
        4.28001796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03121724, -0.06031473,  0.06188482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49587456e-03, 4.33947907e-03, 7.89773150e-04,-8.88629138e-07,
 -1.22138721e-05,-3.59001586e-05, 8.46135402e-05, 1.45558246e-04,
  6.17931265e-06, 6.37203638e-06, 4.81608915e-05, 3.35300778e-05,
  3.10028167e-03, 3.05030846e-03, 8.45876927e-03, 4.03697584e-03,
 -8.66194582e-07, 8.36410264e-07,-1.21644180e+00, 1.58056563e-03,
  5.43695951e-04, 2.92179781e-05]


--- Step 2089 ---
qpos:
[-0.01401706, 1.32883677,-0.01916685, 0.94612281, 0.00423367, 1.33229238,
 -0.03037335, 0.94353014, 0.0168701 , 1.33773609,-0.02349257, 0.95534372,
  1.35810118,-0.00538505, 1.13434756, 0.05950945,-0.00168729,-0.09797176,
  0.08161   , 0.5475727 ,-0.01110003,-0.00513113, 0.83666875]

qacc:
[ 9.74985699e-02, 1.82468969e+00,-7.34049761e+00, 1.35928924e+01,
 -3.54128783e-02,-5.60607681e-01, 3.90939152e+00,-1.21094671e+01,
 -6.22782429e-02,-6.78578144e+00, 2.54400799e+01,-4.18471941e+01,
 -3.29615418e-01, 2.44085482e-01, 5.04517552e+00,-1.12249385e+01,
  9.40186676e-01, 1.43072089e+00, 5.45719529e-01, 6.64128969e+01,
  5.95560009e+01, 1.07769464e+00]

qfrc_actuator:
[ 6.42389658e-03, 3.89709259e-02, 1.16548392e-02, 1.72756911e-03,
 -1.30101915e-05, 3.47816321e-02, 1.09837402e-02, 1.90091349e-03,
 -3.03522430e-03, 3.48019570e-02, 1.09173511e-02, 1.78474491e-03,
  0.00000000e+00, 1.10706010e-03, 0.00000000e+00, 1.99886434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1489816 ,  0.09073599, -0.11816302,  0.09073599,  0.64367638,
        0.37987029, -0.11816302,  0.37987029,  0.44067953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001473119563712294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25814003,  0.0878058 , -0.96210907, -0.02275408,  0.99613761,
        0.08480631,  0.96583952,  0.        ,  0.25914094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730924, -0.03883207,  0.22654275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012751180741988333
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44176578e-15,  4.35341263e-14,  1.00000000e+00,  2.36902519e-28,
        1.00000000e+00, -4.35341263e-14, -1.00000000e+00,  0.00000000e+00,
       -5.44176578e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286809 , -0.13042339,  0.06188666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.46481475e-03, 4.39157390e-03, 8.33192364e-04, 3.04709529e-05,
 -1.01904342e-05, 3.93988688e-05, 3.01084132e-06,-3.61522084e-05,
 -1.80300885e-05, 1.78982457e-05, 7.81896558e-05,-8.53070092e-05,
  3.08422770e-03, 3.10876835e-03, 8.29872280e-03, 3.95606644e-03,
 -2.77459509e-06, 1.09203771e-05,-1.21644448e+00, 1.57806797e-03,
  5.44791899e-04, 4.04477367e-05]


--- Step 2090 ---
qpos:
[-0.01401839, 1.32883473,-0.01916784, 0.94612334, 0.00423347, 1.33229196,
 -0.03037401, 0.94353082, 0.01687038, 1.33773699,-0.02349095, 0.95534298,
  1.35811289,-0.00539048, 1.13436869, 0.05950716,-0.0016784 ,-0.09797352,
  0.08161233, 0.54760395,-0.01089523,-0.00504157, 0.83665153]

qacc:
[-6.18742746e-02, 3.24567236e-01,-3.10950477e+00, 1.48534753e+01,
 -2.70449314e-02, 2.99041272e+00,-4.15975576e+00,-1.87671460e+01,
  4.13647493e-02,-5.98084503e+00, 2.25634202e+01,-3.91815868e+01,
 -7.72863922e-01, 7.28671458e-01, 5.20864303e+00,-1.11971267e+01,
  8.62742273e-01, 1.35696098e+00,-9.46522636e-02, 6.23493523e+01,
  5.57044524e+01, 8.35115837e-01]

qfrc_actuator:
[ 6.42617269e-03, 3.88964569e-02, 1.16781456e-02, 1.78394575e-03,
 -1.46917647e-05, 3.48405152e-02, 1.08922649e-02, 1.80476532e-03,
 -3.01270921e-03, 3.47684401e-02, 1.09585736e-02, 1.69726962e-03,
  0.00000000e+00, 1.17048589e-03, 0.00000000e+00, 1.91321652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14902016, -0.09381037,  0.11578697, -0.09381037,  0.94887651,
        0.64804203,  0.11578697,  0.64804203,  0.67406254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014808501361436924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25814358,  0.08780607, -0.9621081 , -0.02275446,  0.99613759,
        0.08480649,  0.96583856,  0.        ,  0.2591445 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731052, -0.03883307,  0.22654241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.85146207,   6.35194211,   5.85146207,
        22.42154435, -12.69902349,   6.35194211, -12.69902349,
        20.33481003,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001276841231788263
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34753749e-14,  4.34753749e-14,  1.00000000e+00,  1.89010822e-27,
        1.00000000e+00, -4.34753749e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34753749e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02868163, -0.13041899,  0.06188653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45557979e-03, 4.32126880e-03, 8.72407909e-04, 5.59921746e-05,
 -7.69475995e-06, 8.01927052e-05,-8.44813240e-05,-9.57102537e-05,
  1.18697711e-05,-1.08844426e-05, 5.11068462e-05,-8.66394033e-05,
  3.10092392e-03, 3.17892706e-03, 8.14983729e-03, 3.88089232e-03,
 -6.05216746e-07, 4.52011285e-07,-1.21644140e+00, 1.58007556e-03,
  5.44148903e-04, 2.70981272e-05]


--- Step 2091 ---
qpos:
[-0.01401951, 1.32883207,-0.01916856, 0.94612428, 0.00423308, 1.33229198,
 -0.03037564, 0.94353105, 0.01687082, 1.33773818,-0.02348985, 0.95534088,
  1.35812437,-0.0053961 , 1.13439276, 0.05950475,-0.00167683,-0.09797124,
  0.08161003, 0.54762634,-0.01090096,-0.00496699, 0.83663725]

qacc:
[ 8.80533961e-02,-8.40341864e-01, 9.58710594e-01, 4.18534224e+00,
 -8.06411834e-02, 2.42236254e+00,-6.30594447e+00, 1.95961982e-02,
  7.04878582e-02,-5.06137680e-01, 4.85447896e+00,-2.00177684e+01,
 -1.91601653e-01, 5.71722688e-02, 4.71399778e+00,-1.01456657e+01,
 -1.83032907e+00, 1.01010273e+00,-1.15663846e+00,-6.39504502e+01,
  8.39287622e+01, 4.96296274e+00]

qfrc_actuator:
[ 6.41040489e-03, 3.88525596e-02, 1.16921736e-02, 1.79917463e-03,
 -3.33342356e-05, 3.48398423e-02, 1.08386964e-02, 1.78343266e-03,
 -2.99936859e-03, 3.47836240e-02, 1.09287995e-02, 1.62835785e-03,
  0.00000000e+00, 1.15748538e-03, 0.00000000e+00, 1.82731937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1490691 ,  0.0782821 , -0.1268602 ,  0.0782821 ,  0.59792157,
        0.27697507, -0.1268602 ,  0.27697507,  0.31998314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014906005740180153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2581465 ,  0.08780638, -0.96210728, -0.0227548 ,  0.99613756,
        0.08480672,  0.96583777,  0.        ,  0.25914744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731204, -0.03883404,  0.22654205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012945075201595962
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28820616e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28820616e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05296064, -0.10973058,  0.06188506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44712158e-03, 4.27457414e-03, 8.57217309e-04, 1.85641668e-05,
 -2.31807950e-05, 2.42887899e-05,-5.02993000e-05,-2.36179602e-05,
  2.03502097e-05, 1.65712823e-05,-2.86304388e-05,-6.97530852e-05,
  3.14181696e-03, 3.16867235e-03, 7.98852721e-03, 3.80161207e-03,
  5.24508867e-06,-1.10469770e-06,-1.21644129e+00, 1.58194822e-03,
  5.43108820e-04, 2.38797487e-05]


--- Step 2092 ---
qpos:
[-0.01402159, 1.32883051,-0.01916841, 0.94612417, 0.00423263, 1.33229241,
 -0.03037767, 0.94353064, 0.01687128, 1.33773975,-0.02348918, 0.95533727,
  1.35813573,-0.00540151, 1.13441088, 0.05950211,-0.00168212,-0.09796527,
  0.08160086, 0.54764068,-0.01110373,-0.0049062 , 0.83662556]

qacc:
[-4.03720536e-01,-2.71502104e+00, 1.27159333e+01,-2.38481829e+01,
 -2.38424805e-02, 5.18629274e-01, 2.66808222e-01,-7.83353318e+00,
  6.84812813e-03,-9.88940823e-01, 6.85480792e+00,-2.35988735e+01,
  4.90000240e-02, 3.04068737e-02,-8.08630608e+00, 1.54962720e+01,
 -1.71529972e+00, 9.23315997e-01,-1.71576216e+00,-5.97540507e+01,
  7.86166187e+01, 4.48998290e+00]

qfrc_actuator:
[ 6.40126806e-03, 3.89164131e-02, 1.17007134e-02, 1.75443989e-03,
 -2.64958628e-05, 3.48746811e-02, 1.08255443e-02, 1.75305681e-03,
 -3.00939362e-03, 3.48098272e-02, 1.09108162e-02, 1.55315767e-03,
  0.00000000e+00, 1.15204798e-03, 0.00000000e+00, 2.06085704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14912504, -0.09751558,  0.11282282, -0.09751558,  0.95932983,
        0.70028024,  0.11282282,  0.70028024,  0.75439474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015016587452190006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25814975,  0.08780664, -0.96210639, -0.02275515,  0.99613754,
        0.08480689,  0.9658369 ,  0.        ,  0.25915071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731381, -0.03883502,  0.22654164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.39716424,  2.01851668, -8.39716424,  9.8946043 ,
        5.23436523,  2.01851668,  5.23436523, 30.41167265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012993411478906189
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27225377e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.27225377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05294828, -0.10973106,  0.06188464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42760523e-03, 4.36899928e-03, 8.52164830e-04,-4.62514683e-05,
 -6.84262206e-06, 3.77264636e-05,-1.48150236e-05,-3.16698591e-05,
  1.99356878e-06, 2.76991336e-05,-2.00470527e-05,-7.71706497e-05,
  3.15288681e-03, 3.17298826e-03, 7.84083614e-03, 4.04092434e-03,
  6.13382188e-07, 8.26780242e-07,-1.21644037e+00, 1.58507191e-03,
  5.44213200e-04, 3.21703518e-05]


--- Step 2093 ---
qpos:
[-0.01402444, 1.32882953,-0.01916693, 0.94612319, 0.00423233, 1.33229309,
 -0.03037958, 0.9435309 , 0.01687155, 1.33774069,-0.02348813, 0.95533456,
  1.35814723,-0.0054067 , 1.13442364, 0.05949956,-0.00169113,-0.09796518,
  0.0815899 , 0.54765907,-0.01128363,-0.00502606, 0.8366104 ]

qacc:
[-3.29666610e-01,-4.33404425e+00, 1.68168731e+01,-2.50044855e+01,
  6.25669300e-02, 1.16631898e+00,-4.76851721e+00, 1.16639476e+01,
 -7.88904090e-02,-2.68087701e-01,-1.94640529e+00, 1.24720276e+01,
  2.18612648e-01,-1.06614505e-01,-8.20858585e+00, 1.71749029e+01,
 -9.29576146e-01,-1.46923376e+00,-4.49540453e-01,-6.92962269e+01,
 -5.90079869e+01,-3.70442584e+00]

qfrc_actuator:
[ 6.39718739e-03, 3.89191879e-02, 1.17407644e-02, 1.71051685e-03,
 -4.42687375e-06, 3.48951643e-02, 1.08364501e-02, 1.78863039e-03,
 -3.03335434e-03, 3.47359353e-02, 1.09177596e-02, 1.59915163e-03,
  0.00000000e+00, 1.13307442e-03, 0.00000000e+00, 2.20217847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14916823, -0.1067984 ,  0.10414059, -0.1067984 ,  0.6094837 ,
        0.47206339,  0.10414059,  0.47206339,  0.63327936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001510138013673598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58151109e-01,  8.78071621e-02, -9.62105975e-01, -2.27554092e-02,
        9.96137492e-01,  8.48073645e-02,  9.65836527e-01, -3.46944695e-18,
        2.59152086e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731507, -0.03883591,  0.22654134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012989858483754557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20506674e-14,  2.13671116e-14,  1.00000000e+00, -6.84830189e-28,
        1.00000000e+00, -2.13671116e-14, -1.00000000e+00,  0.00000000e+00,
        3.20506674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0312236 , -0.06032802,  0.06188463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47117577e-03, 4.31707593e-03, 8.49005580e-04,-3.79924807e-05,
  1.80317545e-05, 3.75014158e-05, 1.56726935e-05, 3.55367011e-05,
 -2.27808662e-05,-6.47907598e-05, 7.80902769e-06, 4.44293695e-05,
  3.15851400e-03, 3.14383418e-03, 8.13820799e-03, 4.19394560e-03,
 -2.40426606e-09, 4.21477406e-07,-1.21644285e+00, 1.58693223e-03,
  5.44908249e-04, 2.81392590e-05]


--- Step 2094 ---
qpos:
[-0.01402709, 1.32882834,-0.01916506, 0.94612251, 0.00423222, 1.33229357,
 -0.03038057, 0.94353123, 0.01687174, 1.3377408 ,-0.02348684, 0.95533176,
  1.35815887,-0.005412  , 1.13443761, 0.05949702,-0.00170359,-0.09797064,
  0.08157487, 0.54768139,-0.01144222,-0.0053156 , 0.83659185]

qacc:
[ 8.40017675e-02,-8.22861136e-01, 1.75951399e+00, 1.97765227e+00,
  8.31726483e-02,-2.63990558e+00, 8.14185874e+00,-6.05899587e+00,
 -3.48013521e-02,-1.92453796e+00, 5.17433795e+00,-5.09062583e+00,
  1.25926432e-01,-1.92794055e-01, 1.74577593e+00,-3.52447956e+00,
 -8.64140256e-01,-1.38960634e+00,-1.01833012e+00,-6.51263259e+01,
 -5.53400847e+01,-3.58013845e+00]

qfrc_actuator:
[ 6.41409971e-03, 3.88676386e-02, 1.17634051e-02, 1.72057415e-03,
  8.84643574e-06, 3.48715250e-02, 1.08791979e-02, 1.79172096e-03,
 -3.02997490e-03, 3.46738559e-02, 1.09212898e-02, 1.59178466e-03,
  0.00000000e+00, 1.12363502e-03, 0.00000000e+00, 2.11041078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14919912, -0.13460883,  0.06434936, -0.13460883,  0.41062999,
        0.54687265,  0.06434936,  0.54687265,  1.2931715 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015161704203548246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58150616e-01,  8.78079002e-02, -9.62106040e-01, -2.27555586e-02,
        9.96137427e-01,  8.48080886e-02,  9.65836655e-01,  3.46944695e-18,
        2.59151608e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731588, -0.03883674,  0.22654112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.67000753,  -5.48614404,  -6.67000753,
        26.94730562, -22.26228843,  -5.48614404, -22.26228843,
        35.70266566,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012947061019114789
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28754844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28754844e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03123002, -0.06032345,  0.06188493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52701224e-03, 4.23648946e-03, 8.05127333e-04, 1.51459246e-05,
  2.39174149e-05, 1.23946630e-06, 5.29116680e-05, 5.50031131e-06,
 -1.00740171e-05,-9.50787453e-05,-6.94050003e-06,-8.02391339e-06,
  3.15204590e-03, 3.12348667e-03, 8.40601568e-03, 4.09753938e-03,
  6.00054428e-06, 3.56401163e-07,-1.21644279e+00, 1.58583447e-03,
  5.45840342e-04, 2.72155077e-05]


--- Step 2095 ---
qpos:
[-0.01403034, 1.328827  ,-0.01916309, 0.94612197, 0.0042323 , 1.33229403,
 -0.03038123, 0.94352955, 0.01687204, 1.33774064,-0.02348627, 0.95532855,
  1.35817022,-0.00541667, 1.13444716, 0.05949434,-0.0017121 ,-0.09796973,
  0.08156602, 0.54770449,-0.01162974,-0.00541236, 0.83657352]

qacc:
[-2.52282584e-01,-2.25056689e-01, 2.16311526e-01, 1.49466185e+00,
  7.64690919e-02,-4.35346411e+00, 1.83312676e+01,-3.93382846e+01,
  4.78006329e-02, 8.84005644e-01,-2.49047684e+00,-2.38150590e+00,
 -4.58439913e-01, 9.29550582e-01,-6.08496915e+00, 1.18639614e+01,
  9.88889803e-01, 1.59288934e+00, 1.54531940e+00, 7.27206921e+01,
  6.48839343e+01, 9.11006088e-01]

qfrc_actuator:
[ 6.42519002e-03, 3.88728156e-02, 1.17405018e-02, 1.72670473e-03,
  1.67349759e-05, 3.48572682e-02, 1.08869296e-02, 1.68688039e-03,
 -3.01022085e-03, 3.46725585e-02, 1.08872332e-02, 1.57079116e-03,
  0.00000000e+00, 1.17341431e-03, 0.00000000e+00, 2.26939062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14923339, -0.10639163,  0.10464906, -0.10639163,  0.424333  ,
        0.27968046,  0.10464906,  0.27968046,  0.43357096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015228311146186363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58149950e-01,  8.78085890e-02, -9.62106156e-01, -2.27556797e-02,
        9.96137366e-01,  8.48087693e-02,  9.65836830e-01, -3.46944695e-18,
        2.59150955e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731678, -0.03883759,  0.22654088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013320323353142038
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16740268e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16740268e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02862006, -0.13032711,  0.06188173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52819859e-03, 4.25213506e-03, 7.62687642e-04, 6.64185028e-06,
  2.20052859e-05,-3.05570679e-06, 1.41578834e-05,-1.03124429e-04,
  1.38026320e-05,-5.54735861e-05,-5.36524187e-05,-2.42008428e-05,
  3.14506354e-03, 3.17878854e-03, 8.34509040e-03, 4.25586510e-03,
  1.58194898e-05, 8.95479709e-06,-1.21644552e+00, 1.58440601e-03,
  5.46863715e-04, 3.56661172e-05]


--- Step 2096 ---
qpos:
[-0.01403413, 1.3288246 ,-0.01916057, 0.94612122, 0.00423252, 1.33229413,
 -0.03038236, 0.94353049, 0.01687236, 1.33774052,-0.02348731, 0.95532858,
  1.35818161,-0.00542054, 1.13445046, 0.05949195,-0.001717  ,-0.09796287,
  0.08156011, 0.54772852,-0.01184392,-0.00533029, 0.83655531]

qacc:
[-2.27595381e-01,-3.25218100e+00, 9.36997145e+00,-9.95516425e+00,
  6.09651446e-02, 5.30481364e+00,-2.32987245e+01, 5.09500326e+01,
  6.83843685e-03, 1.00094294e+01,-3.91031324e+01, 7.12780139e+01,
 -2.10411379e-01, 8.23408426e-01,-1.00696531e+01, 2.19009640e+01,
  9.03173551e-01, 1.48866417e+00, 7.36694438e-01, 6.75071078e+01,
  6.01295983e+01, 7.57627974e-01]

qfrc_actuator:
[ 6.43350146e-03, 3.88943011e-02, 1.17614187e-02, 1.71276474e-03,
  2.13299256e-05, 3.48130367e-02, 1.08561334e-02, 1.82114242e-03,
 -3.01630983e-03, 3.46897588e-02, 1.08137439e-02, 1.73725136e-03,
  0.00000000e+00, 1.18702094e-03, 0.00000000e+00, 2.45469642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14925373, -0.10357297,  0.10746774, -0.10357297,  0.30853817,
        0.15351176,  0.10746774,  0.15351176,  0.29720203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015267713508259131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58149331e-01,  8.78094304e-02, -9.62106245e-01, -2.27558449e-02,
        9.96137292e-01,  8.48095961e-02,  9.65836992e-01, -3.46944695e-18,
        2.59150353e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731733, -0.03883839,  0.22654069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.88951331,   6.31667712,   5.88951331,
        33.638011  , -23.3109168 ,   6.31667712, -23.3109168 ,
        30.37088514,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013514496576545326
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.13440798e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.13440798e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02859747, -0.13029601,  0.06188007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56628428e-03, 4.28116791e-03, 7.78684807e-04,-1.41742398e-05,
  1.75833919e-05,-4.62572352e-05,-3.28091008e-05, 1.32192023e-04,
  2.05999841e-06,-2.46729073e-05,-9.11322786e-05, 1.62680340e-04,
  3.15933889e-03, 3.16106684e-03, 8.56642697e-03, 4.44806978e-03,
  5.16869078e-06,-1.23745806e-07,-1.21644289e+00, 1.58694272e-03,
  5.45964924e-04, 2.73266089e-05]


--- Step 2097 ---
qpos:
[-0.01403737, 1.32882254,-0.01915886, 0.94612164, 0.0042327 , 1.33229303,
 -0.03038274, 0.94353581, 0.01687266, 1.33774037,-0.02348894, 0.95532953,
  1.3581932 ,-0.00542438, 1.13445643, 0.05948932,-0.00171856,-0.0979504 ,
  0.08155443, 0.54775351,-0.01208291,-0.00508095, 0.83653708]

qacc:
[ 2.33127040e-01, 4.67632284e+00,-1.71218970e+01, 2.82670332e+01,
 -1.64757383e-02, 3.84107557e+00,-2.34349000e+01, 7.18240092e+01,
 -9.03220913e-03, 3.11825413e+00,-1.20519028e+01, 2.09583110e+01,
 -1.20100648e-02, 9.85801221e-02, 4.67571691e+00,-1.06315337e+01,
  8.32642060e-01, 1.40169291e+00, 5.63749949e-02, 6.31787580e+01,
  5.61926507e+01, 6.49953169e-01]

qfrc_actuator:
[ 6.45807843e-03, 3.89087837e-02, 1.17548745e-02, 1.77583839e-03,
  6.16014772e-06, 3.47334199e-02, 1.08916557e-02, 2.04176582e-03,
 -3.02010105e-03, 3.47001028e-02, 1.07887877e-02, 1.78190865e-03,
  0.00000000e+00, 1.17849429e-03, 0.00000000e+00, 2.30036775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14925213, -0.11517194,  0.09492956, -0.11517194,  0.29932906,
        0.1820787 ,  0.09492956,  0.1820787 ,  0.37015651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001526460867141144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58149195e-01,  8.78104056e-02, -9.62106193e-01, -2.27560876e-02,
        9.96137206e-01,  8.48105406e-02,  9.65837022e-01, -3.46944695e-18,
        2.59150239e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731742, -0.03883915,  0.22654052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.94376818,   6.26565213,   5.94376818,
        37.42211356, -27.30694602,   6.26565213, -27.30694602,
        34.54047602,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001352267561758852
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07878149e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.07878149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02859768, -0.13029295,  0.06187997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61773845e-03, 4.34842177e-03, 7.44422938e-04, 5.94141221e-05,
 -4.79356552e-06,-1.07646739e-04, 2.66185351e-05, 2.21334547e-04,
 -2.57620840e-06,-1.62763443e-05,-3.53695971e-05, 4.50453580e-05,
  3.15714671e-03, 3.11227680e-03, 8.87805593e-03, 4.27902169e-03,
 -1.94791801e-07, 1.16261197e-06,-1.21644373e+00, 1.58943983e-03,
  5.44588262e-04, 3.06202361e-05]


--- Step 2098 ---
qpos:
[-0.01404025, 1.32882028,-0.01915801, 0.9461232 , 0.00423278, 1.3322915 ,
 -0.03038242, 0.94353951, 0.01687293, 1.33773958,-0.02349024, 0.95532859,
  1.35820466,-0.00542821, 1.13446625, 0.05948649,-0.00171703,-0.09793262,
  0.08154669, 0.54777941,-0.01234519,-0.0046739 , 0.83651866]

qacc:
[ 1.50647015e-01, 4.07014139e+00,-1.59009340e+01, 2.72282836e+01,
 -4.14278465e-02,-5.16837513e+00, 1.95002447e+01,-3.52991955e+01,
 -1.33728196e-02,-4.98360264e+00, 1.90214823e+01,-3.77944074e+01,
 -3.19223069e-01, 3.93644296e-01, 6.31769585e+00,-1.37994476e+01,
  7.74506656e-01, 1.32903323e+00,-5.15515452e-01, 5.95872998e+01,
  5.29348938e+01, 5.79075793e-01]

qfrc_actuator:
[ 6.43828368e-03, 3.89181050e-02, 1.17330043e-02, 1.83056647e-03,
 -2.99015750e-06, 3.47400682e-02, 1.09304139e-02, 1.95635798e-03,
 -3.02248239e-03, 3.46353800e-02, 1.07925726e-02, 1.68351089e-03,
  0.00000000e+00, 1.21040519e-03, 0.00000000e+00, 2.17346382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14925862, -0.09991797,  0.11088072, -0.09991797,  0.88976089,
        0.66728898,  0.11088072,  0.66728898,  0.75057289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001527715557969496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25814953,  0.08781123, -0.96210603, -0.02275633,  0.99613713,
        0.08481133,  0.96583693,  0.        ,  0.2591506 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731769, -0.03883997,  0.22654033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.94344311,   6.26596049,   5.94344311,
        43.06241341, -32.65409492,   6.26596049, -32.65409492,
        39.6097086 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013382133192917853
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11111561e-14,  4.14815414e-14,  1.00000000e+00,  1.29053871e-27,
        1.00000000e+00, -4.14815414e-14, -1.00000000e+00,  0.00000000e+00,
       -3.11111561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02861595, -0.13031213,  0.06188111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57041271e-03, 4.34143373e-03, 7.63451691e-04, 5.56581691e-05,
 -1.19842978e-05,-4.10230902e-05, 2.72286343e-05,-8.27280076e-05,
 -3.90359669e-06,-7.92922449e-05,-2.09182968e-06,-9.88672970e-05,
  3.14726779e-03, 3.14304957e-03, 8.74477306e-03, 4.16433272e-03,
 -1.25876912e-06, 1.08139274e-05,-1.21644738e+00, 1.59190943e-03,
  5.42796301e-04, 4.33339541e-05]


--- Step 2099 ---
qpos:
[-0.01404396, 1.32881816,-0.01915695, 0.94612463, 0.00423276, 1.33229028,
 -0.03038212, 0.94353973, 0.01687302, 1.33773844,-0.02349159, 0.95532647,
  1.35821537,-0.00543183, 1.13447581, 0.05948373,-0.00171412,-0.09792059,
  0.08155168, 0.54780723,-0.01248174,-0.00436564, 0.83650008]

qacc:
[-3.52850092e-01,-6.51151923e-01, 2.58917992e+00,-3.84948311e+00,
 -4.34989595e-02,-5.53214634e+00, 2.57206230e+01,-6.30603833e+01,
 -7.47571044e-02,-2.34067867e+00, 9.45293350e+00,-2.15465849e+01,
 -7.06768967e-01, 8.29137519e-01,-5.44961069e-01, 1.48109876e+00,
  3.44446680e-01,-1.43946297e+00, 3.18318033e+00,-6.87270156e+00,
 -7.96354071e+01,-1.75147156e+00]

qfrc_actuator:
[ 6.40959301e-03, 3.89247091e-02, 1.17378108e-02, 1.82658655e-03,
 -8.45410268e-06, 3.47804267e-02, 1.09353746e-02, 1.78032597e-03,
 -3.04175117e-03, 3.46327546e-02, 1.07951651e-02, 1.62597782e-03,
  0.00000000e+00, 1.28433173e-03, 0.00000000e+00, 2.22284697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14927494, -0.09196173,  0.11758422, -0.09196173,  0.86466065,
        0.55949778,  0.11758422,  0.55949778,  0.58685394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015308658859248744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58150883e-01,  8.78119629e-02, -9.62105598e-01, -2.27566431e-02,
        9.96137068e-01,  8.48120040e-02,  9.65836558e-01,  3.46944695e-18,
        2.59151969e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731828, -0.03884085,  0.22654008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013615559905141988
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.15407543e-14,  2.03851886e-14,  1.00000000e+00,  1.66222365e-27,
        1.00000000e+00, -2.03851886e-14, -1.00000000e+00,  0.00000000e+00,
       -8.15407543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00594504, -0.07669117,  0.06187911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52392867e-03, 4.35724429e-03, 8.11158429e-04,-5.54977564e-06,
 -1.25386918e-05, 2.05185684e-05,-2.38541982e-06,-1.78381476e-04,
 -2.15767468e-05,-4.98034162e-05,-1.60211549e-05,-6.22479864e-05,
  3.15386261e-03, 3.21635441e-03, 8.55249774e-03, 4.22394757e-03,
  1.24751206e-06, 2.73772089e-05,-1.21645339e+00, 1.59435228e-03,
  5.40639120e-04, 6.38656062e-05]


--- Step 2100 ---
qpos:
[-0.01404857, 1.32881666,-0.01915592, 0.94612597, 0.00423265, 1.33228919,
 -0.03038182, 0.94353888, 0.01687291, 1.33773782,-0.02349338, 0.955325  ,
  1.35822559,-0.00543508, 1.13448337, 0.05948086,-0.00171541,-0.09791451,
  0.08155715, 0.54783847,-0.01259341,-0.00424855, 0.83647855]

qacc:
[-3.79901179e-01, 7.69578605e-01,-1.32003713e+00,-3.05285184e-01,
 -3.68173039e-02,-1.65655578e+00, 7.80779951e+00,-1.91803670e+01,
 -8.41651122e-02, 2.97956938e+00,-1.02036417e+01, 1.60221477e+01,
 -5.69112740e-01, 8.46680955e-01,-2.59277920e+00, 4.87183222e+00,
 -1.05088824e+00,-1.48726538e+00, 1.19913674e-01,-7.31228725e+01,
 -6.27448249e+01,-3.48652706e+00]

qfrc_actuator:
[ 6.39436380e-03, 3.89472003e-02, 1.17223859e-02, 1.82370455e-03,
 -1.16623599e-05, 3.47871995e-02, 1.09382423e-02, 1.72997714e-03,
 -3.05324224e-03, 3.47206061e-02, 1.07972936e-02, 1.66402132e-03,
  0.00000000e+00, 1.31226631e-03, 0.00000000e+00, 2.28904151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1492914 , -0.107715  ,  0.10337022, -0.107715  ,  0.8586392 ,
        0.73916257,  0.10337022,  0.73916257,  0.91952189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015340364062813722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58151896e-01,  8.78129084e-02, -9.62105239e-01, -2.27569794e-02,
        9.96136985e-01,  8.48128927e-02,  9.65836279e-01, -3.46944695e-18,
        2.59153008e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731885, -0.03884168,  0.22653985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.37116996,  2.1237444 ,  8.37116996,  8.78305721,
       -0.57822251,  2.1237444 , -0.57822251, 10.91554511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013843429463115953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.0099277e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.0099277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03111686, -0.06048905,  0.06187724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55034246e-03, 4.37349792e-03, 7.84863366e-04,-1.89636619e-06,
 -1.06076234e-05, 1.23008964e-05, 1.38051348e-06,-5.39379865e-05,
 -2.42340829e-05, 5.53445707e-05,-1.12393662e-05, 3.46445434e-05,
  3.19102838e-03, 3.23440210e-03, 8.56481756e-03, 4.28638348e-03,
  3.24241242e-06, 1.50821946e-05,-1.21644673e+00, 1.59069393e-03,
  5.40773324e-04, 5.33767199e-05]


--- Step 2101 ---
qpos:
[-0.01405217, 1.32881392,-0.0191562 , 0.9461275 , 0.00423262, 1.3322884 ,
 -0.03038189, 0.94353813, 0.01687263, 1.33773759,-0.02349493, 0.95532536,
  1.35823627,-0.00543856, 1.13449563, 0.05947796,-0.00172056,-0.09791406,
  0.08156045, 0.54787324,-0.0126822 ,-0.00430966, 0.83645412]

qacc:
[ 4.29289507e-01, 2.23335779e+00,-9.65009470e+00, 1.14046929e+01,
  3.34529964e-02, 1.59161770e+00,-4.91505714e+00, 5.21395413e+00,
 -7.30129137e-02, 3.03380565e+00,-1.29266270e+01, 3.19587741e+01,
  2.95096567e-01,-3.99069745e-01, 7.04516914e+00,-1.46053868e+01,
 -9.62315859e-01,-1.40628175e+00,-5.43561335e-01,-6.82492464e+01,
 -5.83557921e+01,-3.44027982e+00]

qfrc_actuator:
[ 6.40536085e-03, 3.89964172e-02, 1.17127407e-02, 1.82149481e-03,
  4.26070151e-06, 3.48093691e-02, 1.09220829e-02, 1.73625003e-03,
 -3.05997418e-03, 3.47555022e-02, 1.08173001e-02, 1.75805394e-03,
  0.00000000e+00, 1.25908438e-03, 0.00000000e+00, 2.08143118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015364671283767117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58152329e-01,  8.78140898e-02, -9.62105016e-01, -2.27573260e-02,
        9.96136881e-01,  8.48140229e-02,  9.65836156e-01,  3.46944695e-18,
        2.59153469e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731925, -0.03884245,  0.22653967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.49845859,  -5.68830491,  -6.49845859,
        17.76802787, -10.43223647,  -5.68830491, -10.43223647,
        20.55440561,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013894517564738695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.99518378e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.99518378e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03111298, -0.06049955,  0.06187684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60616425e-03, 4.39102373e-03, 7.76995215e-04, 4.92074407e-07,
  9.66273886e-06, 2.76282776e-05,-1.51778938e-05, 5.43067404e-06,
 -2.10405637e-05, 6.43349186e-05, 3.05510728e-05, 9.61437762e-05,
  3.21591689e-03, 3.16213804e-03, 8.66471938e-03, 4.08403312e-03,
  7.16891896e-08, 2.55396361e-06,-1.21644217e+00, 1.58827184e-03,
  5.42422445e-04, 3.92166149e-05]


--- Step 2102 ---
qpos:
[-0.01405535, 1.32881124,-0.01915672, 0.94612848, 0.00423272, 1.33228819,
 -0.0303823 , 0.94353708, 0.01687236, 1.3377377 ,-0.02349609, 0.95532477,
  1.35824753,-0.00544222, 1.1345072 , 0.05947498,-0.00172926,-0.09791896,
  0.08155934, 0.54791155,-0.01274977,-0.00453822, 0.83642679]

qacc:
[ 1.75823586e-01,-2.43689909e-01, 2.00282934e+00,-8.17634929e+00,
  5.27331058e-02, 1.15525806e+00,-2.24990477e+00,-1.80438307e+00,
  5.26434377e-03,-2.28070982e+00, 9.86946518e+00,-1.97159513e+01,
  6.07416128e-01,-7.32312970e-01,-8.74568471e-01, 1.47389226e+00,
 -8.89528903e-01,-1.33798431e+00,-1.10199045e+00,-6.42013750e+01,
 -5.47216864e+01,-3.38145075e+00]

qfrc_actuator:
[ 6.41278974e-03, 3.89922846e-02, 1.16900973e-02, 1.80168995e-03,
  1.37785849e-05, 3.48583087e-02, 1.09126449e-02, 1.72250250e-03,
 -3.04604476e-03, 3.47585372e-02, 1.08297854e-02, 1.70672190e-03,
  0.00000000e+00, 1.21096241e-03, 0.00000000e+00, 2.15333231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14932494, -0.0968772 ,  0.11363426, -0.0968772 ,  0.8689341 ,
        0.61349212,  0.11363426,  0.61349212,  0.67234855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015404723609746887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25815523,  0.08781499, -0.96210415, -0.02275782,  0.9961368 ,
        0.08481482,  0.96583537,  0.        ,  0.2591564 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732006, -0.03884332,  0.22653938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.51618959,  -5.66798465,  -6.51618959,
        19.47762534, -12.46363936,  -5.66798465, -12.46363936,
        22.96516692,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013783791508936022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.05455468e-14,  4.02727734e-14,  1.00000000e+00,  3.24379256e-27,
        1.00000000e+00, -4.02727734e-14, -1.00000000e+00,  0.00000000e+00,
       -8.05455468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03113118, -0.06048345,  0.06187778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56292391e-03, 4.44917055e-03, 8.19755070e-04,-2.88500602e-05,
  1.52221332e-05, 6.14224290e-05,-5.60117703e-06,-1.32381678e-05,
  1.50661937e-06, 4.74268402e-05, 3.13357931e-05,-4.62969216e-05,
  3.19284136e-03, 3.12620665e-03, 8.42956827e-03, 4.15798952e-03,
  1.72156656e-06, 4.61651078e-07,-1.21644106e+00, 1.58568532e-03,
  5.44039818e-04, 3.63688765e-05]


--- Step 2103 ---
qpos:
[-0.01405917, 1.32880874,-0.01915675, 0.94612881, 0.00423279, 1.33228829,
 -0.03038245, 0.94353588, 0.01687216, 1.33773797,-0.0234967 , 0.95532357,
  1.35825937,-0.00544531, 1.13451155, 0.05947208,-0.00173631,-0.09792942,
  0.08156516, 0.54795198,-0.01270757,-0.0048538 , 0.83639918]

qacc:
[-2.71603218e-01,-2.19123005e+00, 8.75898188e+00,-1.52053624e+01,
 -1.09956707e-02,-5.47462213e-01, 2.60331104e+00,-4.33917324e+00,
  3.24895821e-02,-2.29456548e+00, 8.95240108e+00,-1.48046980e+01,
  4.20465102e-01, 1.16582313e-03,-1.08780851e+01, 2.25232761e+01,
  4.12235015e-01,-1.38966665e+00, 1.73380583e+00,-6.30766657e+00,
 -6.97382065e+01,-1.77014923e+00]

qfrc_actuator:
[ 6.38276549e-03, 3.89553425e-02, 1.16591103e-02, 1.77199560e-03,
  1.62352552e-06, 3.48696554e-02, 1.09250961e-02, 1.71484666e-03,
 -3.03758688e-03, 3.47601183e-02, 1.08552535e-02, 1.67673097e-03,
  0.00000000e+00, 1.18365518e-03, 0.00000000e+00, 2.41073138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14934359, -0.10280008,  0.10833121, -0.10280008,  0.39731286,
        0.23530856,  0.10833121,  0.23530856,  0.37263786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015440392281770507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25815832,  0.08781578, -0.96210326, -0.02275829,  0.99613673,
        0.08481551,  0.96583453,  0.        ,  0.25915952])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673208 , -0.03884422,  0.2265391 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013663379395824904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.09415317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.09415317e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00593895, -0.07669281,  0.06187878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51215048e-03, 4.40961050e-03, 8.00770940e-04,-3.08887080e-05,
 -3.16822249e-06, 4.38325545e-05, 2.34406662e-05,-6.28228235e-06,
  9.34933586e-06, 3.25551652e-05, 3.69363769e-05,-2.87495699e-05,
  3.16379546e-03, 3.10755365e-03, 8.46399000e-03, 4.41852671e-03,
  7.34003592e-06, 6.92014394e-06,-1.21644277e+00, 1.58291324e-03,
  5.45680027e-04, 4.27588310e-05]


--- Step 2104 ---
qpos:
[-0.01406327, 1.32880682,-0.0191568 , 0.94612946, 0.00423263, 1.33228834,
 -0.03038226, 0.94353392, 0.01687206, 1.33773749,-0.02349671, 0.95532521,
  1.35827171,-0.00544818, 1.13451433, 0.05946915,-0.00173785,-0.09794349,
  0.08157435, 0.54799058,-0.01250991,-0.00516198, 0.83637502]

qacc:
[-1.15502835e-01, 1.36273501e+00,-4.18312408e+00, 7.02078610e+00,
 -9.34010953e-02,-2.28784506e+00, 8.91858541e+00,-1.63636431e+01,
  3.69544754e-02, 2.26549507e+00,-1.42818236e+01, 4.55282284e+01,
  3.00388012e-01,-9.55124802e-02,-2.27517015e+00, 4.54328833e+00,
  1.37872710e+00,-9.04114594e-01, 8.41162441e-01, 4.56816508e+01,
 -6.30143407e+01, 1.38142875e+00]

qfrc_actuator:
[ 6.36666483e-03, 3.89518153e-02, 1.16579904e-02, 1.78993718e-03,
 -2.34344800e-05, 3.48407372e-02, 1.09324813e-02, 1.67532804e-03,
 -3.03248109e-03, 3.46720976e-02, 1.08704528e-02, 1.81935039e-03,
  0.00000000e+00, 1.16816825e-03, 0.00000000e+00, 2.40651770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14934131, -0.1032962 ,  0.1078551 , -0.1032962 ,  0.64364442,
        0.47340956,  0.1078551 ,  0.47340956,  0.60274047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001543605171122238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25816074,  0.08781674, -0.96210252, -0.02275876,  0.99613665,
        0.08481638,  0.96583387,  0.        ,  0.25916198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732096, -0.0388451 ,  0.22653889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.58978799,  -4.12090951,  -7.58978799,
        14.37141576, -10.56267544,  -4.12090951, -10.56267544,
        28.09043485,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013558297150598614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09425687e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.09425687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03259317, -0.08846861,  0.06187969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52811148e-03, 4.39665623e-03, 7.75255468e-04, 1.92311844e-05,
 -2.69264352e-05,-2.75753682e-07, 1.84418530e-05,-3.76604824e-05,
  1.06279588e-05,-6.36593305e-05, 2.49116020e-05, 1.43992818e-04,
  3.13451250e-03, 3.06384312e-03, 8.82452368e-03, 4.41089870e-03,
  6.60848599e-06, 1.50662967e-05,-1.21644390e+00, 1.57919546e-03,
  5.45815488e-04, 5.32977968e-05]


--- Step 2105 ---
qpos:
[-0.01406768, 1.32880445,-0.01915653, 0.94613075, 0.00423209, 1.33228814,
 -0.03038216, 0.9435319 , 0.01687217, 1.33773654,-0.02349671, 0.95532613,
  1.35828416,-0.00545058, 1.13451497, 0.05946647,-0.0017342 ,-0.09796089,
  0.08158451, 0.54802757,-0.01216511,-0.00546344, 0.83635396]

qacc:
[ -0.13187078, -0.34140445, -0.88520848,  8.34162109, -0.16829627,
  -0.18639973,  0.37528426, -1.00899603,  0.0939634 , -1.85002218,
   6.73982854,-13.79530789, -0.1242136 ,  0.51930698, -3.8655595 ,
   8.96010964,  1.29703372, -0.83119137,  0.24359358, 43.12443641,
 -59.71179196,  1.18493897]

qfrc_actuator:
[ 6.37655867e-03, 3.89146118e-02, 1.16573450e-02, 1.81799884e-03,
 -5.60291767e-05, 3.48056469e-02, 1.09188730e-02, 1.67059834e-03,
 -3.01167509e-03, 3.46376816e-02, 1.08614588e-02, 1.77829647e-03,
  0.00000000e+00, 1.19539701e-03, 0.00000000e+00, 2.47618315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14933624, -0.10277469,  0.10834517, -0.10277469,  0.38452068,
        0.22309261,  0.10834517,  0.22309261,  0.36095872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015426355061480546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25816262,  0.08781777, -0.96210192, -0.0227592 ,  0.99613656,
        0.08481734,  0.96583336,  0.        ,  0.25916389])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732098, -0.03884602,  0.22653871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.57184162,  1.05371157,  8.57184162,  9.14928008,
       -4.17252562,  1.05371157, -4.17252562, 42.57945569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013395376360406872
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07202656e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07202656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03261773, -0.08845932,  0.06188111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55162818e-03, 4.33043840e-03, 7.75322182e-04, 3.11570449e-05,
 -4.84874217e-05,-3.27717838e-05,-1.26709057e-05,-5.07247739e-06,
  2.70785164e-05,-6.04838093e-05,-1.43786181e-05,-3.88568851e-05,
  3.11018125e-03, 3.08007351e-03, 8.90317777e-03, 4.48164555e-03,
 -3.38322835e-07, 1.58779756e-05,-1.21644448e+00, 1.57684426e-03,
  5.44786662e-04, 5.22035580e-05]


--- Step 2106 ---
qpos:
[-0.01407278, 1.32880143,-0.01915617, 0.94613032, 0.00423129, 1.33228723,
 -0.03038175, 0.94353055, 0.01687267, 1.33773572,-0.02349643, 0.95532511,
  1.3582963 ,-0.0054531 , 1.13451465, 0.05946438,-0.00172677,-0.09797253,
  0.08159648, 0.54806483,-0.01184689,-0.00559093, 0.83633327]

qacc:
[ -0.29569541, -4.09866137, 15.82582193,-33.23588492, -0.10390835,
  -0.62991552, -0.4598227 ,  8.6395944 ,  0.15972592, -3.95313932,
  16.99159052,-37.22044739, -0.06721933, -0.0974852 , -3.22337003,
   9.24430725,  0.94489486,  1.43944656,  0.45137038, 65.46782684,
  58.78153051,  1.11889525]

qfrc_actuator:
[ 6.36669187e-03, 3.88757574e-02, 1.16566649e-02, 1.72742743e-03,
 -5.73756788e-05, 3.47493097e-02, 1.09284771e-02, 1.70411875e-03,
 -2.98161851e-03, 3.46886969e-02, 1.08915662e-02, 1.68271281e-03,
  0.00000000e+00, 1.23015728e-03, 0.00000000e+00, 2.51891488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14932341, -0.10875189,  0.1023255 , -0.10875189,  0.36755404,
        0.23193625,  0.1023255 ,  0.23193625,  0.39582605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015401808254777993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58164640e-01,  8.78188878e-02, -9.62101274e-01, -2.27596645e-02,
        9.96136458e-01,  8.48183631e-02,  9.65832810e-01, -3.46944695e-18,
        2.59165939e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732083, -0.03884695,  0.22653854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001343374126085893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16527285e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16527285e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02863769, -0.1302894 ,  0.06188084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55733243e-03, 4.31429277e-03, 7.59096097e-04,-9.09308826e-05,
 -2.99664202e-05,-7.71009418e-05, 1.59983350e-06, 3.20430206e-05,
  4.60436922e-05, 1.36189116e-05, 1.55274959e-05,-9.87000908e-05,
  3.10412673e-03, 3.09098335e-03, 9.01028659e-03, 4.51250011e-03,
 -4.96044671e-06, 1.55982922e-05,-1.21644732e+00, 1.57520804e-03,
  5.44333157e-04, 4.39319403e-05]


--- Step 2107 ---
qpos:
[-0.01407779, 1.32879692,-0.01915635, 0.94612858, 0.0042305 , 1.33228543,
 -0.03038085, 0.9435303 , 0.01687353, 1.33773499,-0.02349645, 0.95532402,
  1.35830804,-0.00545593, 1.1345174 , 0.05946291,-0.00171587,-0.09797872,
  0.08160773, 0.54810265,-0.01155329,-0.00555519, 0.83631283]

qacc:
[ 4.01367667e-02,-2.78104599e+00, 9.39688800e+00,-2.25097569e+01,
 -8.23491511e-04,-6.01442943e-01,-1.73546880e+00, 1.49391181e+01,
  1.55290177e-01, 8.01834515e-01,-2.32792039e+00, 1.15804596e+00,
 -2.01839371e-01,-7.02751442e-02, 2.68164708e+00,-2.80690247e+00,
  8.66299014e-01, 1.36182278e+00,-1.78498129e-01, 6.15182354e+01,
  5.50261749e+01, 8.70150281e-01]

qfrc_actuator:
[ 6.38098527e-03, 3.88895517e-02, 1.16738084e-02, 1.65653252e-03,
 -3.99661458e-05, 3.46985474e-02, 1.09516416e-02, 1.75987462e-03,
 -2.96400823e-03, 3.46840587e-02, 1.08738466e-02, 1.68019606e-03,
  0.00000000e+00, 1.25209790e-03, 0.00000000e+00, 2.42075629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015368865979964105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25816719,  0.08782018, -0.96210047, -0.02276023,  0.99613634,
        0.08481955,  0.96583211,  0.        ,  0.25916853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732065, -0.03884782,  0.22653836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   4.96689189,   7.06517953,   4.96689189,
        26.48160248, -12.54538142,   7.06517953, -12.54538142,
        17.45589227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013395411050430642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0360106e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0360106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02864622, -0.13029461,  0.06188123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60653511e-03, 4.36079319e-03, 7.71500888e-04,-7.60806486e-05,
 -2.80479737e-07,-9.21347312e-05, 9.20192876e-06, 5.42246642e-05,
  4.47993008e-05, 3.00792325e-06,-1.61842798e-05,-3.95901000e-06,
  3.11968232e-03, 3.11934044e-03, 9.05764303e-03, 4.38413440e-03,
 -1.85057083e-06, 2.00245827e-06,-1.21644327e+00, 1.57758690e-03,
  5.43665160e-04, 2.64485969e-05]


--- Step 2108 ---
qpos:
[-0.0140823 , 1.32879213,-0.01915666, 0.94612655, 0.00422964, 1.33228311,
 -0.03037975, 0.94353002, 0.01687454, 1.33773443,-0.02349673, 0.9553229 ,
  1.35831988,-0.00545906, 1.13452266, 0.05946171,-0.00170177,-0.09797973,
  0.08161616, 0.54814121,-0.01128269,-0.00536509, 0.83629249]

qacc:
[ 2.11886759e-01,-4.94384164e-01, 1.72434832e+00,-4.50027225e+00,
 -2.47544664e-02,-1.27009590e+00, 3.40494903e+00,-3.07804177e+00,
  6.47967852e-02, 8.75503470e-01,-2.52602150e+00, 1.73198248e+00,
  1.71086473e-01,-3.85994929e-01, 2.87231894e+00,-4.66529599e+00,
  8.02217852e-01, 1.29720614e+00,-7.06992613e-01, 5.82445526e+01,
  5.19207736e+01, 6.78255672e-01]

qfrc_actuator:
[ 6.39150872e-03, 3.88827723e-02, 1.16844919e-02, 1.65098996e-03,
 -4.69533441e-05, 3.46870986e-02, 1.09648844e-02, 1.75725472e-03,
 -2.97175901e-03, 3.46992655e-02, 1.08634003e-02, 1.67916407e-03,
  0.00000000e+00, 1.21332951e-03, 0.00000000e+00, 2.37983925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14929316, -0.08495191,  0.12276653, -0.08495191,  1.08156102,
        0.64511015,  0.12276653,  0.64511015,  0.5956961 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015343752773960828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25817171,  0.08782142, -0.96209915, -0.02276095,  0.99613623,
        0.08482064,  0.96583089,  0.        ,  0.25917309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732078, -0.03884869,  0.2265381 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.06584213,   6.99457078,   5.06584213,
        29.32627189, -14.98473776,   6.99457078, -14.98473776,
        19.4891119 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013221327905879252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62412897e-14,  4.19860634e-14,  1.00000000e+00,  1.10176845e-27,
        1.00000000e+00, -4.19860634e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62412897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286709 , -0.13032006,  0.06188274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61233358e-03, 4.42840563e-03, 8.09272870e-04,-1.57543020e-05,
 -7.15628345e-06,-5.89754926e-05,-2.14305275e-06,-3.86516351e-06,
  1.87028216e-05, 1.35979966e-05,-1.18147552e-05,-1.51143889e-06,
  3.13967513e-03, 3.09648695e-03, 8.90491697e-03, 4.31281413e-03,
  4.79074622e-06,-2.71777177e-06,-1.21644217e+00, 1.57977014e-03,
  5.42623314e-04, 1.90761083e-05]


--- Step 2109 ---
qpos:
[-0.01408719, 1.32878766,-0.01915601, 0.94612368, 0.00422872, 1.33228119,
 -0.03037916, 0.94352897, 0.01687546, 1.33773409,-0.02349692, 0.95532209,
  1.35833154,-0.00546211, 1.134525  , 0.05946093,-0.00168466,-0.09797576,
  0.08161998, 0.54818058,-0.01103376,-0.00502799, 0.8362721 ]

qacc:
[-1.58967746e-01,-3.68777478e+00, 1.42852973e+01,-2.25727275e+01,
 -2.80139140e-02, 5.57172113e-01, 3.89861676e-01,-9.47321650e+00,
 -4.11311476e-02, 5.88536462e-01,-2.19967902e+00, 5.42626713e+00,
 -1.67961710e-02, 1.35090929e-02,-5.60272717e+00, 1.33023225e+01,
  7.49810247e-01, 1.24339880e+00,-1.14997828e+00, 5.55360733e+01,
  4.93558436e+01, 5.31558967e-01]

qfrc_actuator:
[ 6.39932688e-03, 3.88807907e-02, 1.17088575e-02, 1.61313199e-03,
 -5.07686798e-05, 3.47524769e-02, 1.09545218e-02, 1.72031377e-03,
 -2.99465944e-03, 3.47262663e-02, 1.08751544e-02, 1.69676445e-03,
  0.00000000e+00, 1.22699718e-03, 0.00000000e+00, 2.53312778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14928698, -0.10449158,  0.10662135, -0.10449158,  0.57635736,
        0.41853963,  0.10662135,  0.41853963,  0.55946625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001533184946727814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58176623e-01,  8.78225377e-02, -9.62097725e-01, -2.27616742e-02,
        9.96136136e-01,  8.48216029e-02,  9.65829559e-01,  3.46944695e-18,
        2.59178051e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732113, -0.03884958,  0.2265378 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.11131269,   6.96141217,   5.11131269,
        32.97010397, -17.86668463,   6.96141217, -17.86668463,
        21.75470941,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012940383377869694
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28976095e-14,  4.28976095e-14,  1.00000000e+00,  1.84020490e-27,
        1.00000000e+00, -4.28976095e-14, -1.00000000e+00,  0.00000000e+00,
       -4.28976095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02870818, -0.13036129,  0.06188512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59515217e-03, 4.44053967e-03, 8.40162899e-04,-3.99111466e-05,
 -8.04130840e-06, 3.22320553e-05,-2.22559723e-05,-3.88688967e-05,
 -1.18562685e-05, 3.21720614e-05, 1.30220183e-05, 1.76192531e-05,
  3.13491289e-03, 3.12465246e-03, 8.77863789e-03, 4.45219158e-03,
  1.44117514e-05,-3.11733052e-08,-1.21644354e+00, 1.58184230e-03,
  5.41227204e-04, 2.01614396e-05]


--- Step 2110 ---
qpos:
[-0.01409249, 1.32878264,-0.01915489, 0.94612185, 0.00422789, 1.33227979,
 -0.03037917, 0.94352887, 0.0168762 , 1.33773415,-0.02349707, 0.95532219,
  1.35834284,-0.00546407, 1.13452206, 0.0594604 ,-0.00167545,-0.09796719,
  0.08162073, 0.54820974,-0.01100375,-0.00470705, 0.83625525]

qacc:
[-1.75265273e-01,-1.14994128e-01,-2.61640786e+00, 1.47852680e+01,
  3.84618753e-02, 3.93419280e+00,-1.39501558e+01, 2.26929560e+01,
 -7.30482541e-02, 1.99013045e+00,-7.65399061e+00, 1.67015144e+01,
 -7.76837595e-01, 1.63302363e+00,-8.46197588e+00, 1.84462302e+01,
 -1.97387315e+00, 1.14942626e+00,-7.70913255e-01,-6.68096090e+01,
  8.70638573e+01, 5.70061634e+00]

qfrc_actuator:
[ 6.42395005e-03, 3.89167029e-02, 1.17226330e-02, 1.66309247e-03,
 -3.48975018e-05, 3.47922326e-02, 1.09306107e-02, 1.77003840e-03,
 -3.00870801e-03, 3.47602182e-02, 1.08822242e-02, 1.74296098e-03,
  0.00000000e+00, 1.28963006e-03, 0.00000000e+00, 2.69616992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14927465, -0.10234388,  0.10866762, -0.10234388,  0.27305449,
        0.11657667,  0.10866762,  0.11657667,  0.25906733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015308096353328776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25818029,  0.08782376, -0.96209663, -0.02276232,  0.99613603,
        0.0848227 ,  0.96582856,  0.        ,  0.25918176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732124, -0.03885042,  0.22653755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012721600662956578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36353512e-14,  4.36353512e-14,  1.00000000e+00,  1.90404387e-27,
        1.00000000e+00, -4.36353512e-14, -1.00000000e+00,  0.00000000e+00,
       -4.36353512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05299675, -0.10982439,  0.06188697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63855445e-03, 4.46042638e-03, 8.05511581e-04, 5.28626563e-05,
  1.11262921e-05, 5.20747048e-05,-2.12781363e-05, 4.91369321e-05,
 -2.10487664e-05, 5.48086887e-05, 1.53472950e-05, 4.79384520e-05,
  3.14360505e-03, 3.18354997e-03, 8.92525821e-03, 4.59419170e-03,
  2.66121887e-05, 8.97976596e-06,-1.21644704e+00, 1.58385997e-03,
  5.39494854e-04, 2.84880672e-05]


--- Step 2111 ---
qpos:
[-0.01409728, 1.32877865,-0.01915426, 0.94612228, 0.00422734, 1.33227873,
 -0.03037882, 0.94352828, 0.01687692, 1.33773549,-0.02349779, 0.95532244,
  1.35835459,-0.00546557, 1.13452   , 0.05945963,-0.0016706 ,-0.09796465,
  0.08162238, 0.54824207,-0.01094807,-0.00458021, 0.83623549]

qacc:
[ 2.13991762e-01, 6.55825002e+00,-2.43613432e+01, 4.66463427e+01,
  1.18462668e-01,-1.33766299e+00, 5.88516857e+00,-1.08366129e+01,
 -1.16621588e-02, 3.46806335e+00,-9.61335591e+00, 9.39506610e+00,
 -4.40493343e-02, 5.09282329e-01, 2.05591674e+00,-5.28031244e+00,
 -1.08798212e+00,-1.50628172e+00, 2.27997241e-01,-7.41106315e+01,
 -6.39185719e+01,-3.25531174e+00]

qfrc_actuator:
[ 6.42333950e-03, 3.89405776e-02, 1.17124255e-02, 1.78193042e-03,
 -7.34512215e-06, 3.48163349e-02, 1.09521394e-02, 1.74609342e-03,
 -2.99957869e-03, 3.48690855e-02, 1.08687579e-02, 1.75235281e-03,
  0.00000000e+00, 1.25633074e-03, 0.00000000e+00, 2.61653162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14924507, -0.10260625,  0.10837919, -0.10260625,  0.44889781,
        0.28369141,  0.10837919,  0.28369141,  0.41782533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015250942566803066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25818403,  0.08782509, -0.9620955 , -0.02276299,  0.99613591,
        0.08482389,  0.96582755,  0.        ,  0.25918555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732095, -0.03885122,  0.22653733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013007448843331826
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.20073244e-14,  2.13382162e-14,  1.00000000e+00, -6.82979208e-28,
        1.00000000e+00, -2.13382162e-14, -1.00000000e+00,  0.00000000e+00,
        3.20073244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0312731 , -0.0603798 ,  0.06188458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65863888e-03, 4.51127578e-03, 7.72437204e-04, 1.19073618e-04,
  3.41211992e-05, 5.02348791e-05, 3.07369021e-05,-2.18660422e-05,
 -3.29817153e-06, 1.43591725e-04, 3.83731977e-07, 1.25797800e-05,
  3.16147784e-03, 3.09586290e-03, 9.18874749e-03, 4.50215815e-03,
  1.15339995e-05, 1.34709196e-05,-1.21644524e+00, 1.58731553e-03,
  5.41299618e-04, 4.54909237e-05]


--- Step 2112 ---
qpos:
[-0.01410071, 1.32877407,-0.01915422, 0.94612358, 0.00422709, 1.33227791,
 -0.03037753, 0.94352602, 0.01687781, 1.33773726,-0.0234978 , 0.95532281,
  1.35836695,-0.00546764, 1.13452499, 0.05945907,-0.00166972,-0.09796781,
  0.08162225, 0.54827773,-0.01086878,-0.00463418, 0.83621285]

qacc:
[  0.57732273,  2.36597404,-10.44867149, 19.6567817 ,  0.12761329,
  -5.09575605, 20.47463782,-37.46245454,  0.07292618, -1.15813914,
   4.20805841, -2.53738955,  0.54564287, -0.89993278,  9.70158497,
 -18.90216521, -0.99361719, -1.42391178, -0.44699049,-69.11858648,
 -59.4087557 , -3.21783933]

qfrc_actuator:
[ 6.42458747e-03, 3.89381346e-02, 1.17240902e-02, 1.81620775e-03,
  9.23843648e-06, 3.48310147e-02, 1.10002051e-02, 1.66123414e-03,
 -2.97661896e-03, 3.48620945e-02, 1.08968071e-02, 1.75779097e-03,
  0.00000000e+00, 1.21892085e-03, 0.00000000e+00, 2.37392901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14922106, -0.10667652,  0.104341  , -0.10667652,  0.45921717,
        0.31693493,  0.104341  ,  0.31693493,  0.47325012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015204382033498498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58187261e-01,  8.78262914e-02, -9.62094528e-01, -2.27635926e-02,
        9.96135805e-01,  8.48249746e-02,  9.65826670e-01,  3.46944695e-18,
        2.59188817e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732069, -0.03885213,  0.22653713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.32991808, -5.8752799 , -6.32991808, 17.79619901,
       -9.86863749, -5.8752799 , -9.86863749, 19.26865144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013131726366752972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17044098e-14,  6.34088196e-14,  1.00000000e+00,  2.01033920e-27,
        1.00000000e+00, -6.34088196e-14, -1.00000000e+00,  0.00000000e+00,
       -3.17044098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03125882, -0.06040287,  0.06188354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63461140e-03, 4.45790016e-03, 8.08223094e-04, 4.08414085e-05,
  3.67247763e-05, 4.78324327e-05, 6.07496387e-05,-8.29560668e-05,
  2.10177839e-05, 7.28526044e-05, 5.65012223e-05, 9.99559013e-06,
  3.13940357e-03, 3.03537343e-03, 9.14495420e-03, 4.27194870e-03,
  3.03167551e-06, 1.70829711e-06,-1.21644075e+00, 1.58457441e-03,
  5.42969284e-04, 3.27260328e-05]


--- Step 2113 ---
qpos:
[-0.01410366, 1.32876881,-0.01915409, 0.94612388, 0.00422696, 1.33227759,
 -0.03037603, 0.94352277, 0.01687876, 1.33773763,-0.02349578, 0.95532403,
  1.3583796 ,-0.00547029, 1.13453242, 0.05945897,-0.0016725 ,-0.09797638,
  0.08161805, 0.54831672,-0.01076759,-0.00485792, 0.83618732]

qacc:
[ 2.04952804e-01,-2.90740507e+00, 1.04568225e+01,-2.03422459e+01,
  4.78733521e-02,-1.58607301e+00, 7.98417340e+00,-1.86497428e+01,
  2.80836420e-02,-5.83729524e+00, 1.51263501e+01,-2.49916410e+00,
  5.43593709e-01,-1.00740293e+00, 2.19979933e+00,-2.54360728e+00,
 -9.16144820e-01,-1.35431417e+00,-1.01543897e+00,-6.49699163e+01,
 -5.56751590e+01,-3.16325838e+00]

qfrc_actuator:
[ 6.40813856e-03, 3.89211057e-02, 1.17314336e-02, 1.76471418e-03,
  1.35489479e-06, 3.48577591e-02, 1.10102135e-02, 1.61223660e-03,
 -2.98105462e-03, 3.46971655e-02, 1.09664702e-02, 1.79633943e-03,
  0.00000000e+00, 1.19764586e-03, 0.00000000e+00, 2.37047894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14921573, -0.0879613 ,  0.12053274, -0.0879613 ,  0.86007546,
        0.51876484,  0.12053274,  0.51876484,  0.52779527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001519402144263618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25819164,  0.08782713, -0.96209328, -0.0227642 ,  0.99613573,
        0.08482568,  0.96582548,  0.        ,  0.25919324])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.067321  , -0.03885316,  0.22653682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.34274882,  -5.86142596,  -6.34274882,
        19.65851975, -11.92726276,  -5.86142596, -11.92726276,
        21.54305772,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001308766493556622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18111471e-14,  2.12074314e-14,  1.00000000e+00, -6.74632719e-28,
        1.00000000e+00, -2.12074314e-14, -1.00000000e+00,  0.00000000e+00,
        3.18111471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03126759, -0.06039807,  0.06188391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55003055e-03, 4.47056168e-03, 8.45444611e-04,-5.46228963e-05,
  1.37944542e-05, 6.25972865e-05, 2.38426379e-05,-4.77033260e-05,
  7.97857882e-06,-1.13323263e-04, 9.06017769e-05, 4.25944878e-05,
  3.10886118e-03, 3.04271606e-03, 8.79245394e-03, 4.25746170e-03,
 -1.67460159e-07, 6.28966623e-07,-1.21643980e+00, 1.58171990e-03,
  5.44560574e-04, 3.14904231e-05]


--- Step 2114 ---
qpos:
[-0.01410659, 1.32876331,-0.01915382, 0.94612317, 0.0042267 , 1.33227785,
 -0.03037539, 0.94352038, 0.01687959, 1.33773748,-0.02349389, 0.9553247 ,
  1.35839231,-0.00547331, 1.13454098, 0.05945919,-0.00168183,-0.09798118,
  0.08160717, 0.54834723,-0.01086502,-0.00509568, 0.83616463]

qacc:
[ 7.31043459e-03,-2.43475848e+00, 9.62314317e+00,-1.98973265e+01,
 -5.00190403e-02, 4.53618061e+00,-1.56517773e+01, 2.32602858e+01,
 -5.58688635e-02,-1.27278131e+00, 4.42259658e+00,-9.80573446e+00,
  2.82810506e-01,-6.06674963e-01, 6.55012057e-01, 7.23675155e-02,
 -1.63723769e+00, 9.42223790e-01,-1.67046694e+00,-6.03470190e+01,
  7.91637188e+01, 4.73113636e+00]

qfrc_actuator:
[ 6.38140567e-03, 3.89489071e-02, 1.17534812e-02, 1.71655012e-03,
 -2.11413491e-05, 3.48736387e-02, 1.09622395e-02, 1.65573919e-03,
 -3.00188969e-03, 3.46699051e-02, 1.09529887e-02, 1.76521618e-03,
  0.00000000e+00, 1.18628418e-03, 0.00000000e+00, 2.36817816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14921595,  0.0867358 , -0.12141788,  0.0867358 ,  0.75696655,
        0.43415135, -0.12141788,  0.43415135,  0.45935533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015194455115681224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25819659,  0.08782785, -0.96209188, -0.02276482,  0.99613567,
        0.08482625,  0.96582415,  0.        ,  0.25919822])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732153, -0.03885423,  0.22653647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013107684077300827
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.23500833e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.23500833e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529004 , -0.10982037,  0.06188373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49912729e-03, 4.53239562e-03, 8.62638058e-04,-5.24663284e-05,
 -1.43519611e-05, 5.37344964e-05,-3.44196956e-05, 4.49753966e-05,
 -1.61278050e-05,-7.09742485e-05,-2.40695492e-05,-3.08318561e-05,
  3.09430885e-03, 3.06017442e-03, 8.66992020e-03, 4.23245630e-03,
  9.90062728e-07, 8.28530333e-06,-1.21644173e+00, 1.57872670e-03,
  5.46137025e-04, 3.96472230e-05]


--- Step 2115 ---
qpos:
[-0.01410902, 1.32875672,-0.01915463, 0.94612169, 0.00422613, 1.33227857,
 -0.03037554, 0.94351786, 0.01688052, 1.33773793,-0.02349294, 0.95532459,
  1.35840486,-0.00547676, 1.13455367, 0.05945956,-0.00169739,-0.09798251,
  0.0815877 , 0.54836999,-0.01114949,-0.00534643, 0.8361444 ]

qacc:
[ 2.14017364e-01, 1.29400062e-01,-5.72309521e-01,-7.79883219e+00,
 -1.37440393e-01, 2.53015913e+00,-7.24734097e+00, 4.36922038e+00,
  4.56904794e-02, 1.97421593e+00,-3.91087835e+00,-5.97816455e+00,
 -2.37679033e-02,-2.95632637e-01, 5.64721108e+00,-1.09136767e+01,
 -1.55640474e+00, 8.68669836e-01,-2.14971751e+00,-5.67510829e+01,
  7.46048094e+01, 4.32211138e+00]

qfrc_actuator:
[ 6.38428065e-03, 3.90034318e-02, 1.17487651e-02, 1.67078678e-03,
 -5.22197556e-05, 3.48827085e-02, 1.09159515e-02, 1.64676938e-03,
 -2.97913520e-03, 3.47604379e-02, 1.09264716e-02, 1.72884903e-03,
  0.00000000e+00, 1.19865751e-03, 0.00000000e+00, 2.22449175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015200980820984436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58201628e-01,  8.78285529e-02, -9.62090466e-01, -2.27654500e-02,
        9.96135606e-01,  8.48268177e-02,  9.65822786e-01, -3.46944695e-18,
        2.59203291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732217, -0.03885528,  0.2265361 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.99573929,  5.06422834, -6.99573929, 15.82545901,
        9.93103659,  5.06422834,  9.93103659, 22.35512552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001300795560776391
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.26747699e-14, -4.26747699e-14,  1.00000000e+00,  1.82113599e-27,
        1.00000000e+00,  4.26747699e-14, -1.00000000e+00,  0.00000000e+00,
        4.26747699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529208 , -0.10982864,  0.06188451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50115114e-03, 4.59861170e-03, 8.50960046e-04,-4.78899141e-05,
 -3.95475370e-05, 3.34081068e-05,-3.83784918e-05,-7.32266799e-06,
  1.32287244e-05, 4.56718108e-05,-4.40151509e-05,-3.98875091e-05,
  3.09122065e-03, 3.09159173e-03, 8.61334358e-03, 4.07241833e-03,
  9.13831804e-06, 6.85503808e-06,-1.21644335e+00, 1.58331445e-03,
  5.47249628e-04, 3.51355270e-05]


--- Step 2116 ---
qpos:
[-0.014111  , 1.32874854,-0.01915709, 0.94611905, 0.0042255 , 1.33227984,
 -0.03037635, 0.94351522, 0.01688147, 1.33773925,-0.02349253, 0.95532331,
  1.35841684,-0.00548058, 1.13457109, 0.05945999,-0.00170897,-0.09797748,
  0.08157467, 0.54839353,-0.01146289,-0.00540307, 0.83612436]

qacc:
[ 1.86364329e-01, 3.88718683e-01,-1.46430322e+00,-1.10140116e+01,
 -2.11769068e-02, 2.29378909e+00,-6.38133174e+00, 3.96024130e+00,
  1.12164086e-02, 5.63364703e-01, 1.88335631e+00,-1.56563987e+01,
 -4.11705300e-01, 1.14463076e-01, 6.83687358e+00,-1.36893202e+01,
  9.93726084e-01, 1.59037722e+00, 1.61164082e+00, 7.32251321e+01,
  6.53122979e+01, 8.85969637e-01]

qfrc_actuator:
[ 6.38667274e-03, 3.90216829e-02, 1.17113984e-02, 1.60888363e-03,
 -3.49360249e-05, 3.49230971e-02, 1.08887263e-02, 1.64248197e-03,
 -2.98367242e-03, 3.48319663e-02, 1.09107421e-02, 1.67203569e-03,
  0.00000000e+00, 1.24321632e-03, 0.00000000e+00, 2.08478800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14923026,  0.08365386, -0.12357873,  0.08365386,  0.40546843,
        0.17345471, -0.12357873,  0.17345471,  0.26664655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001522224183304402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25820876,  0.08782911, -0.9620885 , -0.02276622,  0.99613556,
        0.08482719,  0.96582086,  0.        ,  0.25921046])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732319, -0.03885636,  0.22653565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013197178489804118
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20628934e-14,  4.20628934e-14,  1.00000000e+00,  1.76928700e-27,
        1.00000000e+00, -4.20628934e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20628934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02869205, -0.13030645,  0.06188283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47828557e-03, 4.67141364e-03, 8.67438803e-04,-7.09785253e-05,
 -6.05713064e-06, 5.11321175e-05,-2.52759898e-05,-4.58058601e-06,
  3.27641496e-06, 8.70044763e-05,-1.29812785e-05,-5.76754840e-05,
  3.09922146e-03, 3.15721059e-03, 8.40693632e-03, 3.92541037e-03,
  2.01403327e-05, 3.50116288e-06,-1.21644785e+00, 1.58666723e-03,
  5.48006703e-04, 2.03139891e-05]


--- Step 2117 ---
qpos:
[-0.01411268, 1.32873982,-0.01915891, 0.94611617, 0.00422508, 1.3322813 ,
 -0.03037769, 0.94351328, 0.01688199, 1.33774093,-0.02349246, 0.95532139,
  1.35842825,-0.00548487, 1.13459333, 0.05946066,-0.00171692,-0.0979665 ,
  0.08156481, 0.54841796,-0.01180296,-0.00527975, 0.83610439]

qacc:
[ 1.30902959e-01,-2.87680530e+00, 9.03669325e+00,-1.04069418e+01,
  8.60864433e-02, 2.84623325e+00,-1.04140167e+01, 1.68952207e+01,
 -1.88843323e-01, 3.00502668e-01, 8.72960581e-01,-8.32085745e+00,
 -3.29775342e-01,-5.25581770e-02, 6.37205091e+00,-1.19331834e+01,
  9.07707401e-01, 1.48687276e+00, 7.92563564e-01, 6.79275934e+01,
  6.04999249e+01, 7.50288455e-01]

qfrc_actuator:
[ 6.38863817e-03, 3.89481020e-02, 1.17619697e-02, 1.60899048e-03,
 -6.53244528e-06, 3.49109799e-02, 1.08553476e-02, 1.67653028e-03,
 -3.04005170e-03, 3.48205812e-02, 1.08837075e-02, 1.63916219e-03,
  0.00000000e+00, 1.25395425e-03, 0.00000000e+00, 1.98300419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14924821, -0.08455723,  0.12298416, -0.08455723,  1.01115172,
        0.59259807,  0.12298416,  0.59259807,  0.55668649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015257030615159137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58219038e-01,  8.78295265e-02, -9.62085704e-01, -2.27672394e-02,
        9.96135520e-01,  8.48273455e-02,  9.65818089e-01,  3.46944695e-18,
        2.59220792e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732464, -0.03885743,  0.2265351 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.29980587,   5.90755642,   6.29980587,
        30.98228312, -23.82964201,   5.90755642, -23.82964201,
        34.04824425,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341057906280238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10451646e-14,  8.27871056e-14,  1.00000000e+00,  2.57013932e-27,
        1.00000000e+00, -8.27871056e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10451646e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02866663, -0.13027194,  0.06188098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45825297e-03, 4.67772771e-03, 1.00094260e-03,-1.34248768e-05,
  2.48303806e-05, 1.10746608e-05,-2.63908606e-05, 3.47355537e-05,
 -5.44404124e-05, 3.24734752e-05,-1.32105904e-05,-3.20188437e-05,
  3.12777949e-03, 3.18691637e-03, 8.16954158e-03, 3.82045137e-03,
  6.95455659e-06,-2.25701186e-06,-1.21644635e+00, 1.58960687e-03,
  5.46796471e-04, 1.67348556e-05]


--- Step 2118 ---
qpos:
[-0.01411454, 1.32873359,-0.01915863, 0.94611537, 0.00422462, 1.33228227,
 -0.03037861, 0.94351281, 0.0168821 , 1.33774223,-0.02349243, 0.95531983,
  1.35843953,-0.00548913, 1.13461636, 0.05946093,-0.00172153,-0.09794991,
  0.08155536, 0.54844329,-0.01216786,-0.00498819, 0.83608434]

qacc:
[-7.83798754e-02, 1.22393513e+00,-4.26700717e+00, 2.62819425e+01,
 -1.29657901e-02, 7.71363540e-01,-6.30135031e+00, 2.28129870e+01,
 -1.66951894e-01, 2.43663018e-01,-2.12203170e+00, 6.24611693e+00,
 -2.03863968e-01, 2.49354301e-01, 2.43798394e+00,-6.78430629e+00,
  8.36814759e-01, 1.40033747e+00, 1.03166589e-01, 6.35285367e+01,
  5.65147379e+01, 6.58648366e-01]

qfrc_actuator:
[ 6.37255043e-03, 3.89077660e-02, 1.18281605e-02, 1.73462371e-03,
 -2.49481468e-05, 3.48675130e-02, 1.08716788e-02, 1.75058198e-03,
 -3.05606373e-03, 3.47596046e-02, 1.08676631e-02, 1.65609250e-03,
  0.00000000e+00, 1.22689050e-03, 0.00000000e+00, 2.01027857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14927986, -0.085244  ,  0.12254769, -0.085244  ,  1.01407467,
        0.60155007,  0.12254769,  0.60155007,  0.56771725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015318135484310505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25822922,  0.08782986, -0.96208294, -0.02276823,  0.99613549,
        0.08482743,  0.96581534,  0.        ,  0.25923102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732649, -0.03885849,  0.22653449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.33502909,   5.86976858,   6.33502909,
        34.62182038, -28.04516433,   5.86976858, -28.04516433,
        38.90449591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013434734830780337
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58244543e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.58244543e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0286645 , -0.13026599,  0.06188073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42674110e-03, 4.66440262e-03, 1.03499841e-03, 1.24528786e-04,
 -3.75973219e-06,-4.14690830e-05, 1.65102149e-05, 7.44134574e-05,
 -4.81563830e-05,-4.65629234e-05,-1.21454446e-05, 1.67600057e-05,
  3.15582972e-03, 3.18345690e-03, 7.92864639e-03, 3.83528671e-03,
 -6.76887744e-07, 2.22791418e-06,-1.21644830e+00, 1.59249518e-03,
  5.45112437e-04, 2.46196899e-05]


--- Step 2119 ---
qpos:
[-0.01411743, 1.32873067,-0.0191568 , 0.94611673, 0.00422406, 1.3322824 ,
 -0.03037885, 0.94351393, 0.01688235, 1.33774373,-0.02349254, 0.95531879,
  1.35845061,-0.0054928 , 1.13463537, 0.05946037,-0.0017247 ,-0.09793917,
  0.08155864, 0.54847059,-0.01240718,-0.00479556, 0.83606404]

qacc:
[-4.36133067e-01, 3.90786257e+00,-1.19040803e+01, 3.32413673e+01,
 -4.52071599e-02,-2.15615211e-01,-3.93598779e+00, 2.25209903e+01,
  5.33557454e-02, 1.54576934e+00,-5.74411273e+00, 1.07697292e+01,
 -4.12153447e-01, 8.68751843e-01,-3.41548891e+00, 3.39224309e+00,
  3.56487962e-01,-1.46034485e+00, 3.18169575e+00,-6.91161501e+00,
 -7.96184711e+01,-1.80555261e+00]

qfrc_actuator:
[ 6.34600106e-03, 3.89200564e-02, 1.18309937e-02, 1.84457558e-03,
 -3.57972837e-05, 3.48058249e-02, 1.08993533e-02, 1.82982651e-03,
 -3.01222332e-03, 3.48114896e-02, 1.08758033e-02, 1.68440818e-03,
  0.00000000e+00, 1.24783788e-03, 0.00000000e+00, 2.13330100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.149325  , -0.10972498,  0.10128369, -0.10972498,  0.77760135,
        0.6806388 ,  0.10128369,  0.6806388 ,  0.8866903 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015404846816706452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25823495,  0.08783029, -0.96208136, -0.02276884,  0.99613545,
        0.08482771,  0.9658138 ,  0.        ,  0.25923678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732831, -0.03885956,  0.22653396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013364158479163696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15373338e-14, -2.07686669e-14,  1.00000000e+00,  8.62675051e-28,
        1.00000000e+00,  2.07686669e-14, -1.00000000e+00,  0.00000000e+00,
        4.15373338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00592095, -0.07666401,  0.06188126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40945227e-03, 4.55162043e-03, 9.32609320e-04, 1.30174309e-04,
 -1.30700353e-05,-7.91675568e-05, 2.36224333e-05, 8.02061729e-05,
  1.54035717e-05, 2.42484042e-05,-1.84588761e-06, 2.69714028e-05,
  3.16296482e-03, 3.20268740e-03, 7.88832220e-03, 3.97882645e-03,
 -3.79755684e-06, 1.49560830e-05,-1.21645302e+00, 1.59533568e-03,
  5.43020097e-04, 4.17644186e-05]


--- Step 2120 ---
qpos:
[-0.01412127, 1.3287284 ,-0.01915427, 0.9461183 , 0.00422338, 1.33228169,
 -0.03037918, 0.94351466, 0.01688302, 1.33774618,-0.02349405, 0.9553181 ,
  1.35846155,-0.00549581, 1.134648  , 0.05945952,-0.00172648,-0.09793389,
  0.08157116, 0.54849987,-0.01252968,-0.00469515, 0.83604357]

qacc:
[-4.01007063e-01,-6.99735657e-01, 2.89173732e+00,-5.29872528e-01,
 -4.82906473e-02,-1.55763906e+00, 4.57002302e+00,-8.07156078e+00,
  1.83402153e-01, 5.60948694e+00,-1.75025683e+01, 1.85963519e+01,
 -2.92172946e-01, 7.78206884e-01,-8.51815860e+00, 1.61640013e+01,
  3.50004489e-01,-1.36488493e+00, 2.30884028e+00,-6.49639733e+00,
 -7.41202240e+01,-1.72997330e+00]

qfrc_actuator:
[ 6.36735065e-03, 3.88733629e-02, 1.17955320e-02, 1.83770037e-03,
 -4.20178974e-05, 3.47337643e-02, 1.08801412e-02, 1.80495168e-03,
 -2.96833947e-03, 3.48773983e-02, 1.08098084e-02, 1.70150612e-03,
  0.00000000e+00, 1.27928032e-03, 0.00000000e+00, 2.29659651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14937095, -0.10723212,  0.10398535, -0.10723212,  0.43278659,
        0.29226484,  0.10398535,  0.29226484,  0.45076129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001549255665140234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58235994e-01,  8.78310238e-02, -9.62081017e-01, -2.27691256e-02,
        9.96135388e-01,  8.48283895e-02,  9.65813511e-01,  3.46944695e-18,
        2.59237848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732969, -0.03886059,  0.22653359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -2.54383198,  -8.25322335,  -2.54383198,
        63.96530242, -17.05364288,  -8.25322335, -17.05364288,
        13.89268595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013471638073446063
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12059402e-14, -2.06029701e-14,  1.00000000e+00, -8.48964752e-28,
        1.00000000e+00,  2.06029701e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12059402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00591637, -0.07667399,  0.06188038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48225877e-03, 4.34004034e-03, 8.20005254e-04, 1.55972262e-05,
 -1.39381360e-05,-1.08822193e-04,-2.96573335e-05,-2.47019952e-05,
  5.29813435e-05, 7.97450533e-05,-6.06832227e-05, 1.83902299e-05,
  3.17239452e-03, 3.20517356e-03, 8.08908764e-03, 4.18325384e-03,
 -1.35621465e-06, 6.66135271e-06,-1.21644624e+00, 1.59172323e-03,
  5.42945332e-04, 3.91908275e-05]


--- Step 2121 ---
qpos:
[-0.01412583, 1.32872591,-0.01915259, 0.9461189 , 0.0042229 , 1.33228039,
 -0.03037956, 0.94351541, 0.01688402, 1.33774849,-0.02349625, 0.95531733,
  1.35847262,-0.00549818, 1.13465361, 0.05945842,-0.00172689,-0.09793376,
  0.08158999, 0.54853113,-0.01254254,-0.0046814 , 0.83602295]

qacc:
[-3.05322912e-01, 3.59607929e-01, 4.44035929e-01,-1.14020401e+01,
  8.29580175e-02,-6.08729440e-01, 1.02512899e+00,-3.17604931e-01,
  1.36317405e-01, 1.54147673e+00,-5.08215899e+00, 3.60291134e+00,
 -7.05091037e-03, 4.71888085e-01,-9.61703178e+00, 1.85887926e+01,
  3.43830269e-01,-1.28643737e+00, 1.57912556e+00,-6.15110050e+00,
 -6.95897620e+01,-1.66390414e+00]

qfrc_actuator:
[ 6.38226340e-03, 3.88813713e-02, 1.17195589e-02, 1.77956644e-03,
 -9.90621089e-06, 3.47268235e-02, 1.08865493e-02, 1.80772854e-03,
 -2.96029299e-03, 3.48088859e-02, 1.07539024e-02, 1.69408140e-03,
  0.00000000e+00, 1.28119438e-03, 0.00000000e+00, 2.46609888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14940023, -0.10445882,  0.10681191, -0.10445882,  0.45743622,
        0.30124991,  0.10681191,  0.30124991,  0.44401355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001554816687895262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58235728e-01,  8.78320134e-02, -9.62080998e-01, -2.27693607e-02,
        9.96135301e-01,  8.48293510e-02,  9.65813577e-01,  3.46944695e-18,
        2.59237603e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733053, -0.03886155,  0.22653332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -2.81995159,  -8.16300495,  -2.81995159,
        69.70166701, -21.09531973,  -8.16300495, -21.09531973,
        15.92384916,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001341874677264203
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13683574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.13683574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00591608, -0.07666884,  0.06188089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54449953e-03, 4.31558762e-03, 7.08647457e-04,-5.29116185e-05,
  2.38811833e-05,-7.36796566e-05,-1.89777261e-05,-1.93834225e-06,
  3.93359232e-05,-3.57339586e-05,-4.66934815e-05,-6.41056890e-06,
  3.17984215e-03, 3.17372066e-03, 8.40785104e-03, 4.36721319e-03,
 -9.37341978e-08, 1.95938278e-06,-1.21644210e+00, 1.58839680e-03,
  5.42974148e-04, 3.76320730e-05]


--- Step 2122 ---
qpos:
[-0.01413067, 1.32872394,-0.01915211, 0.94611876, 0.0042227 , 1.33227937,
 -0.03038024, 0.94351577, 0.0168851 , 1.3377497 ,-0.02349668, 0.95531643,
  1.35848418,-0.00550033, 1.1346557 , 0.05945706,-0.00172594,-0.09793851,
  0.0816127 , 0.5485643 ,-0.0124517 ,-0.00474975, 0.83600216]

qacc:
[-1.21728034e-01, 2.60830193e+00,-6.18374716e+00,-3.54497203e+00,
  1.15993787e-01, 5.16193516e-01,-4.73021519e-01,-4.18982063e+00,
  3.40402646e-02,-6.41678786e+00, 1.94300726e+01,-1.75951575e+01,
  3.78973573e-01,-2.03923176e-01,-4.41407432e+00, 7.84320489e+00,
  3.38171471e-01,-1.22224270e+00, 9.70170881e-01,-5.86476875e+00,
 -6.58625065e+01,-1.60644353e+00]

qfrc_actuator:
[ 6.37571387e-03, 3.89583116e-02, 1.16738191e-02, 1.74502406e-03,
  9.43533286e-06, 3.47945378e-02, 1.08905725e-02, 1.79133374e-03,
 -2.97381082e-03, 3.47491808e-02, 1.08459163e-02, 1.68998098e-03,
  0.00000000e+00, 1.24740362e-03, 0.00000000e+00, 2.51512895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14940586, -0.10346062,  0.10778687, -0.10346062,  0.90543594,
        0.72568525,  0.10778687,  0.72568525,  0.84596423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001555883363544043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58236496e-01,  8.78331787e-02, -9.62080685e-01, -2.27697328e-02,
        9.96135198e-01,  8.48304577e-02,  9.65813363e-01,  3.46944695e-18,
        2.59238401e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733083, -0.03886246,  0.2265331 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -3.17569419,  -8.03129773,  -3.17569419,
        75.34988202, -26.3795142 ,  -8.03129773, -26.3795142 ,
        19.06721463,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013238874884162893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19304146e-14,  2.09652073e-14,  1.00000000e+00,  8.79079833e-28,
        1.00000000e+00, -2.09652073e-14, -1.00000000e+00,  0.00000000e+00,
       -4.19304146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00591919, -0.07665179,  0.06188249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57396986e-03, 4.40332164e-03, 7.05793591e-04,-3.92362667e-05,
  3.34343527e-05, 2.31955152e-05,-1.26040788e-05,-1.92132950e-05,
  9.70995091e-06,-8.87858790e-05, 7.95407762e-05,-6.67520833e-06,
  3.17278173e-03, 3.10816074e-03, 8.75877993e-03, 4.42852673e-03,
  2.05751189e-07, 1.99357068e-07,-1.21644012e+00, 1.58528569e-03,
  5.43106136e-04, 3.68639635e-05]


--- Step 2123 ---
qpos:
[-0.01413526, 1.32872148,-0.01915207, 0.94611825, 0.0042226 , 1.33227875,
 -0.03038103, 0.9435166 , 0.01688616, 1.33775083,-0.02349662, 0.95531512,
  1.35849579,-0.00550268, 1.13465959, 0.05945592,-0.00172365,-0.09794794,
  0.08163727, 0.54859931,-0.01226201,-0.00489646, 0.83598114]

qacc:
[ 1.08313027e-01,-6.62440560e-02, 1.93314775e-01,-4.08011348e+00,
  4.68077555e-02, 1.66151480e+00,-5.72230066e+00, 1.01211254e+01,
 -9.82399941e-03,-2.18107359e+00, 7.80943049e+00,-1.14740412e+01,
  1.13207844e-01,-2.63502089e-01, 1.98032672e+00,-3.08388704e+00,
  3.33138262e-01,-1.16995483e+00, 4.63009501e-01,-5.62825641e+00,
 -6.28040404e+01,-1.55668412e+00]

qfrc_actuator:
[ 6.39164687e-03, 3.90227100e-02, 1.17001570e-02, 1.72480400e-03,
  3.20563077e-06, 3.48354167e-02, 1.08934396e-02, 1.81708629e-03,
 -2.98240087e-03, 3.47845438e-02, 1.08824899e-02, 1.67020082e-03,
  0.00000000e+00, 1.26336266e-03, 0.00000000e+00, 2.42098239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001554960062604832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58237920e-01,  8.78344118e-02, -9.62080190e-01, -2.27701805e-02,
        9.96135089e-01,  8.48316142e-02,  9.65812971e-01,  3.46944695e-18,
        2.59239859e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733084, -0.03886336,  0.22653293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012959796538660195
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.28333509e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.28333509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00592492, -0.07662548,  0.06188494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60424675e-03, 4.44205801e-03, 7.91849262e-04,-2.21587549e-05,
  1.35052221e-05, 5.06768492e-05, 5.40939819e-06, 2.56330867e-05,
 -2.85885001e-06, 1.59293750e-06, 2.80772640e-05,-2.02378702e-05,
  3.14875045e-03, 3.11318155e-03, 8.93450654e-03, 4.34762129e-03,
 -3.00866402e-07, 9.06778484e-07,-1.21643994e+00, 1.58233697e-03,
  5.43340158e-04, 3.67231453e-05]


--- Step 2124 ---
qpos:
[-0.01413911, 1.32871771,-0.01915212, 0.94611756, 0.00422269, 1.3322784 ,
 -0.0303812 , 0.94351839, 0.01688744, 1.33775179,-0.023497  , 0.95531537,
  1.35850689,-0.00550552, 1.13466887, 0.05945522,-0.00172006,-0.09796189,
  0.081662  , 0.54863609,-0.01197745,-0.00511846, 0.8359598 ]

qacc:
[ 3.16249330e-01,-1.79630145e+00, 4.15663921e+00,-4.91952351e+00,
  7.62651120e-02, 3.16992821e-01,-2.60619812e+00, 1.33099546e+01,
  9.78956971e-02, 3.67699392e+00,-1.53952785e+01, 3.14019200e+01,
 -2.94631046e-01,-1.00235894e-01, 6.62456252e+00,-1.15833978e+01,
  3.28772333e-01,-1.12757907e+00, 4.15710631e-02,-5.43389202e+00,
 -6.03039591e+01,-1.51374195e+00]

qfrc_actuator:
[ 6.43839424e-03, 3.90448678e-02, 1.17517158e-02, 1.71309398e-03,
  1.71921920e-05, 3.48599391e-02, 1.09310539e-02, 1.86743098e-03,
 -2.95245782e-03, 3.47521023e-02, 1.08508470e-02, 1.74786670e-03,
  0.00000000e+00, 1.30950465e-03, 0.00000000e+00, 2.25830185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1493997 , -0.09680846,  0.11379101, -0.09680846,  0.92022147,
        0.65578179,  0.11379101,  0.65578179,  0.70731046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015547172724114655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25824024,  0.08783557, -0.96207946, -0.02277069,  0.99613499,
        0.08483268,  0.96581234,  0.        ,  0.25924221])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733102, -0.03886428,  0.22653271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012604559775523522
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65151993e-14, -2.20202658e-14,  1.00000000e+00,  3.63669078e-28,
        1.00000000e+00,  2.20202658e-14, -1.00000000e+00,  0.00000000e+00,
        1.65151993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00593267, -0.07659209,  0.06188804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63821207e-03, 4.48830517e-03, 8.65591997e-04,-1.56601245e-05,
  2.19594833e-05, 5.43924923e-05, 4.88981943e-05, 5.26206439e-05,
  2.82557522e-05,-2.66860296e-05,-2.87361923e-05, 7.80631992e-05,
  3.14580310e-03, 3.16944109e-03, 8.84436155e-03, 4.17384139e-03,
 -1.50001018e-06, 3.73706006e-06,-1.21644130e+00, 1.57951041e-03,
  5.43674684e-04, 3.70912271e-05]


--- Step 2125 ---
qpos:
[-0.01414294, 1.32871538,-0.01915133, 0.94611782, 0.00422265, 1.33227825,
 -0.03038081, 0.94351975, 0.01688916, 1.33775279,-0.02349839, 0.95531622,
  1.35851749,-0.00550833, 1.13467772, 0.05945437,-0.00171298,-0.09797058,
  0.08168442, 0.54867309,-0.01171676,-0.00518328, 0.83593881]

qacc:
[ 4.83463761e-03, 1.24751480e+00,-3.73876253e+00, 1.33718820e+01,
 -4.95484229e-02,-2.03242439e+00, 7.84572125e+00,-1.20153181e+01,
  1.79278941e-01, 3.79481294e+00,-1.35052543e+01, 1.85286863e+01,
 -4.01572575e-01, 3.94365236e-01,-1.47983883e-01,-3.47473251e-01,
  8.69735616e-01, 1.31172852e+00,-5.78548316e-01, 5.91451099e+01,
  5.30964228e+01, 1.00072348e+00]

qfrc_actuator:
[ 6.46753221e-03, 3.90249498e-02, 1.17649728e-02, 1.77746415e-03,
 -1.00629293e-05, 3.48568815e-02, 1.09533179e-02, 1.84308144e-03,
 -2.91739303e-03, 3.47501112e-02, 1.07967798e-02, 1.77567924e-03,
  0.00000000e+00, 1.32087136e-03, 0.00000000e+00, 2.33823171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1494107 , -0.08159053,  0.12516606, -0.08159053,  0.91584676,
        0.49960765,  0.12516606,  0.49960765,  0.47508406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015568006321304076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58243913e-01,  8.78365256e-02, -9.62078389e-01, -2.27712612e-02,
        9.96134903e-01,  8.48335128e-02,  9.65811344e-01,  3.46944695e-18,
        2.59245923e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733167, -0.03886521,  0.22653241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001233982089667733
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12463446e-14,  8.99707568e-14,  1.00000000e+00,  1.01184213e-27,
        1.00000000e+00, -8.99707568e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12463446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02882614, -0.13042669,  0.06189039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63004519e-03, 4.53392536e-03, 8.83339233e-04, 5.78125754e-05,
 -1.42922735e-05, 3.81862667e-05, 4.00154963e-05,-2.00583649e-05,
  5.17490292e-05,-2.00518647e-05,-6.02602559e-05, 2.79994709e-05,
  3.17164846e-03, 3.20555789e-03, 8.57488006e-03, 4.23151307e-03,
 -3.31017032e-06, 8.44210534e-06,-1.21644400e+00, 1.57677499e-03,
  5.44107991e-04, 3.78832301e-05]


--- Step 2126 ---
qpos:
[-0.01414679, 1.32871416,-0.0191503 , 0.94612028, 0.00422227, 1.33227825,
 -0.03038061, 0.94352016, 0.01689084, 1.33775429,-0.02350147, 0.955316  ,
  1.35852795,-0.0055106 , 1.13468561, 0.05945307,-0.00170268,-0.09797425,
  0.08170271, 0.54871058,-0.01147849,-0.00509855, 0.83591803]

qacc:
[-9.40886925e-03, 4.66348985e+00,-1.79229351e+01, 4.04415973e+01,
 -1.47407003e-01,-8.69006426e-01, 5.02348093e+00,-1.54388947e+01,
 -9.28347175e-03, 3.40105973e+00,-8.15129996e+00,-5.46304862e+00,
 -4.74133063e-01, 9.41642853e-01,-8.22057256e-03,-1.93185110e+00,
  8.06075897e-01, 1.25824337e+00,-1.03070607e+00, 5.63599454e+01,
  5.03953486e+01, 7.84794137e-01]

qfrc_actuator:
[ 6.45103555e-03, 3.89775706e-02, 1.17365971e-02, 1.88642180e-03,
 -4.40853106e-05, 3.48372371e-02, 1.09306686e-02, 1.79268628e-03,
 -2.95055070e-03, 3.47839999e-02, 1.07122411e-02, 1.72066232e-03,
  0.00000000e+00, 1.32879497e-03, 0.00000000e+00, 2.35111565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1494266 , -0.10729733,  0.10399804, -0.10729733,  0.4859024 ,
        0.34715035,  0.10399804,  0.34715035,  0.50759015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015598063584164323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58245389e-01,  8.78374976e-02, -9.62077904e-01, -2.27716453e-02,
        9.96134817e-01,  8.48344161e-02,  9.65810940e-01,  3.46944695e-18,
        2.59247428e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733225, -0.03886609,  0.22653216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   4.61666594,   7.29884734,   4.61666594,
        25.66477884, -10.77081089,   7.29884734, -10.77081089,
        15.44911548,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012146904724839869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71247907e-15, -4.56998326e-14,  1.00000000e+00,  2.61059337e-28,
        1.00000000e+00,  4.56998326e-14, -1.00000000e+00,  0.00000000e+00,
        5.71247907e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02885462, -0.13045591,  0.06189211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61297829e-03, 4.41508045e-03, 8.12708159e-04, 1.19201851e-04,
 -4.24567506e-05, 8.70696365e-06,-1.12118517e-05,-4.85361064e-05,
 -2.60042897e-06, 1.18606581e-05,-9.44815860e-05,-5.67218822e-05,
  3.19650885e-03, 3.21182623e-03, 8.59622127e-03, 4.25199888e-03,
 -1.31956628e-07,-2.02922037e-07,-1.21644156e+00, 1.57898791e-03,
  5.43318190e-04, 2.64572606e-05]


--- Step 2127 ---
qpos:
[-0.01415054, 1.32871239,-0.01914985, 0.9461225 , 0.00422152, 1.33227845,
 -0.03038101, 0.94352033, 0.01689221, 1.33775537,-0.02350447, 0.9553165 ,
  1.35853823,-0.00551293, 1.13469416, 0.05945176,-0.00168936,-0.09797305,
  0.08171537, 0.54874873,-0.01126143,-0.00487058, 0.83589729]

qacc:
[ 4.36242952e-02, 4.14182039e-01,-1.74593769e+00,-9.51486463e-01,
 -1.56692633e-01, 1.43802918e+00,-3.87585006e+00, 4.00015938e-01,
 -1.38117501e-01, 4.84372215e-01,-3.68758105e+00, 1.16941119e+01,
 -1.36594757e-01, 8.23795019e-02, 1.01129240e+00,-2.11470619e+00,
  7.54376803e-01, 1.21387472e+00,-1.40923610e+00, 5.40577126e+01,
  4.81677322e+01, 6.17767348e-01]

qfrc_actuator:
[ 6.46044478e-03, 3.89489558e-02, 1.17012625e-02, 1.86072390e-03,
 -6.41377513e-05, 3.48431130e-02, 1.08993712e-02, 1.78060553e-03,
 -2.98886097e-03, 3.47501684e-02, 1.07170196e-02, 1.75938499e-03,
  0.00000000e+00, 1.35188667e-03, 0.00000000e+00, 2.30637906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14944342, -0.11395899,  0.09667825, -0.11395899,  0.4802765 ,
        0.38996778,  0.09667825,  0.38996778,  0.60911592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015629799194372476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25824555,  0.08783849, -0.96207777, -0.02277192,  0.99613473,
        0.08483537,  0.96581089,  0.        ,  0.25924761])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733271, -0.03886699,  0.22653196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   4.72533253,   7.22897014,   4.72533253,
        28.95152431, -13.27933132,   7.22897014, -13.27933132,
        17.31661201,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011864295791275958
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.6788408e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.6788408e-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([-0.02889345, -0.13049834,  0.06189458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62348522e-03, 4.33038026e-03, 7.65422592e-04,-1.67503978e-05,
 -4.51112119e-05, 7.03846772e-06,-3.22929326e-05,-1.32719020e-05,
 -3.98444952e-05,-4.74092023e-05,-5.30048686e-06, 3.49864731e-05,
  3.20346339e-03, 3.20800395e-03, 8.64389037e-03, 4.22979620e-03,
  6.00635879e-06,-1.73777353e-06,-1.21644150e+00, 1.58105296e-03,
  5.42202808e-04, 2.31422586e-05]


--- Step 2128 ---
qpos:
[-0.01415473, 1.32871035,-0.01914946, 0.94612366, 0.00422061, 1.33227873,
 -0.03038124, 0.94352101, 0.01689319, 1.3377558 ,-0.02350609, 0.95531603,
  1.35854806,-0.00551524, 1.13470081, 0.0594506 ,-0.00168017,-0.09797723,
  0.08172537, 0.5487893 ,-0.01102046,-0.00482065, 0.83587416]

qacc:
[ -0.18443011, -2.03375629,  8.39945162,-19.5075337 , -0.07074945,
   0.53588264, -2.66321756,  8.21379285, -0.16221455, -6.2654979 ,
  21.35848885,-29.30726065, -0.2619811 ,  0.21780866, -3.24960489,
   7.33370111, -1.03129989, -1.34185882, -0.6644238 ,-67.84549473,
 -58.82617007, -2.72887784]

qfrc_actuator:
[ 6.46752871e-03, 3.89683400e-02, 1.16979845e-02, 1.80905807e-03,
 -5.78946605e-05, 3.48641943e-02, 1.09166124e-02, 1.80894253e-03,
 -3.01219666e-03, 3.47296917e-02, 1.07920575e-02, 1.71097989e-03,
  0.00000000e+00, 1.38446199e-03, 0.00000000e+00, 2.38658521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14945961, -0.10321214,  0.10809917, -0.10321214,  0.92275333,
        0.73833405,  0.10809917,  0.73833405,  0.85441448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015660277196410943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25824682,  0.08783944, -0.96207734, -0.02277228,  0.99613465,
        0.08483626,  0.96581054,  0.        ,  0.25924891])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733324, -0.03886787,  0.22653174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001184438471725155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.3433531e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.3433531e-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([ 0.03149338, -0.06022956,  0.0618948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62541828e-03, 4.37788271e-03, 7.91316147e-04,-5.61941514e-05,
 -2.03825685e-05, 1.82562410e-05, 1.45544844e-05, 2.72940718e-05,
 -4.68652480e-05,-4.66962528e-05, 6.62039964e-05,-4.91517960e-05,
  3.21273714e-03, 3.24359297e-03, 8.61099395e-03, 4.31057494e-03,
  1.47558629e-05, 2.90180173e-06,-1.21644351e+00, 1.58304037e-03,
  5.40767846e-04, 2.68857844e-05]


--- Step 2129 ---
qpos:
[-0.0141588 , 1.32870846,-0.01914918, 0.94612484, 0.00421963, 1.33227907,
 -0.03038101, 0.94352339, 0.01689397, 1.33775566,-0.02350628, 0.95531669,
  1.35855765,-0.00551755, 1.1347076 , 0.05944944,-0.00167477,-0.09798657,
  0.08173062, 0.54883252,-0.01075733,-0.00493845, 0.83584853]

qacc:
[ 4.97237276e-02, 5.44136045e-01,-1.62180823e+00, 1.67482849e+00,
 -2.71088114e-02, 1.76107816e+00,-9.17698220e+00, 2.76982557e+01,
 -8.32777069e-02,-2.67365962e+00, 5.51446674e+00, 8.71934451e+00,
 -1.88764563e-01, 1.74889868e-01, 2.43390835e-01,-5.17275642e-01,
 -9.48009944e-01,-1.29193943e+00,-1.18594532e+00,-6.40127984e+01,
 -5.52655542e+01,-2.77637008e+00]

qfrc_actuator:
[ 6.49146730e-03, 3.90164427e-02, 1.17136492e-02, 1.81374227e-03,
 -5.36816556e-05, 3.48766749e-02, 1.09446983e-02, 1.89637497e-03,
 -3.00860694e-03, 3.47176204e-02, 1.08724034e-02, 1.77147182e-03,
  0.00000000e+00, 1.38716197e-03, 0.00000000e+00, 2.36406921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015678321528215036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25824839,  0.0878405 , -0.96207682, -0.0227727 ,  0.99613455,
        0.08483725,  0.96581011,  0.        ,  0.25925051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733364, -0.03886868,  0.22653153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.52092431, -5.6625368 , -6.52092431, 14.17116816,
       -6.37382902, -5.6625368 , -6.37382902, 15.97640541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011831900801076364
  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([ 0.03149952, -0.06023026,  0.06189495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67112679e-03, 4.43881300e-03, 8.09918145e-04, 1.83405584e-06,
 -7.81687733e-06, 2.62463433e-05, 3.41149933e-05, 8.90420711e-05,
 -2.40855529e-05,-2.64236667e-05, 7.73132151e-05, 5.98997303e-05,
  3.23503726e-03, 3.24510727e-03, 8.70564231e-03, 4.28032256e-03,
  4.26909414e-06,-1.92763966e-06,-1.21644113e+00, 1.57973082e-03,
  5.42589069e-04, 2.20270232e-05]


--- Step 2130 ---
qpos:
[-0.01416177, 1.32870491,-0.01914967, 0.94612592, 0.00421848, 1.3322793 ,
 -0.03038115, 0.94352583, 0.01689451, 1.33775489,-0.02350506, 0.9553174 ,
  1.35856733,-0.0055203 , 1.13472003, 0.05944849,-0.00167621,-0.09799188,
  0.08172986, 0.54886666,-0.01069725,-0.00507083, 0.83582608]

qacc:
[ 4.65692330e-01,-2.89073007e-01,-1.44998093e+00, 1.07215137e+00,
 -6.74058861e-02, 9.23981886e-01,-3.27378663e+00, 3.47317219e+00,
 -1.03817273e-01,-4.57109017e+00, 1.38264969e+01,-1.11833358e+01,
  1.16836519e-01,-4.23978648e-01, 7.64173865e+00,-1.46667371e+01,
 -1.71157302e+00, 1.00974575e+00,-1.50445740e+00,-6.18536527e+01,
  8.08216489e+01, 5.09293345e+00]

qfrc_actuator:
[ 6.48963477e-03, 3.90637347e-02, 1.17407606e-02, 1.79830876e-03,
 -6.84754926e-05, 3.48307434e-02, 1.09079332e-02, 1.89360072e-03,
 -3.02440029e-03, 3.46752727e-02, 1.09375736e-02, 1.77131029e-03,
  0.00000000e+00, 1.37195230e-03, 0.00000000e+00, 2.15575071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015698056250129655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25824994,  0.08784153, -0.96207631, -0.0227731 ,  0.99613446,
        0.08483821,  0.96580969,  0.        ,  0.25925209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733406, -0.03886948,  0.22653132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011959797623120605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.64147914e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.64147914e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0531741 , -0.10996397,  0.0618939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66342464e-03, 4.47935438e-03, 8.42848262e-04,-1.50846086e-05,
 -1.94070371e-05,-2.20602142e-05,-2.51344882e-05, 1.08370023e-06,
 -3.00172842e-05,-4.00862724e-05, 7.05501896e-05, 2.71280153e-06,
  3.24664230e-03, 3.22998570e-03, 8.69836006e-03, 4.07231054e-03,
 -1.57809170e-06, 1.97270753e-06,-1.21644164e+00, 1.57637898e-03,
  5.44314203e-04, 2.65388837e-05]


--- Step 2131 ---
qpos:
[-0.01416332, 1.32869877,-0.01915142, 0.94612658, 0.00421733, 1.33227911,
 -0.03038153, 0.94352754, 0.01689453, 1.33775381,-0.02350327, 0.95531569,
  1.35857727,-0.00552372, 1.13474068, 0.05944776,-0.00168415,-0.09799349,
  0.0817211 , 0.5488926 ,-0.01082819,-0.00521666, 0.83580647]

qacc:
[ 5.99325581e-01,-7.30174398e-01,-8.84032442e-01,-2.49384399e+00,
 -7.01028251e-03,-1.11816277e+00, 4.45830738e+00,-1.19327888e+01,
 -2.17501918e-01,-6.06542660e+00, 2.41467873e+01,-4.85109914e+01,
  2.70604781e-01,-7.05538480e-01, 1.14559911e+01,-2.24844783e+01,
 -1.62167993e+00, 9.24286104e-01,-2.00026857e+00,-5.80746994e+01,
  7.60996594e+01, 4.61953098e+00]

qfrc_actuator:
[ 6.45355837e-03, 3.90945143e-02, 1.17576780e-02, 1.77092779e-03,
 -5.90475820e-05, 3.47853980e-02, 1.08861448e-02, 1.85542816e-03,
 -3.06944865e-03, 3.46505557e-02, 1.09575909e-02, 1.64664239e-03,
  0.00000000e+00, 1.34644780e-03, 0.00000000e+00, 1.90673684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14950106, -0.08987413,  0.11947053, -0.08987413,  0.82747517,
        0.51001975,  0.11947053,  0.51001975,  0.53317374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001573801242094712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58253823e-01,  8.78422632e-02, -9.62075205e-01, -2.27736341e-02,
        9.96134397e-01,  8.48388165e-02,  9.65808638e-01,  6.93889390e-18,
        2.59256004e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733497, -0.03887033,  0.226531  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.79439404,  3.71943522, -7.79439404, 11.61516872,
        6.24234036,  3.71943522,  6.24234036, 21.71772079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011977967858666921
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.63443815e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.63443815e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316821, -0.1099668 ,  0.06189374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57239942e-03, 4.59242936e-03, 8.97788235e-04,-3.72020057e-05,
 -2.02747436e-06,-6.24323268e-05,-2.89291884e-05,-3.95443689e-05,
 -6.27754754e-05,-3.30224377e-05, 2.02865619e-05,-1.23726016e-04,
  3.24257085e-03, 3.22712060e-03, 8.41642890e-03, 3.81222275e-03,
  3.63673204e-07, 3.01925131e-06,-1.21644040e+00, 1.58144128e-03,
  5.45693835e-04, 3.35828285e-05]


--- Step 2132 ---
qpos:
[-0.01416458, 1.32869356,-0.01915296, 0.9461265 , 0.00421621, 1.33227831,
 -0.03038153, 0.94352877, 0.01689403, 1.33775257,-0.02350232, 0.95531636,
  1.35858773,-0.00552731, 1.13475835, 0.05944673,-0.00169826,-0.09799167,
  0.08170266, 0.54891099,-0.0111401 ,-0.005375  , 0.83578929]

qacc:
[ 1.27001600e-01,-5.92462034e-01, 4.90603731e+00,-1.32869790e+01,
  1.72493511e-02,-2.69444609e+00, 8.81215016e+00,-1.28942007e+01,
 -2.21372962e-01, 6.13604742e+00,-2.50511521e+01, 4.92396434e+01,
  6.70573387e-01,-8.36320498e-01,-3.52572622e+00, 5.82710786e+00,
 -1.54504854e+00, 8.54905761e-01,-2.41887901e+00,-5.49358586e+01,
  7.21615963e+01, 4.22677714e+00]

qfrc_actuator:
[ 6.48494383e-03, 3.90992500e-02, 1.17337842e-02, 1.75449045e-03,
 -5.29180998e-05, 3.47585180e-02, 1.09088773e-02, 1.83226943e-03,
 -3.09617810e-03, 3.46363370e-02, 1.09152934e-02, 1.76924854e-03,
  0.00000000e+00, 1.27964716e-03, 0.00000000e+00, 2.09478816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14953716, -0.08753468,  0.12123961, -0.08753468,  0.93430996,
        0.56660393,  0.12123961,  0.56660393,  0.55862373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015805376583838404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58261447e-01,  8.78425931e-02, -9.62073128e-01, -2.27743927e-02,
        9.96134368e-01,  8.48389545e-02,  9.65806581e-01,  3.46944695e-18,
        2.59263665e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673366, -0.0388713,  0.2265305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.86798497,  3.56112192, -7.86798497, 12.04229822,
        7.52511223,  3.56112192,  7.52511223, 25.26243579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011859019934546133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68092233e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68092233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319436, -0.10997642,  0.06189471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53306955e-03, 4.72738497e-03, 9.37245707e-04,-3.25157118e-05,
  4.93074555e-06,-6.82617482e-05, 6.07020234e-06,-2.67996662e-05,
 -6.37992397e-05,-3.21812028e-05,-5.00638010e-05, 1.19340623e-04,
  3.22973325e-03, 3.19325374e-03, 8.00501050e-03, 3.98926897e-03,
  5.68357581e-06, 1.89522714e-06,-1.21644231e+00, 1.58508310e-03,
  5.46653057e-04, 2.91225907e-05]


--- Step 2133 ---
qpos:
[-0.01416581, 1.32869077,-0.01915436, 0.94612748, 0.00421515, 1.33227702,
 -0.03038041, 0.94352897, 0.01689324, 1.33775183,-0.02350249, 0.9553188 ,
  1.35859852,-0.00553069, 1.13477205, 0.05944492,-0.00170863,-0.09798366,
  0.0816884 , 0.54893047,-0.01147909,-0.0053482 , 0.83577208]

qacc:
[ 1.08376134e-02, 4.58632001e+00,-1.32792312e+01, 2.22232385e+01,
  2.45539272e-02,-5.39629255e+00, 1.89452318e+01,-2.80509198e+01,
 -1.23162718e-01, 6.71596886e+00,-2.46610783e+01, 4.14075291e+01,
  2.49177440e-01,-8.68348243e-02,-3.49953211e+00, 3.70224869e+00,
  9.34299723e-01, 1.54961589e+00, 1.04532266e+00, 6.99445019e+01,
  6.21366386e+01, 6.40859259e-01]

qfrc_actuator:
[ 6.52184999e-03, 3.90681024e-02, 1.16844351e-02, 1.81610433e-03,
 -4.88180762e-05, 3.47608351e-02, 1.09755374e-02, 1.78266899e-03,
 -3.09394957e-03, 3.46994098e-02, 1.08722805e-02, 1.85886765e-03,
  0.00000000e+00, 1.25886057e-03, 0.00000000e+00, 2.19046253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015861751549250264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25826796,  0.08784286, -0.96207136, -0.02277504,  0.99613434,
        0.08483905,  0.96580482,  0.        ,  0.25927021])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733796, -0.03887225,  0.22653007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001207812153140024
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59600867e-14,  4.59600867e-14,  1.00000000e+00,  2.11232957e-27,
        1.00000000e+00, -4.59600867e-14, -1.00000000e+00,  0.00000000e+00,
       -4.59600867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02888262, -0.13045475,  0.06189278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55498979e-03, 4.64916581e-03, 8.77473324e-04, 6.54948236e-05,
  7.00792174e-06,-3.50560240e-05, 5.32136864e-05,-5.20958482e-05,
 -3.54468778e-05, 3.90406340e-05,-5.14934302e-05, 8.99800241e-05,
  3.20318087e-03, 3.18131798e-03, 8.15361218e-03, 4.10014602e-03,
  1.38339803e-05,-1.04491841e-06,-1.21644689e+00, 1.58762392e-03,
  5.47272743e-04, 1.50615440e-05]


--- Step 2134 ---
qpos:
[-0.0141667 , 1.32868883,-0.01915657, 0.94612938, 0.0042143 , 1.33227571,
 -0.03037902, 0.94352996, 0.01689229, 1.33775144,-0.0235028 , 0.95531984,
  1.35860943,-0.00553399, 1.13478505, 0.05944246,-0.00171556,-0.09796983,
  0.08167545, 0.54895105,-0.01184328,-0.00514863, 0.83575474]

qacc:
[ 1.40087202e-01, 4.93496012e+00,-1.66214068e+01, 2.46062667e+01,
  8.58934087e-02, 5.90213152e-01,-3.56570927e+00, 1.22210688e+01,
 -6.62674423e-02,-1.55431150e+00, 8.45668882e+00,-2.37032164e+01,
  4.14479951e-02, 3.30344254e-02, 8.85298861e-01,-4.61184701e+00,
  8.61043046e-01, 1.45448748e+00, 3.27135533e-01, 6.52902039e+01,
  5.79501379e+01, 5.60567496e-01]

qfrc_actuator:
[ 6.54446975e-03, 3.90490839e-02, 1.16197869e-02, 1.85205218e-03,
 -2.82162781e-05, 3.47807899e-02, 1.09966668e-02, 1.82445555e-03,
 -3.09212204e-03, 3.47194999e-02, 1.08649627e-02, 1.78633654e-03,
  0.00000000e+00, 1.26536345e-03, 0.00000000e+00, 2.14254788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015910637908206696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58272000e-01,  8.78431352e-02, -9.62070246e-01, -2.27754649e-02,
        9.96134320e-01,  8.48392280e-02,  9.65803734e-01,  3.46944695e-18,
        2.59274271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733893, -0.03887318,  0.22652975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.16960389,   6.04340672,   6.16960389,
        41.61506524, -33.66735603,   6.04340672, -33.66735603,
        43.00675444,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012232301919546384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13451972e-14,  4.53807890e-14,  1.00000000e+00, -5.14854002e-28,
        1.00000000e+00, -4.53807890e-14, -1.00000000e+00,  0.00000000e+00,
        1.13451972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02886386, -0.13042944,  0.06189142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57630895e-03, 4.50958904e-03, 8.05277863e-04, 4.89707908e-05,
  2.47369192e-05, 9.41365794e-06, 1.87999980e-05, 4.10852258e-05,
 -1.91033020e-05, 3.42948173e-05,-2.90863317e-06,-7.07847766e-05,
  3.18706512e-03, 3.17720852e-03, 8.35146694e-03, 4.09135856e-03,
  3.04423259e-06,-1.62809422e-06,-1.21644705e+00, 1.59017791e-03,
  5.46062443e-04, 1.73453466e-05]


--- Step 2135 ---
qpos:
[-0.01416698, 1.32868646,-0.01915915, 0.94613144, 0.00421381, 1.33227448,
 -0.03037801, 0.94353215, 0.01689126, 1.33775057,-0.02350374, 0.95532079,
  1.35862048,-0.00553761, 1.13479968, 0.05943986,-0.00171929,-0.0979505 ,
  0.08166139, 0.54897266,-0.01223109,-0.00478656, 0.8357371 ]

qacc:
[ 2.64190913e-01, 7.26300227e-01,-3.38498222e+00, 5.13287116e+00,
  1.55899339e-01, 3.19615365e+00,-1.27928748e+01, 2.50784770e+01,
 -3.36997162e-02, 9.20657973e-01,-3.60102983e+00, 2.44446114e+00,
  2.44389644e-01,-4.87601064e-01, 2.84368794e+00,-6.49896113e+00,
  8.00453318e-01, 1.37495003e+00,-2.77316361e-01, 6.14245854e+01,
  5.44824507e+01, 5.13272207e-01]

qfrc_actuator:
[ 6.55820217e-03, 3.90556886e-02, 1.16178788e-02, 1.85455820e-03,
  2.11833286e-06, 3.47755422e-02, 1.09731194e-02, 1.88416634e-03,
 -3.09055282e-03, 3.46249755e-02, 1.08075247e-02, 1.77874915e-03,
  0.00000000e+00, 1.25279116e-03, 0.00000000e+00, 2.06190530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015958439795853152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58276005e-01,  8.78433295e-02, -9.62069153e-01, -2.27758688e-02,
        9.96134303e-01,  8.48393207e-02,  9.65802653e-01,  3.46944695e-18,
        2.59278296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06733981, -0.03887412,  0.22652946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   6.13601825,   6.07750417,   6.13601825,
        48.74937686, -40.49922047,   6.07750417, -40.49922047,
        49.52550975,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012222105252352733
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70319935e-14,  4.54186493e-14,  1.00000000e+00,  7.73570140e-28,
        1.00000000e+00, -4.54186493e-14, -1.00000000e+00,  0.00000000e+00,
       -1.70319935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02886541, -0.13042881,  0.06189144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57348611e-03, 4.47351935e-03, 8.44294887e-04, 5.51337570e-06,
  4.49352519e-05, 4.88290303e-06,-1.83602879e-05, 6.14990235e-05,
 -9.71009605e-06,-7.82210918e-05,-5.31403590e-05,-8.30388866e-06,
  3.18083934e-03, 3.16112036e-03, 8.38640222e-03, 4.04255345e-03,
 -2.76681235e-06, 6.83100160e-06,-1.21645026e+00, 1.59274653e-03,
  5.44377822e-04, 2.97690992e-05]


--- Step 2136 ---
qpos:
[-0.01416755, 1.32868302,-0.01916155, 0.94613216, 0.00421354, 1.33227345,
 -0.03037675, 0.94353466, 0.01689035, 1.33774969,-0.02350561, 0.955323  ,
  1.35863102,-0.00554152, 1.13481466, 0.05943754,-0.00172157,-0.09793708,
  0.08166051, 0.54899627,-0.01249184,-0.00452475, 0.8357192 ]

qacc:
[-1.24356311e-01,-4.22854212e+00, 1.48108436e+01,-2.77106355e+01,
  9.35364065e-02, 1.36276159e-01,-7.54017566e-01, 4.10799289e+00,
  4.63594331e-02, 4.67539475e+00,-1.77893200e+01, 2.99155347e+01,
 -1.96190739e-01,-9.65825038e-02,-3.65151506e-01, 2.03622449e+00,
  3.64071110e-01,-1.47654797e+00, 3.29363697e+00,-7.00732383e+00,
 -8.06152711e+01,-1.82691352e+00]

qfrc_actuator:
[ 6.53067203e-03, 3.90963602e-02, 1.16534939e-02, 1.78412743e-03,
  2.54074081e-06, 3.48083439e-02, 1.09943204e-02, 1.90063607e-03,
 -3.07140037e-03, 3.46576640e-02, 1.07738178e-02, 1.84487725e-03,
  0.00000000e+00, 1.30014411e-03, 0.00000000e+00, 2.06791114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14964878,  0.10343602, -0.10814688,  0.10343602,  0.47656309,
        0.31267399, -0.10814688,  0.31267399,  0.44870275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001601166968968476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25828078,  0.08784336, -0.96206787, -0.0227763 ,  0.9961343 ,
        0.08483923,  0.96580137,  0.        ,  0.25928309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734083, -0.03887507,  0.22652915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012386858057498798
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.48145534e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.48145534e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00591794, -0.07657259,  0.06188998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51477935e-03, 4.53562181e-03, 8.98430415e-04,-7.31869082e-05,
  2.69445489e-05, 3.37725386e-05, 2.18735411e-05, 1.75063619e-05,
  1.34153838e-05,-2.11823563e-05,-5.52607464e-05, 6.20625373e-05,
  3.17382469e-03, 3.22439421e-03, 8.30467456e-03, 4.05610507e-03,
 -4.47245629e-06, 2.27068305e-05,-1.21645601e+00, 1.59531191e-03,
  5.42284318e-04, 5.05452534e-05]


--- Step 2137 ---
qpos:
[-0.01416984, 1.3286797 ,-0.01916298, 0.94613016, 0.00421341, 1.33227252,
 -0.03037542, 0.94353598, 0.01688974, 1.33774881,-0.02350678, 0.95532486,
  1.35864072,-0.00554527, 1.13482333, 0.05943565,-0.00172794,-0.09792955,
  0.08165901, 0.54902338,-0.01272872,-0.00444981, 0.83569822]

qacc:
[-7.29407727e-01,-7.21566479e+00, 2.92808201e+01,-5.71421231e+01,
  5.60212153e-02,-2.10218911e+00, 9.44191875e+00,-2.19872246e+01,
  1.30015317e-01,-2.53978973e+00, 8.96922568e+00,-1.17857055e+01,
 -4.24262968e-01, 3.89700844e-01,-1.05663816e+01, 2.34830199e+01,
 -1.02621181e+00,-1.47143382e+00,-1.52566280e-01,-7.15194300e+01,
 -6.12391310e+01,-3.52788116e+00]

qfrc_actuator:
[ 6.49680499e-03, 3.91227863e-02, 1.16757147e-02, 1.65361760e-03,
  2.76861711e-06, 3.47928061e-02, 1.09886390e-02, 1.83831996e-03,
 -3.04185556e-03, 3.46953879e-02, 1.08259141e-02, 1.82965810e-03,
  0.00000000e+00, 1.34804390e-03, 0.00000000e+00, 2.32080127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016060521240847392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58286427e-01,  8.78434505e-02, -9.62066344e-01, -2.27768195e-02,
        9.96134292e-01,  8.48391908e-02,  9.65799844e-01,  3.46944695e-18,
        2.59288761e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734192, -0.03887595,  0.2265288 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.30421847,  2.37207345,  8.30421847,  8.85501872,
       -0.76547358,  2.37207345, -0.76547358, 11.3161541 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012569129631685924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41646740e-14,  4.41646740e-14,  1.00000000e+00, -1.95051843e-27,
        1.00000000e+00, -4.41646740e-14, -1.00000000e+00,  0.00000000e+00,
        4.41646740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03141021, -0.06037576,  0.06188845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49560723e-03, 4.61589332e-03, 9.11616231e-04,-1.36880577e-04,
  1.61324809e-05, 7.96067569e-06, 3.93111384e-06,-6.02495864e-05,
  3.74647836e-05, 1.70679718e-05, 4.35016814e-05,-1.60193599e-05,
  3.19949201e-03, 3.28673332e-03, 8.28705754e-03, 4.29431019e-03,
 -1.66351117e-06, 1.18956668e-05,-1.21644830e+00, 1.59197545e-03,
  5.42204350e-04, 4.54497060e-05]


--- Step 2138 ---
qpos:
[-0.01417327, 1.32867699,-0.01916328, 0.9461276 , 0.00421335, 1.33227134,
 -0.03037428, 0.94353625, 0.01688931, 1.33774775,-0.02350748, 0.95532586,
  1.35865018,-0.00554835, 1.13482517, 0.05943398,-0.0017328 ,-0.09792757,
  0.08166622, 0.54905263,-0.01285043,-0.00446613, 0.83567705]

qacc:
[-4.82282622e-01,-3.21211444e+00, 1.26106551e+01,-1.79466551e+01,
  3.34636458e-02,-1.62891410e+00, 7.09306247e+00,-1.82551966e+01,
  7.69297288e-02,-2.93534832e+00, 1.10284732e+01,-1.93632844e+01,
 -3.13677214e-01, 7.81022508e-01,-1.07004119e+01, 2.28347026e+01,
  3.81189961e-01,-1.39046395e+00, 2.17506824e+00,-6.50181202e+00,
 -7.31696948e+01,-1.78451205e+00]

qfrc_actuator:
[ 6.51393934e-03, 3.90866391e-02, 1.16890329e-02, 1.63100457e-03,
  2.88005152e-06, 3.47482961e-02, 1.09669014e-02, 1.78335972e-03,
 -3.04182150e-03, 3.46651243e-02, 1.08394555e-02, 1.78448606e-03,
  0.00000000e+00, 1.34268543e-03, 0.00000000e+00, 2.52629522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14968427, -0.105454  ,  0.1062301 , -0.105454  ,  0.43473165,
        0.28296486,  0.1062301 ,  0.28296486,  0.43058182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016076655422447156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.258291  ,  0.087844  , -0.96206507, -0.02277737,  0.99613424,
        0.08483961,  0.96579861,  0.        ,  0.25929337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734253, -0.03887666,  0.22652854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -7.65802114,  -3.99267943,  -7.65802114,
        26.81842278, -34.87347178,  -3.99267943, -34.87347178,
        75.52422407,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012681274865193187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18870547e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18870547e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0059076 , -0.07659979,  0.0618875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59884171e-03, 4.57366256e-03, 8.76207294e-04,-2.32508389e-05,
  9.63380402e-06,-4.11415975e-05,-2.14984946e-05,-5.59999947e-05,
  2.21566493e-05,-1.27939293e-05, 2.13539179e-05,-4.37669890e-05,
  3.24136126e-03, 3.27363788e-03, 8.60218752e-03, 4.47860498e-03,
  1.37521393e-07, 8.57597021e-07,-1.21644445e+00, 1.59008923e-03,
  5.43679433e-04, 3.25081034e-05]


--- Step 2139 ---
qpos:
[-0.01417631, 1.32867404,-0.01916429, 0.94612564, 0.00421319, 1.33227063,
 -0.03037404, 0.94353651, 0.01688884, 1.33774717,-0.02350912, 0.95532633,
  1.35865987,-0.00555141, 1.13483013, 0.05943229,-0.00173618,-0.09793083,
  0.08167933, 0.54908396,-0.01286378,-0.00456843, 0.8356557 ]

qacc:
[ 1.62694191e-01, 2.63648702e+00,-1.02372610e+01, 1.61596803e+01,
 -4.19231208e-02, 3.05433019e+00,-9.22042746e+00, 7.73212706e+00,
 -1.60773935e-02, 2.22229268e+00,-5.41362461e+00,-1.75490728e+00,
  2.22115966e-02, 5.56642247e-02, 4.65707032e+00,-9.58267586e+00,
  3.68654435e-01,-1.30822486e+00, 1.47531478e+00,-6.16578130e+00,
 -6.88764324e+01,-1.70997623e+00]

qfrc_actuator:
[ 6.50852202e-03, 3.90656640e-02, 1.16787198e-02, 1.65430889e-03,
 -1.48306674e-05, 3.48109762e-02, 1.09357616e-02, 1.78641710e-03,
 -3.05949125e-03, 3.47007511e-02, 1.07943328e-02, 1.75749835e-03,
  0.00000000e+00, 1.32254302e-03, 0.00000000e+00, 2.34834022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1496751 , -0.12467667,  0.08281524, -0.12467667,  0.42139014,
        0.40906152,  0.08281524,  0.40906152,  0.76550897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001605988969113313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2582939 ,  0.08784485, -0.96206421, -0.02277784,  0.99613417,
        0.08484037,  0.96579782,  0.        ,  0.25929629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734258, -0.03887728,  0.22652837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012642925396664784
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.39068882e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.39068882e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0059075 , -0.07659573,  0.06188786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65035328e-03, 4.52194826e-03, 8.09805753e-04, 2.83919855e-05,
 -1.20258009e-05, 3.40387079e-05,-4.32765870e-05,-1.08181946e-07,
 -4.58745088e-06, 3.14356814e-05,-4.64717609e-05,-2.77616655e-05,
  3.25332616e-03, 3.21978509e-03, 8.94365864e-03, 4.29001649e-03,
  1.13794209e-06,-7.49798895e-08,-1.21644142e+00, 1.58691900e-03,
  5.43661486e-04, 3.56596998e-05]


--- Step 2140 ---
qpos:
[-0.01417728, 1.32866676,-0.01916791, 0.94612411, 0.00421319, 1.33227097,
 -0.03037479, 0.94353642, 0.01688871, 1.33774703,-0.02351162, 0.95532612,
  1.35866979,-0.00555526, 1.13485016, 0.0594309 ,-0.00173812,-0.09793905,
  0.081696  , 0.54911728,-0.01277437,-0.00475237, 0.83563416]

qacc:
[ 8.78622996e-01, 2.12205067e+00,-1.46361525e+01, 2.03207843e+01,
  6.18962301e-02, 3.44365750e+00,-8.83482837e+00, 2.84048640e+00,
  1.39087387e-01, 1.76355308e+00,-3.68599237e+00,-4.83981006e+00,
 -1.04956584e-02,-4.18557543e-01, 2.13246909e+01,-4.22699367e+01,
  3.57952112e-01,-1.24103981e+00, 8.91116715e-01,-5.88796087e+00,
 -6.53419171e+01,-1.64576233e+00]

qfrc_actuator:
[ 6.47075370e-03, 3.90544073e-02, 1.16733546e-02, 1.65095408e-03,
  1.01691862e-05, 3.49018417e-02, 1.08997683e-02, 1.77039033e-03,
 -3.01662629e-03, 3.47220721e-02, 1.07507198e-02, 1.72368641e-03,
  0.00000000e+00, 1.32943221e-03, 0.00000000e+00, 1.81618907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14967411, -0.0983687 ,  0.1128093 , -0.0983687 ,  0.83807344,
        0.60027806,  0.1128093 ,  0.60027806,  0.67311121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016058077373549973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25829771,  0.0878456 , -0.96206312, -0.02277838,  0.9961341 ,
        0.084841  ,  0.96579679,  0.        ,  0.25930014])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734289, -0.03887798,  0.22652815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012482427084532371
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.67071606e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.67071606e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00591052, -0.07658032,  0.06188927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59337582e-03, 4.52301098e-03, 8.39490234e-04,-5.54529754e-06,
  1.79031658e-05, 1.01230818e-04,-3.42615492e-05,-1.62750436e-05,
  4.01568578e-05, 2.88131514e-05,-4.35646530e-05,-3.48893154e-05,
  3.24144489e-03, 3.22631590e-03, 8.78737078e-03, 3.75855147e-03,
  1.21814936e-06, 1.65315871e-06,-1.21644043e+00, 1.58392588e-03,
  5.43754913e-04, 3.93127574e-05]


--- Step 2141 ---
qpos:
[-0.0141775 , 1.32865824,-0.0191721 , 0.94612286, 0.00421324, 1.33227197,
 -0.03037585, 0.94353475, 0.01688912, 1.33774615,-0.02351337, 0.95532657,
  1.35867942,-0.00555946, 1.13487631, 0.05942939,-0.00173512,-0.0979504 ,
  0.0817121 , 0.54914925,-0.01254255,-0.00493009, 0.83561563]

qacc:
[ 3.17880188e-01, 3.94147601e-01,-3.84466502e+00, 7.42596688e+00,
  2.67533612e-02,-9.80689629e-01, 7.49942171e+00,-2.51997832e+01,
  2.32641546e-01,-1.90104189e+00, 3.68967646e+00, 4.80685682e+00,
 -2.82617866e-01, 4.86882001e-02, 9.41420980e+00,-1.97513458e+01,
  1.23734239e+00,-7.80849994e-01,-1.42124305e-01, 4.17001813e+01,
 -5.78157166e+01, 1.08991168e+00]

qfrc_actuator:
[ 6.48274209e-03, 3.90176561e-02, 1.16731548e-02, 1.68480913e-03,
  7.33168964e-06, 3.49200908e-02, 1.08790692e-02, 1.69001561e-03,
 -2.97329718e-03, 3.46458855e-02, 1.07793293e-02, 1.75714332e-03,
  0.00000000e+00, 1.35332209e-03, 0.00000000e+00, 1.74580812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14970187,  0.06580235, -0.1344645 ,  0.06580235,  0.41882237,
        0.13169841, -0.1344645 ,  0.13169841,  0.21415059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016108777431760035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25830824,  0.08784575, -0.96206028, -0.02277934,  0.99613409,
        0.0848409 ,  0.96579395,  0.        ,  0.25931071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734451, -0.03887889,  0.22652762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.63528443, -4.03598917, -7.63528443, 10.28398442,
       -3.11696905, -4.03598917, -3.11696905, 14.53304577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012273454031734021
  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([-0.03276164, -0.08834391,  0.06189111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50168081e-03, 4.70268163e-03, 9.70166297e-04, 7.31990500e-06,
  7.73323699e-06, 6.70568307e-05,-5.27154614e-06,-7.87134153e-05,
  6.70425281e-05,-6.97893453e-05, 2.82669880e-05, 3.22193097e-05,
  3.23046144e-03, 3.28914010e-03, 8.03383117e-03, 3.67289951e-03,
  5.22729566e-07, 5.63455410e-06,-1.21644115e+00, 1.58106761e-03,
  5.43956810e-04, 4.33601574e-05]


--- Step 2142 ---
qpos:
[-0.01417838, 1.32865258,-0.01917503, 0.94612258, 0.00421288, 1.33227301,
 -0.03037718, 0.94353185, 0.01688992, 1.33774493,-0.02351459, 0.95532774,
  1.35868899,-0.00556331, 1.13489762, 0.05942715,-0.00172738,-0.09796468,
  0.08172595, 0.54918   ,-0.0121742 ,-0.005102  , 0.83559984]

qacc:
[ -0.28024142,  2.06150591, -4.16512995, 13.1530752 , -0.17515586,
  -1.35500393,  7.02054825,-20.49336208,  0.16422795, -0.62594933,
   0.06845732,  8.41276178, -0.10603706,  0.35484762, -4.91340841,
   6.81293423,  1.18423465, -0.73399688, -0.56478859, 39.90749092,
 -55.47102733,  0.96454406]

qfrc_actuator:
[ 6.48957329e-03, 3.90352715e-02, 1.16750536e-02, 1.75870966e-03,
 -4.76888145e-05, 3.48769795e-02, 1.08495075e-02, 1.62564978e-03,
 -2.96554667e-03, 3.46542379e-02, 1.08144936e-02, 1.79439823e-03,
  0.00000000e+00, 1.33404770e-03, 0.00000000e+00, 1.97054152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14974379, -0.09107434,  0.11886407, -0.09107434,  0.98906785,
        0.64309499,  0.11886407,  0.64309499,  0.64248692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016184995492568577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25832052,  0.0878457 , -0.96205698, -0.02278041,  0.99613409,
        0.08484055,  0.96579064,  0.        ,  0.25932304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734664, -0.03887984,  0.22652699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  8.61487043, -0.60892062,  8.61487043,  8.92511932,
        4.08524974, -0.60892062,  4.08524974, 66.43354729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011993459463668782
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31422599e-14,  2.31422599e-14,  1.00000000e+00,  5.35564194e-28,
        1.00000000e+00, -2.31422599e-14, -1.00000000e+00,  0.00000000e+00,
       -2.31422599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03280296, -0.08833108,  0.06189354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47100740e-03, 4.78282051e-03, 1.00055688e-03, 6.69637507e-05,
 -5.04534271e-05,-9.42177076e-06,-1.93541351e-05,-6.43311122e-05,
  4.73355228e-05,-2.37548093e-05, 2.56940877e-05, 3.67618738e-05,
  3.24478406e-03, 3.28793258e-03, 7.72712251e-03, 3.90338897e-03,
 -2.18170537e-06, 5.40261546e-06,-1.21644250e+00, 1.57926529e-03,
  5.43451478e-04, 3.84838943e-05]


--- Step 2143 ---
qpos:
[-0.0141798 , 1.32864904,-0.01917694, 0.94612258, 0.00421216, 1.33227394,
 -0.03037886, 0.94352959, 0.01689084, 1.33774386,-0.02351619, 0.95533073,
  1.35869866,-0.00556691, 1.13491368, 0.05942441,-0.00171623,-0.09797355,
  0.08173785, 0.54921135,-0.01182953,-0.00511485, 0.83558411]

qacc:
[-2.27317425e-01, 4.93473997e-01, 1.19203336e+00, 7.64114502e-01,
 -1.55031578e-01, 1.91744219e+00,-7.75686518e+00, 1.43284997e+01,
  4.94531184e-02, 4.37320710e+00,-1.76891667e+01, 3.62490037e+01,
  1.34022258e-01, 1.43542157e-02,-6.25968205e+00, 1.06091472e+01,
  8.52044260e-01, 1.35225387e+00,-4.85463699e-01, 5.99652539e+01,
  5.35741799e+01, 7.96741904e-01]

qfrc_actuator:
[ 6.51217416e-03, 3.90641337e-02, 1.16766081e-02, 1.76706734e-03,
 -6.25571174e-05, 3.48684324e-02, 1.08324633e-02, 1.65994721e-03,
 -2.97920153e-03, 3.46776909e-02, 1.08002591e-02, 1.88686519e-03,
  0.00000000e+00, 1.32380717e-03, 0.00000000e+00, 2.08896920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001625413248310531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25832882,  0.08784585, -0.96205474, -0.02278118,  0.99613408,
        0.0848405 ,  0.9657884 ,  0.        ,  0.25933137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734828, -0.03888074,  0.22652651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011712668075643667
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18485282e-14,  4.73941128e-14,  1.00000000e+00,  5.61550483e-28,
        1.00000000e+00, -4.73941128e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18485282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02895275, -0.13049695,  0.06189596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52667351e-03, 4.66817387e-03, 9.39040726e-04, 2.64187220e-05,
 -4.46474781e-05,-1.94912689e-05,-2.29798844e-05, 3.19509938e-05,
  1.42945826e-05, 1.64364301e-05,-1.48737662e-05, 9.33689191e-05,
  3.24781047e-03, 3.25991555e-03, 7.96890548e-03, 4.05863885e-03,
 -3.13019136e-06, 4.26460347e-06,-1.21644574e+00, 1.57800627e-03,
  5.43395449e-04, 2.75854710e-05]


--- Step 2144 ---
qpos:
[-0.01418128, 1.3286462 ,-0.0191781 , 0.94612178, 0.0042113 , 1.33227493,
 -0.03038062, 0.94352981, 0.01689161, 1.33774275,-0.02351797, 0.95533688,
  1.35870852,-0.0055706 , 1.13492562, 0.0594216 ,-0.00170191,-0.09797726,
  0.08174596, 0.54924346,-0.01150711,-0.00497645, 0.83556833]

qacc:
[-2.31174249e-02,-2.50482283e+00, 1.09047309e+01,-1.91353972e+01,
 -5.91163201e-02, 4.52107392e+00,-1.97541461e+01, 4.57785055e+01,
 -6.23101948e-02, 5.88831119e+00,-2.56112249e+01, 5.86606213e+01,
  4.23170103e-01,-5.61525528e-01,-5.89265549e+00, 1.17207072e+01,
  7.93151385e-01, 1.29187481e+00,-9.49072439e-01, 5.70786823e+01,
  5.08277371e+01, 6.16350388e-01]

qfrc_actuator:
[ 6.56212915e-03, 3.90460940e-02, 1.16776944e-02, 1.71866338e-03,
 -5.32163017e-05, 3.48984982e-02, 1.08408711e-02, 1.78755459e-03,
 -3.00558407e-03, 3.46743486e-02, 1.07925890e-02, 2.04657205e-03,
  0.00000000e+00, 1.30120210e-03, 0.00000000e+00, 2.17917302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001630850848235131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25833408,  0.08784617, -0.9620533 , -0.02278173,  0.99613405,
        0.08484068,  0.96578698,  0.        ,  0.25933666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734944, -0.03888158,  0.22652615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   4.35854901,   7.4558586 ,   4.35854901,
        33.6001227 , -14.59332496,   7.4558586 , -14.59332496,
        17.16733579,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011569712816165423
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79923928e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.79923928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02897363, -0.13051827,  0.06189722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60345247e-03, 4.54443051e-03, 8.89202577e-04,-3.54920360e-05,
 -1.70122236e-05, 1.57393248e-05, 2.91451521e-06, 1.27084098e-04,
 -1.79425242e-05, 5.62124551e-06,-3.41179285e-06, 1.61932057e-04,
  3.24281308e-03, 3.22506024e-03, 8.23111142e-03, 4.17364061e-03,
  3.31578796e-06,-2.80345070e-06,-1.21644373e+00, 1.57949925e-03,
  5.42822531e-04, 1.72311759e-05]


--- Step 2145 ---
qpos:
[-0.01418316, 1.32864458,-0.01917786, 0.94612137, 0.00421055, 1.33227555,
 -0.0303818 , 0.94353155, 0.01689216, 1.33774224,-0.02351973, 0.95534379,
  1.35871871,-0.00557407, 1.13493318, 0.05941873,-0.00169147,-0.09798635,
  0.08175064, 0.54927851,-0.011162  ,-0.00501257, 0.83554976]

qacc:
[-1.73208398e-01,-1.49160086e+00, 6.02703112e+00,-1.58128994e+00,
  4.78085913e-02, 5.48084774e-01,-5.52026963e+00, 2.27629311e+01,
 -9.24763205e-02, 2.03267412e+00,-7.24008441e+00, 1.47263991e+01,
  3.05765702e-01,-1.55613669e-01,-6.33065677e+00, 1.26647255e+01,
 -9.70377778e-01,-1.34827462e+00,-8.55836822e-01,-6.66652579e+01,
 -5.73798476e+01,-3.05260712e+00]

qfrc_actuator:
[ 6.53946637e-03, 3.90359827e-02, 1.17138583e-02, 1.74367402e-03,
 -2.94301238e-05, 3.48628535e-02, 1.08644247e-02, 1.86255021e-03,
 -3.02163339e-03, 3.47438143e-02, 1.08065579e-02, 2.08478098e-03,
  0.00000000e+00, 1.27141865e-03, 0.00000000e+00, 2.30547070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14983268, -0.10669725,  0.10519283, -0.10669725,  0.62124199,
        0.4781512 ,  0.10519283,  0.4781512 ,  0.63482219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016345307460847308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25833793,  0.08784651, -0.96205224, -0.02278216,  0.99613402,
        0.08484092,  0.96578594,  0.        ,  0.25934053])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735026, -0.03888236,  0.22652587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011384297427541046
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43805784e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43805784e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03160448, -0.06019676,  0.06189882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58352923e-03, 4.49910885e-03, 8.87474354e-04, 2.92012510e-05,
  1.37451558e-05,-2.25511455e-05, 3.06923448e-05, 7.84997672e-05,
 -2.66462403e-05, 7.67210823e-05, 1.94285459e-05, 4.20494266e-05,
  3.23285356e-03, 3.19997623e-03, 8.43629460e-03, 4.30332405e-03,
  1.26628105e-05,-2.69472023e-06,-1.21644414e+00, 1.58092486e-03,
  5.41879784e-04, 1.50895670e-05]


--- Step 2146 ---
qpos:
[-0.01418612, 1.32864261,-0.01917569, 0.94612103, 0.00421027, 1.33227562,
 -0.03038186, 0.94353175, 0.0168925 , 1.33774224,-0.02352091, 0.95534867,
  1.35872886,-0.00557691, 1.13493541, 0.05941638,-0.00168463,-0.09800064,
  0.08174995, 0.54931657,-0.0107957 ,-0.00521358, 0.83552832]

qacc:
[ -0.45917087, -5.56907679, 17.47385196,-14.23572546,  0.20199914,
  -6.37359063, 23.1184138 ,-37.63091827, -0.08818641, -4.40329251,
  19.27664959,-40.50158603, -0.17972217,  0.63555035, -9.3912174 ,
  21.47939093, -0.89984325, -1.29648309, -1.34419634,-63.05948191,
 -54.113312  , -3.02051048]

qfrc_actuator:
[ 6.49136170e-03, 3.90298274e-02, 1.17878832e-02, 1.74086234e-03,
  2.05795789e-05, 3.48236885e-02, 1.09141815e-02, 1.78166414e-03,
 -3.03135267e-03, 3.47675971e-02, 1.08333837e-02, 1.98021318e-03,
  0.00000000e+00, 1.30805740e-03, 0.00000000e+00, 2.47119628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14984511, -0.10517188,  0.10673534, -0.10517188,  0.36203452,
        0.20908126,  0.10673534,  0.20908126,  0.35586373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001636757018100704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25833925,  0.08784698, -0.96205184, -0.0227824 ,  0.99613398,
        0.08484135,  0.96578558,  0.        ,  0.25934187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735067, -0.03888311,  0.22652568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.83591743, -5.27797402, -6.83591743, 15.9544291 ,
       -9.47819961, -5.27797402, -9.47819961, 20.91232212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011350467589648916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44532442e-14,  4.89064885e-14,  1.00000000e+00, -1.19592231e-27,
        1.00000000e+00, -4.89064885e-14, -1.00000000e+00,  0.00000000e+00,
        2.44532442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03161229, -0.06019367,  0.06189912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55587658e-03, 4.43177931e-03, 8.91848962e-04, 7.17319396e-06,
  5.81213520e-05,-4.32755004e-05, 5.11431055e-05,-7.88427619e-05,
 -2.54526184e-05, 7.12620304e-05, 4.52583118e-05,-1.00742063e-04,
  3.21684203e-03, 3.22539328e-03, 8.65600336e-03, 4.47203148e-03,
  2.08801099e-06,-2.20185462e-06,-1.21644352e+00, 1.57804197e-03,
  5.43282697e-04, 1.62694926e-05]


--- Step 2147 ---
qpos:
[-0.01418971, 1.32864053,-0.0191729 , 0.94612036, 0.00421052, 1.33227593,
 -0.03038157, 0.9435306 , 0.01689282, 1.33774187,-0.02352046, 0.95535125,
  1.35873886,-0.00557948, 1.13493493, 0.05941436,-0.00168496,-0.09801086,
  0.08174466, 0.54934557,-0.01064178,-0.00542936, 0.83550985]

qacc:
[-2.62424490e-01,-2.39779036e+00, 8.30410368e+00,-1.09495252e+01,
  2.22670217e-01,-2.93071124e+00, 1.26870567e+01,-2.67349794e+01,
 -1.04919652e-02,-8.86303616e+00, 3.29407685e+01,-5.48522506e+01,
 -1.43656585e-01, 3.21934656e-01,-5.00352491e+00, 1.17102945e+01,
 -1.79073665e+00, 1.01623957e+00,-1.14857702e+00,-6.45471330e+01,
  8.46264359e+01, 5.07478717e+00]

qfrc_actuator:
[ 6.51759410e-03, 3.90271350e-02, 1.18125192e-02, 1.72151872e-03,
  5.04093797e-05, 3.48714924e-02, 1.09433847e-02, 1.71622661e-03,
 -3.01944375e-03, 3.47105435e-02, 1.09028582e-02, 1.86348525e-03,
  0.00000000e+00, 1.33080141e-03, 0.00000000e+00, 2.53575904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14984137, -0.10531916,  0.10658475, -0.10531916,  0.58002684,
        0.42507743,  0.10658475,  0.42507743,  0.56987141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016360876413271802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58339048e-01,  8.78477472e-02, -9.62051823e-01, -2.27825828e-02,
        9.96133913e-01,  8.48420922e-02,  9.65785634e-01,  3.46944695e-18,
        2.59341685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735067, -0.03888383,  0.22652554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011608399305589323
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56396309e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56396309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324431, -0.1100537 ,  0.06189695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63633207e-03, 4.44685284e-03, 8.19954273e-04,-1.56263054e-05,
  6.41334053e-05, 3.15000625e-05, 2.42454787e-05,-6.70667142e-05,
 -3.11872555e-06,-1.17849079e-05, 8.55942685e-05,-1.15633195e-04,
  3.21886791e-03, 3.21690884e-03, 8.92192413e-03, 4.51083653e-03,
 -3.98287472e-06, 6.40826357e-06,-1.21644554e+00, 1.57499645e-03,
  5.44680042e-04, 2.61115326e-05]


--- Step 2148 ---
qpos:
[-0.0141933 , 1.32863905,-0.01917112, 0.94612121, 0.00421094, 1.33227679,
 -0.03038143, 0.94352972, 0.01689347, 1.33774167,-0.02351997, 0.95535486,
  1.35874845,-0.00558171, 1.13493577, 0.05941198,-0.00169203,-0.09801735,
  0.08173257, 0.54936637,-0.01068666,-0.00565879, 0.83549408]

qacc:
[-1.50016924e-04, 6.16690096e+00,-2.22568697e+01, 3.66468617e+01,
  6.87508114e-02, 1.58976091e+00,-4.82912137e+00, 6.81246949e+00,
  1.41074983e-01, 1.93096176e+00,-8.11471232e+00, 1.88594954e+01,
 -6.64615922e-01, 9.71914551e-01, 3.09714679e+00,-7.88129575e+00,
 -1.68779001e+00, 9.31567478e-01,-1.69893637e+00,-6.03389989e+01,
  7.92655769e+01, 4.63516089e+00]

qfrc_actuator:
[ 6.55289242e-03, 3.90441767e-02, 1.17725552e-02, 1.79913950e-03,
  3.23862164e-05, 3.49176693e-02, 1.09428304e-02, 1.73148557e-03,
 -2.97690484e-03, 3.47299395e-02, 1.09078773e-02, 1.91806752e-03,
  0.00000000e+00, 1.38081993e-03, 0.00000000e+00, 2.45083523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14982943, -0.11345728,  0.09785859, -0.11345728,  0.59400366,
        0.51497571,  0.09785859,  0.51497571,  0.74689239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016339465917306756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58338355e-01,  8.78486764e-02, -9.62051924e-01, -2.27827646e-02,
        9.96133831e-01,  8.48430055e-02,  9.65785815e-01,  3.46944695e-18,
        2.59341011e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735046, -0.03888451,  0.22652543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.36710936,  4.50693648, -7.36710936, 15.24150003,
       10.79685998,  4.50693648, 10.79685998, 26.28508102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001174053984844603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72816003e-14,  4.72816003e-14,  1.00000000e+00,  2.23554973e-27,
        1.00000000e+00, -4.72816003e-14, -1.00000000e+00,  0.00000000e+00,
       -4.72816003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532106 , -0.11004906,  0.06189581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70261173e-03, 4.46974400e-03, 7.48995782e-04, 7.83094675e-05,
  1.98316199e-05, 6.63271808e-05, 6.39799703e-06, 1.53614831e-05,
  4.06966135e-05, 2.61754065e-05, 9.06511409e-06, 5.40497038e-05,
  3.22578305e-03, 3.25351119e-03, 9.05752168e-03, 4.40918199e-03,
 -5.61497429e-07, 7.85884790e-06,-1.21644225e+00, 1.57995984e-03,
  5.45817081e-04, 3.75537741e-05]


--- Step 2149 ---
qpos:
[-0.01419711, 1.3286377 ,-0.01916994, 0.946123  , 0.00421121, 1.33227813,
 -0.03038244, 0.94352942, 0.01689452, 1.33774238,-0.02352002, 0.95535871,
  1.35875779,-0.00558335, 1.13493447, 0.05940943,-0.00169536,-0.09801768,
  0.08172415, 0.54938831,-0.01075809,-0.00570543, 0.83547842]

qacc:
[-9.72726342e-02, 3.47169455e+00,-1.30417309e+01, 2.22294634e+01,
 -5.96576374e-02, 4.73231228e+00,-1.59142760e+01, 2.04067379e+01,
  1.70050481e-01, 3.05328003e+00,-8.99093032e+00, 1.00192954e+01,
 -5.15019284e-01, 9.96959569e-01,-2.61038028e+00, 4.64606915e+00,
  9.35671114e-01, 1.54052355e+00, 9.14574176e-01, 6.90729155e+01,
  6.13011869e+01, 6.04353216e-01]

qfrc_actuator:
[ 6.55775303e-03, 3.90723811e-02, 1.17307142e-02, 1.84445808e-03,
  3.55676819e-06, 3.49091899e-02, 1.08715264e-02, 1.75859466e-03,
 -2.95184183e-03, 3.48125687e-02, 1.08929277e-02, 1.93099867e-03,
  0.00000000e+00, 1.41151835e-03, 0.00000000e+00, 2.52531926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1498227 , -0.10560953,  0.10627074, -0.10560953,  0.49072728,
        0.33878349,  0.10627074,  0.33878349,  0.48649831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016327390522971955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25833805,  0.0878496 , -0.96205192, -0.02278298,  0.99613375,
        0.08484391,  0.96578589,  0.        ,  0.25934072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735034, -0.0388852 ,  0.22652531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011989157396206651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63011281e-14,  4.63011281e-14,  1.00000000e+00,  2.14379446e-27,
        1.00000000e+00, -4.63011281e-14, -1.00000000e+00,  0.00000000e+00,
       -4.63011281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02893335, -0.13044737,  0.06189367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70746174e-03, 4.46757522e-03, 7.57448899e-04, 4.75339096e-05,
 -1.71219208e-05, 2.99193086e-05,-5.71524740e-05, 2.96474348e-05,
  4.90943359e-05, 1.00482320e-04,-7.22175967e-06, 1.52348796e-05,
  3.24702579e-03, 3.26719961e-03, 8.99139895e-03, 4.50177326e-03,
  6.41392723e-06, 6.92953352e-06,-1.21644253e+00, 1.58345705e-03,
  5.46556880e-04, 3.61861911e-05]


--- Step 2150 ---
qpos:
[-0.01420076, 1.32863601,-0.019169  , 0.94612363, 0.0042114 , 1.33227927,
 -0.03038409, 0.94353053, 0.01689564, 1.33774339,-0.02351942, 0.95536165,
  1.35876739,-0.00558515, 1.13493168, 0.05940724,-0.00169525,-0.09801222,
  0.0817166 , 0.54941147,-0.01085418,-0.00558125, 0.83546279]

qacc:
[ 7.15711156e-02,-1.87624337e+00, 7.96391820e+00,-2.03124031e+01,
 -3.36748993e-02, 3.85480617e+00,-1.57602549e+01, 3.00049892e+01,
  2.73445404e-02,-2.94586242e+00, 1.19148750e+01,-2.10811594e+01,
  4.17990901e-01,-5.85167324e-01,-3.32219525e+00, 8.33942051e+00,
  8.62312372e-01, 1.44727671e+00, 2.20005300e-01, 6.45886339e+01,
  5.72283494e+01, 4.86284497e-01]

qfrc_actuator:
[ 6.58008568e-03, 3.90897630e-02, 1.17232603e-02, 1.78160021e-03,
  3.98664398e-06, 3.48677784e-02, 1.08298374e-02, 1.82787823e-03,
 -2.97297165e-03, 3.48080518e-02, 1.09198003e-02, 1.88381258e-03,
  0.00000000e+00, 1.37697866e-03, 0.00000000e+00, 2.57112777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14980866, -0.1129757 ,  0.09838254, -0.1129757 ,  0.48802561,
        0.38838492,  0.09838254,  0.38838492,  0.59580299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001630214552989194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58338201e-01,  8.78505823e-02, -9.62051791e-01, -2.27832491e-02,
        9.96133663e-01,  8.48448488e-02,  9.65785844e-01,  3.46944695e-18,
        2.59340901e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735005, -0.03888587,  0.22652522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.57243336,   6.59808786,   5.57243336,
        41.1398647 , -27.45092176,   6.59808786, -27.45092176,
        31.82011556,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012122652076793916
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.57912599e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.57912599e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02891773, -0.13042581,  0.06189251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74125866e-03, 4.47836060e-03, 7.80570175e-04,-6.25772030e-05,
 -9.67492542e-06,-3.51583791e-05,-4.14712945e-05, 6.91946416e-05,
  7.86348829e-06, 5.00919900e-05, 4.61244321e-05,-4.40611387e-05,
  3.25908354e-03, 3.20305047e-03, 9.09820421e-03, 4.55586699e-03,
  1.01139923e-06, 1.91445141e-07,-1.21644061e+00, 1.58541883e-03,
  5.45813493e-04, 2.93863369e-05]


--- Step 2151 ---
qpos:
[-0.01420353, 1.32863307,-0.01916895, 0.94612361, 0.0042117 , 1.33227976,
 -0.03038494, 0.94353346, 0.01689654, 1.33774468,-0.02351909, 0.95536543,
  1.35877741,-0.00558735, 1.13493193, 0.05940542,-0.00169192,-0.09800129,
  0.0817076 , 0.54943585,-0.01097338,-0.00529618, 0.83544706]

qacc:
[ 3.69630397e-01,-3.51085059e-01, 4.61536775e-01,-7.02531546e+00,
  4.27413594e-02, 7.59364040e-02,-5.03892726e+00, 2.59355115e+01,
 -9.11813758e-02, 2.53563503e+00,-9.50929877e+00, 1.77697407e+01,
  4.89001702e-01,-7.70196371e-01, 3.34030308e+00,-5.24348164e+00,
  8.01809422e-01, 1.36946053e+00,-3.64185574e-01, 6.08658639e+01,
  5.38547927e+01, 4.05034623e-01]

qfrc_actuator:
[ 6.57708988e-03, 3.91010747e-02, 1.17185476e-02, 1.74434086e-03,
  2.19671700e-05, 3.48425905e-02, 1.08768776e-02, 1.92142606e-03,
 -3.00388770e-03, 3.48047619e-02, 1.08997901e-02, 1.92588733e-03,
  0.00000000e+00, 1.33932584e-03, 0.00000000e+00, 2.45725255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001626619493032347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58338909e-01,  8.78515141e-02, -9.62051516e-01, -2.27835551e-02,
        9.96133581e-01,  8.48457314e-02,  9.65785648e-01,  3.46944695e-18,
        2.59341633e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734967, -0.03888654,  0.22652513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.5711061 ,   6.59920857,   5.5711061 ,
        47.04101451, -32.42152185,   6.59920857, -32.42152185,
        36.0068788 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012097916810800899
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58848842e-14,  9.17697685e-14,  1.00000000e+00,  4.21084520e-27,
        1.00000000e+00, -9.17697685e-14, -1.00000000e+00,  0.00000000e+00,
       -4.58848842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02892161, -0.13042793,  0.06189268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72982154e-03, 4.50689064e-03, 7.87287566e-04,-4.11290360e-05,
  1.22686653e-05,-5.06744060e-05, 3.74740910e-05, 9.28793350e-05,
 -2.62706797e-05, 3.21100740e-05,-6.27325936e-06, 4.38882059e-05,
  3.24628891e-03, 3.17387050e-03, 9.17303439e-03, 4.42410572e-03,
  1.33257743e-07, 2.68801002e-06,-1.21644179e+00, 1.58743069e-03,
  5.44586192e-04, 3.30183756e-05]


--- Step 2152 ---
qpos:
[-0.01420658, 1.3286311 ,-0.01916872, 0.94612427, 0.00421214, 1.33228028,
 -0.03038562, 0.94353504, 0.01689731, 1.33774563,-0.02351834, 0.95536798,
  1.3587875 ,-0.0055891 , 1.13492868, 0.05940356,-0.00168559,-0.09798513,
  0.08169518, 0.54946136,-0.01111442,-0.00485845, 0.83543108]

qacc:
[-1.16113710e-01, 2.00755777e+00,-6.39179484e+00, 1.28388354e+01,
  6.20018591e-02,-2.68952768e+00, 1.16063368e+01,-2.57257054e+01,
 -5.72270636e-02,-3.69003717e+00, 1.39484068e+01,-2.60471988e+01,
 -1.06542948e-01, 4.60440243e-01,-5.03428529e+00, 1.01240627e+01,
  7.51768507e-01, 1.30441305e+00,-8.55182585e-01, 5.77782222e+01,
  5.10633799e+01, 3.53567080e-01]

qfrc_actuator:
[ 6.57587857e-03, 3.91630484e-02, 1.17162331e-02, 1.79338696e-03,
  3.25773068e-05, 3.48631812e-02, 1.08872013e-02, 1.85102146e-03,
 -3.00491643e-03, 3.47488409e-02, 1.09055592e-02, 1.86035248e-03,
  0.00000000e+00, 1.35335756e-03, 0.00000000e+00, 2.62021916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14977318, -0.10382531,  0.10794587, -0.10382531,  0.50339601,
        0.34012418,  0.10794587,  0.34012418,  0.47691398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016238188414189822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25834169,  0.0878522 , -0.96205071, -0.02278398,  0.99613352,
        0.08484633,  0.96578489,  0.        ,  0.25934444])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734957, -0.03888726,  0.22652496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.45355395,   6.69668023,   5.45355395,
        56.22928337, -38.75809303,   6.69668023, -38.75809303,
        40.19966725,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011946941812487621
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.64647373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.64647373e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02894091, -0.13044877,  0.0618939 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68499268e-03, 4.63151863e-03, 8.29504180e-04, 3.99281012e-05,
  1.78492708e-05, 2.68377242e-06, 7.40319180e-06,-6.86728524e-05,
 -1.65401563e-05,-3.80941826e-05, 1.26144650e-05,-6.37383485e-05,
  3.22482095e-03, 3.20773947e-03, 9.02102572e-03, 4.56867190e-03,
  3.00408026e-06, 1.28000367e-05,-1.21644554e+00, 1.58949154e-03,
  5.42933551e-04, 4.52823057e-05]


--- Step 2153 ---
qpos:
[-0.01421008, 1.3286299 ,-0.01916822, 0.94612553, 0.00421286, 1.33228122,
 -0.03038655, 0.94353368, 0.01689799, 1.33774585,-0.02351673, 0.95536904,
  1.35879731,-0.00559047, 1.13492343, 0.05940184,-0.0016839 ,-0.09797545,
  0.08168609, 0.5494903 ,-0.0112286 ,-0.00462729, 0.83541183]

qacc:
[-1.90724733e-01, 1.28327789e+00,-4.16279474e+00, 9.97444101e+00,
  1.19349226e-01,-3.82042906e+00, 1.91679810e+01,-5.09910415e+01,
 -3.65548847e-02,-5.84910827e+00, 2.09260442e+01,-3.48227150e+01,
 -3.74420195e-01, 6.57030338e-01,-3.37461682e+00, 7.57790797e+00,
 -1.16139392e+00,-1.61861476e+00, 8.33653068e-01,-7.88984813e+01,
 -6.79385943e+01,-3.54501951e+00]

qfrc_actuator:
[ 6.57653525e-03, 3.92181890e-02, 1.17324075e-02, 1.82214132e-03,
  5.64319211e-05, 3.48930569e-02, 1.08758189e-02, 1.70243943e-03,
 -3.00575905e-03, 3.46973700e-02, 1.09439814e-02, 1.78524489e-03,
  0.00000000e+00, 1.39770627e-03, 0.00000000e+00, 2.66551060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14975033, -0.1042264 ,  0.10752683, -0.1042264 ,  0.55955963,
        0.39723058,  0.10752683,  0.39723058,  0.53478829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016196847441139056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58343368e-01,  8.78529713e-02, -9.62050186e-01, -2.27843292e-02,
        9.96133453e-01,  8.48470324e-02,  9.65784437e-01,  3.46944695e-18,
        2.59346142e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734917, -0.03888797,  0.22652486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012071442941747543
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59855143e-14,  4.59855143e-14,  1.00000000e+00, -2.11466753e-27,
        1.00000000e+00, -4.59855143e-14, -1.00000000e+00,  0.00000000e+00,
        4.59855143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03152217, -0.06033386,  0.06189279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69934441e-03, 4.63800263e-03, 8.37268156e-04, 3.46658713e-05,
  3.43901168e-05, 3.07434629e-05,-1.20264419e-05,-1.49874328e-04,
 -1.06103775e-05,-7.19641620e-05, 3.05537721e-05,-7.73443341e-05,
  3.22187345e-03, 3.22930656e-03, 9.19617761e-03, 4.61603207e-03,
  9.05205992e-06, 2.93439966e-05,-1.21645150e+00, 1.59159385e-03,
  5.40902301e-04, 6.48669244e-05]


--- Step 2154 ---
qpos:
[-0.01421265, 1.32862577,-0.01916857, 0.94612612, 0.00421386, 1.33228205,
 -0.03038722, 0.94353195, 0.01689861, 1.33774568,-0.02351507, 0.9553699 ,
  1.35880717,-0.0055925 , 1.13492726, 0.05940097,-0.00168644,-0.09797185,
  0.08167727, 0.54952282,-0.01131827,-0.00458741, 0.83538944]

qacc:
[ 3.90959250e-01,-2.70484990e+00, 5.50784730e+00,-1.05387431e+01,
  1.18612074e-01,-1.44233965e+00, 5.29456022e+00,-8.79563514e+00,
 -2.41922399e-02,-9.88126743e-01, 3.00317645e+00,-4.69591960e+00,
  1.13040957e-01,-5.70057199e-01, 1.08466403e+01,-1.84803072e+01,
 -1.05554584e+00,-1.51770025e+00, 6.76749083e-02,-7.31483411e+01,
 -6.27674547e+01,-3.49187125e+00]

qfrc_actuator:
[ 6.52534049e-03, 3.91625254e-02, 1.17594959e-02, 1.76752825e-03,
  7.02865477e-05, 3.48748556e-02, 1.08872603e-02, 1.68660815e-03,
 -3.00648443e-03, 3.46845801e-02, 1.09481155e-02, 1.77615236e-03,
  0.00000000e+00, 1.38913035e-03, 0.00000000e+00, 2.33822871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14972467, -0.11071387,  0.10079641, -0.11071387,  0.75132042,
        0.66078731,  0.10079641,  0.66078731,  0.87552747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001615028227037671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25834403,  0.08785387, -0.96204993, -0.02278462,  0.99613337,
        0.08484788,  0.96578425,  0.        ,  0.25934682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673486 , -0.03888865,  0.2265248 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.13942404,  -6.07406366,  -6.13942404,
        19.08434375, -10.56040631,  -6.07406366, -10.56040631,
        19.31040591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012387380940394738
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48126618e-14,  2.24063309e-14,  1.00000000e+00,  1.00408733e-27,
        1.00000000e+00, -2.24063309e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48126618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03147957, -0.06038916,  0.0618901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67064947e-03, 4.54372185e-03, 8.50340053e-04,-4.94488108e-05,
  3.41543458e-05,-8.05979131e-06, 1.16898882e-05,-1.87358719e-05,
 -6.99295165e-06,-4.89104299e-05,-8.71020569e-06,-1.21259726e-05,
  3.23557134e-03, 3.20185205e-03, 9.29632632e-03, 4.28133359e-03,
  1.69246982e-06, 8.62619164e-06,-1.21644423e+00, 1.58916160e-03,
  5.42669216e-04, 4.18029610e-05]


--- Step 2155 ---
qpos:
[-0.01421458, 1.32861917,-0.019169  , 0.94612564, 0.00421495, 1.33228258,
 -0.03038766, 0.94353006, 0.01689919, 1.33774562,-0.02351441, 0.95536961,
  1.35881676,-0.00559521, 1.13493845, 0.05940091,-0.00169285,-0.09797397,
  0.08166614, 0.54955898,-0.01138533,-0.0047261 , 0.83536397]

qacc:
[ 2.73163534e-01,-4.89610315e+00, 1.42574319e+01,-2.33893146e+01,
  3.53032497e-02,-1.31222669e+00, 4.12959445e+00,-5.23537437e+00,
 -1.67018098e-02, 8.70407746e-01,-3.61443457e-01,-1.29226006e+01,
 -4.80681031e-02,-4.70272673e-01, 8.43465395e+00,-1.37084773e+01,
 -9.68473560e-01,-1.43266965e+00,-5.78051934e-01,-6.83681801e+01,
 -5.84824588e+01,-3.42425556e+00]

qfrc_actuator:
[ 6.51285301e-03, 3.91325392e-02, 1.18118990e-02, 1.71716025e-03,
  6.02777213e-05, 3.48459144e-02, 1.08942462e-02, 1.67802116e-03,
 -3.00713433e-03, 3.46949647e-02, 1.08966484e-02, 1.71721684e-03,
  0.00000000e+00, 1.40295166e-03, 0.00000000e+00, 2.19495819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1497169 , -0.07907563,  0.12713062, -0.07907563,  1.10273972,
        0.59278308,  0.12713062,  0.59278308,  0.51842978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016136150287071604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58348339e-01,  8.78544887e-02, -9.62048712e-01, -2.27851642e-02,
        9.96133319e-01,  8.48483793e-02,  9.65783088e-01, -3.46944695e-18,
        2.59351167e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734884, -0.03888944,  0.22652455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.12952464,  -6.08405329,  -6.12952464,
        21.07252276, -12.52910521,  -6.08405329, -12.52910521,
        21.25910959,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012503586982553286
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43961811e-14,  4.43961811e-14,  1.00000000e+00,  1.97102090e-27,
        1.00000000e+00, -4.43961811e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43961811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03146486, -0.06041121,  0.06188908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61204529e-03, 4.66042368e-03, 9.45024588e-04,-6.71421736e-05,
  1.01498542e-05,-3.16825501e-05, 6.18749176e-06,-8.92315927e-06,
 -4.78093867e-06,-1.87212994e-05,-6.23631141e-05,-6.09177383e-05,
  3.23306161e-03, 3.24908890e-03, 8.84217605e-03, 4.09582076e-03,
  2.17901596e-07, 5.12861962e-07,-1.21644112e+00, 1.58658776e-03,
  5.44338343e-04, 3.24472946e-05]


--- Step 2156 ---
qpos:
[-0.01421736, 1.32861391,-0.01916921, 0.9461249 , 0.00421603, 1.33228271,
 -0.03038825, 0.94352846, 0.0168996 , 1.33774645,-0.02351509, 0.95536892,
  1.35882548,-0.00559762, 1.13494689, 0.05940068,-0.00170284,-0.09798153,
  0.08165052, 0.54959871,-0.01143137,-0.00503283, 0.83533541]

qacc:
[-3.55855701e-01, 7.27592241e-01, 2.95302073e-01,-4.19766903e+00,
 -1.71520924e-03, 3.66874993e-01,-2.41133709e+00, 5.65915509e+00,
 -7.37028688e-02, 4.07815277e+00,-1.10796607e+01, 4.34803849e+00,
 -7.76238298e-01, 9.46783673e-01,-3.48111537e+00, 6.38979807e+00,
 -8.96609921e-01,-1.36085390e+00,-1.12213339e+00,-6.43947941e+01,
 -5.49312287e+01,-3.34764608e+00]

qfrc_actuator:
[ 6.54125181e-03, 3.91541758e-02, 1.17903053e-02, 1.72328457e-03,
  5.37881985e-05, 3.48107672e-02, 1.08807172e-02, 1.69147146e-03,
 -3.02548678e-03, 3.47899146e-02, 1.08483490e-02, 1.70040678e-03,
  0.00000000e+00, 1.46599523e-03, 0.00000000e+00, 2.37482622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14972411, -0.08003628,  0.12653657, -0.08003628,  1.01888756,
        0.54975893,  0.12653657,  0.54975893,  0.49745489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016149256276084406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58355122e-01,  8.78549236e-02, -9.62046851e-01, -2.27858761e-02,
        9.96133280e-01,  8.48486384e-02,  9.65781256e-01, -3.46944695e-18,
        2.59357987e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06734975, -0.03889027,  0.22652414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.06247717,  -6.15086558,  -6.06247717,
        23.87827725, -15.02288614,  -6.15086558, -15.02288614,
        23.44336974,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012458949694665322
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.22776207e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.22776207e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03147238, -0.0604068 ,  0.0618894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60823996e-03, 4.80566147e-03, 9.27681379e-04,-7.05067261e-06,
 -4.99882372e-07,-5.17370524e-05,-1.92871896e-05, 1.24696653e-05,
 -2.11758614e-05, 7.06146751e-05,-6.08255673e-05,-2.06066609e-05,
  3.24672066e-03, 3.34615286e-03, 8.47371695e-03, 4.23530818e-03,
  3.49470208e-06, 2.53863828e-06,-1.21644135e+00, 1.58384274e-03,
  5.45984706e-04, 3.40865938e-05]


--- Step 2157 ---
qpos:
[-0.01422066, 1.32861073,-0.01916972, 0.94612487, 0.00421678, 1.33228188,
 -0.03038848, 0.94352775, 0.01689997, 1.33774707,-0.02351575, 0.9553684 ,
  1.3588341 ,-0.00559928, 1.13494912, 0.05939985,-0.00170856,-0.0979831 ,
  0.08164036, 0.54963813,-0.01150679,-0.00514854, 0.83530773]

qacc:
[-2.26723420e-01, 4.75668623e+00,-1.36933048e+01, 1.90151799e+01,
 -1.39144472e-01,-7.06750273e-01,-1.05782705e+00, 1.18488715e+01,
 -2.01584003e-02,-2.13972577e-02,-5.99252981e-01, 2.63900750e+00,
 -3.37043230e-01, 9.13129236e-01,-7.38036398e+00, 1.25502194e+01,
  1.07006625e+00, 1.49861047e+00, 1.36558295e+00, 7.17101178e+01,
  6.47614876e+01, 1.53289913e+00]

qfrc_actuator:
[ 6.57765592e-03, 3.91329525e-02, 1.17063004e-02, 1.76292519e-03,
  1.39589761e-05, 3.47366045e-02, 1.08906746e-02, 1.73551538e-03,
 -3.01880548e-03, 3.47395110e-02, 1.08381993e-02, 1.70859532e-03,
  0.00000000e+00, 1.45134342e-03, 0.00000000e+00, 2.55395799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14972793, -0.10612636,  0.10562029, -0.10612636,  0.54087968,
        0.39302592,  0.10562029,  0.39302592,  0.54463699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016156193597577015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58360405e-01,  8.78555883e-02, -9.62045371e-01, -2.27865158e-02,
        9.96133222e-01,  8.48491549e-02,  9.65779828e-01, -3.46944695e-18,
        2.59363305e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735042, -0.038891  ,  0.22652382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012333027287374926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12525396e-14,  4.50101584e-14,  1.00000000e+00,  5.06478591e-28,
        1.00000000e+00, -4.50101584e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12525396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.028903  , -0.13037451,  0.06189038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68663092e-03, 4.71745332e-03, 8.33200468e-04, 4.60124691e-05,
 -4.01261212e-05,-1.06184028e-04,-1.99466522e-06, 4.22087840e-05,
 -5.81980620e-06,-2.38494053e-05,-3.87628750e-06, 8.01956219e-06,
  3.29050138e-03, 3.31627810e-03, 8.61118698e-03, 4.42318081e-03,
  1.06996684e-05, 1.29085085e-05,-1.21644432e+00, 1.58091557e-03,
  5.47655396e-04, 4.47420204e-05]


--- Step 2158 ---
qpos:
[-0.0142231 , 1.32860816,-0.01917096, 0.94612547, 0.00421715, 1.33228046,
 -0.03038836, 0.94352651, 0.01690033, 1.33774743,-0.02351617, 0.95536764,
  1.35884321,-0.00560102, 1.13495221, 0.05939879,-0.0017104 ,-0.09797902,
  0.08163259, 0.54967765,-0.01160916,-0.00508669, 0.83528069]

qacc:
[ 3.65015664e-01, 3.92141366e+00,-1.31210060e+01, 1.83779489e+01,
 -1.65417034e-01,-2.61226500e+00, 8.69631155e+00,-1.33939734e+01,
  1.64643993e-03,-1.40217977e+00, 4.67057286e+00,-6.76859545e+00,
  3.91572437e-01,-4.19540152e-01, 1.97370351e+00,-5.09582094e+00,
  9.69229072e-01, 1.41515484e+00, 5.94940132e-01, 6.67540078e+01,
  6.00503133e+01, 1.23179671e+00]

qfrc_actuator:
[ 6.61889388e-03, 3.91379928e-02, 1.16740194e-02, 1.78628626e-03,
 -1.00424681e-05, 3.47285254e-02, 1.09142804e-02, 1.70843431e-03,
 -3.01491303e-03, 3.47268952e-02, 1.08501145e-02, 1.69585944e-03,
  0.00000000e+00, 1.40725557e-03, 0.00000000e+00, 2.44908484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1497189 , -0.13351814,  0.0677396 , -0.13351814,  0.45072749,
        0.59330299,  0.0677396 ,  0.59330299,  1.31914877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016139781387315005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25836395,  0.08785641, -0.96204435, -0.02278704,  0.99613315,
        0.08484986,  0.96577887,  0.        ,  0.25936688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735053, -0.03889168,  0.22652362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.89799661,  6.30875684,  5.89799661, 18.99089357,
       -9.68035129,  6.30875684, -9.68035129, 17.68643174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012545965528631617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42462169e-14,  4.42462169e-14,  1.00000000e+00,  1.95772771e-27,
        1.00000000e+00, -4.42462169e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42462169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02887937, -0.13033895,  0.06188855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75459533e-03, 4.61838611e-03, 8.15007239e-04, 3.32244301e-05,
 -4.76890411e-05,-6.59370041e-05, 3.84450637e-06,-2.93564549e-05,
  4.55391421e-07,-2.63277749e-05, 7.05143603e-06,-1.33696673e-05,
  3.29518563e-03, 3.23448445e-03, 8.92186701e-03, 4.34751385e-03,
  2.99937992e-06, 1.79027245e-06,-1.21644126e+00, 1.58474609e-03,
  5.46112102e-04, 3.31783255e-05]


--- Step 2159 ---
qpos:
[-0.01422423, 1.32860558,-0.01917298, 0.94612641, 0.00421745, 1.3322791 ,
 -0.03038833, 0.94352663, 0.01690043, 1.33774824,-0.02351658, 0.95536943,
  1.35885291,-0.00560315, 1.13495744, 0.05939763,-0.00170869,-0.09796955,
  0.0816246 , 0.54971748,-0.01173649,-0.00485844, 0.83525406]

qacc:
[ 5.57544055e-01, 2.65123910e+00,-9.34842283e+00, 1.20323438e+01,
 -2.41892259e-02, 2.65803795e+00,-1.13927915e+01, 2.57900967e+01,
 -1.14709132e-01, 4.96673910e+00,-2.06476112e+01, 4.71800549e+01,
  6.20827877e-01,-8.90373383e-01, 3.43865880e+00,-7.54877995e+00,
  8.86823741e-01, 1.34466118e+00,-5.35365036e-02, 6.26368431e+01,
  5.61540634e+01, 1.00673604e+00]

qfrc_actuator:
[ 6.66184959e-03, 3.91771871e-02, 1.16556000e-02, 1.79968187e-03,
  1.11515411e-05, 3.47778558e-02, 1.09281925e-02, 1.78176920e-03,
 -3.04823147e-03, 3.48080959e-02, 1.08750449e-02, 1.83069612e-03,
  0.00000000e+00, 1.36380262e-03, 0.00000000e+00, 2.36897377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14971393, -0.11322062,  0.09795587, -0.11322062,  0.74145804,
        0.68395734,  0.09795587,  0.68395734,  0.94025436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016130737086934507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25836763,  0.087857  , -0.9620433 , -0.02278752,  0.9961331 ,
        0.08485035,  0.96577787,  0.        ,  0.25937059])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673507 , -0.03889241,  0.22652342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.91430594,   6.2934698 ,   5.91430594,
        21.03422899, -11.65092881,   6.2934698 , -11.65092881,
        19.58535674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001257982168192659
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75794605e-14,  4.41271368e-14,  1.00000000e+00,  1.21700263e-27,
        1.00000000e+00, -4.41271368e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75794605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02887752, -0.13033074,  0.06188823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75445885e-03, 4.62728174e-03, 8.34041239e-04, 1.50417585e-05,
 -6.95579633e-06, 1.27299598e-05, 5.89590916e-07, 7.07809407e-05,
 -3.30501721e-05, 6.76201640e-05, 2.01982864e-05, 1.33950949e-04,
  3.27058121e-03, 3.19562296e-03, 8.87828727e-03, 4.27922386e-03,
  2.54330213e-07, 1.02017538e-06,-1.21644163e+00, 1.58827286e-03,
  5.44233994e-04, 3.32972415e-05]


--- Step 2160 ---
qpos:
[-0.01422548, 1.32860384,-0.01917507, 0.9461267 , 0.00421783, 1.33227793,
 -0.0303885 , 0.94352798, 0.01690034, 1.33774944,-0.02351644, 0.95537384,
  1.35886261,-0.00560533, 1.13495968, 0.05939643,-0.00171142,-0.09796595,
  0.08161687, 0.54976014,-0.01183866,-0.00482152, 0.83522475]

qacc:
[-5.25420712e-02, 1.60729418e-01, 2.12627797e+00,-9.89140733e+00,
  2.95162447e-02, 2.86584290e+00,-1.15832379e+01, 2.40805220e+01,
 -7.50236917e-02, 3.53078500e+00,-1.61505111e+01, 4.38705210e+01,
  1.87197314e-01,-2.73125610e-01,-4.33817196e+00, 8.71599938e+00,
 -1.10928738e+00,-1.46731483e+00, 6.69703161e-02,-7.29783086e+01,
 -6.30754009e+01,-3.09734478e+00]

qfrc_actuator:
[ 6.65177905e-03, 3.92017423e-02, 1.16280656e-02, 1.77163753e-03,
  2.37800975e-05, 3.47902005e-02, 1.09188226e-02, 1.84264667e-03,
 -3.05034558e-03, 3.48384714e-02, 1.09079102e-02, 1.96259858e-03,
  0.00000000e+00, 1.37432260e-03, 0.00000000e+00, 2.49896640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14971482, -0.10790162,  0.10378713, -0.10790162,  0.76124432,
        0.63577269,  0.10378713,  0.63577269,  0.81069178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016132365602987767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58372069e-01,  8.78572513e-02, -9.62042087e-01, -2.27879792e-02,
        9.96133075e-01,  8.48504838e-02,  9.65776673e-01, -3.46944695e-18,
        2.59375053e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735104, -0.0388932 ,  0.2265232 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012680920037999033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37753342e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.37753342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03145037, -0.06045837,  0.06188734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67858400e-03, 4.65235927e-03, 8.45014460e-04,-2.97215879e-05,
  8.52324143e-06, 2.16400376e-05,-4.73500728e-06, 6.29168124e-05,
 -2.16279886e-05, 7.56755891e-05, 5.22867168e-05, 1.37617024e-04,
  3.24135524e-03, 3.22562868e-03, 8.77138467e-03, 4.41466975e-03,
  1.57516526e-06, 8.64711234e-06,-1.21644479e+00, 1.59159818e-03,
  5.42036196e-04, 4.29261531e-05]


--- Step 2161 ---
qpos:
[-0.01422786, 1.32860188,-0.01917646, 0.94612602, 0.00421816, 1.33227719,
 -0.03038911, 0.94352831, 0.01690044, 1.33775138,-0.02351616, 0.95537737,
  1.35887171,-0.00560745, 1.13496161, 0.05939576,-0.00171819,-0.09796792,
  0.08160683, 0.54980581,-0.01191775,-0.00496317, 0.83519273]

qacc:
[-4.77265494e-01,-3.87829016e+00, 1.42948764e+01,-2.36292279e+01,
 -1.86153621e-02, 7.83300968e-03, 2.77679387e+00,-1.45186521e+01,
  7.48769398e-02,-9.08590908e-01, 5.90095272e+00,-1.57096861e+01,
 -4.68948177e-01, 4.53656426e-01,-2.04606489e+00, 6.56122967e+00,
 -1.01031429e+00,-1.39175757e+00,-5.80910494e-01,-6.82159568e+01,
 -5.86977920e+01,-3.12088350e+00]

qfrc_actuator:
[ 6.55754840e-03, 3.91811632e-02, 1.16656800e-02, 1.71957964e-03,
  1.34127045e-05, 3.48157264e-02, 1.08956406e-02, 1.78913984e-03,
 -3.01596973e-03, 3.48737340e-02, 1.09094897e-02, 1.91414020e-03,
  0.00000000e+00, 1.43478606e-03, 0.00000000e+00, 2.50645093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016122490672696235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25837576,  0.08785754, -0.96204107, -0.02278838,  0.99613305,
        0.08485067,  0.96577567,  0.        ,  0.25937877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735112, -0.03889395,  0.22652303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.94927348, -6.26042506, -5.94927348, 16.52603498,
       -7.49754403, -6.26042506, -7.49754403, 15.76126961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012780969071396892
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34326622e-14,  4.34326622e-14,  1.00000000e+00,  1.88639615e-27,
        1.00000000e+00, -4.34326622e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34326622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03143922, -0.06047868,  0.06188646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59054768e-03, 4.58981166e-03, 8.86096736e-04,-4.92922627e-05,
 -5.33614821e-06, 3.84733534e-05,-1.76390543e-05,-5.15364262e-05,
  2.16068923e-05, 9.13927710e-05, 2.63304524e-05,-4.14761309e-05,
  3.24068448e-03, 3.28815263e-03, 8.92097944e-03, 4.42375724e-03,
  4.56986342e-07, 6.25716279e-07,-1.21644152e+00, 1.58799798e-03,
  5.44224648e-04, 3.35884447e-05]


--- Step 2162 ---
qpos:
[-0.01423097, 1.3286002 ,-0.01917684, 0.94612534, 0.00421841, 1.33227736,
 -0.0303905 , 0.94352763, 0.01690052, 1.33775371,-0.02351649, 0.95537864,
  1.3588805 ,-0.00560951, 1.13496413, 0.05939549,-0.00172185,-0.0979699 ,
  0.08161046, 0.54985107,-0.01194421,-0.00505476, 0.83516201]

qacc:
[-3.07360802e-01,-2.35086814e+00, 8.09559867e+00,-7.11150543e+00,
 -3.30814420e-02, 1.56234720e+00,-1.59841986e+00,-1.09033835e+01,
 -7.91368655e-03,-1.78177585e+00, 1.09736379e+01,-3.58335465e+01,
 -2.85268135e-01, 3.28391862e-01,-2.92255757e-01, 2.35160467e+00,
  7.78618024e-01,-5.09181026e-03, 3.41828722e+00, 3.53707105e+01,
 -8.22698716e+00, 6.98682142e-01]

qfrc_actuator:
[ 6.53814253e-03, 3.91342260e-02, 1.17061371e-02, 1.72471044e-03,
  7.08604151e-06, 3.48843268e-02, 1.08644808e-02, 1.73976395e-03,
 -3.03099362e-03, 3.48404140e-02, 1.08569888e-02, 1.79541805e-03,
  0.00000000e+00, 1.43637947e-03, 0.00000000e+00, 2.51088590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016112021687912995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25837899,  0.08785812, -0.96204015, -0.02278882,  0.996133  ,
        0.08485116,  0.9657748 ,  0.        ,  0.25938202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735121, -0.03889463,  0.22652287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012764774895659536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08719409e-14,  7.73486017e-07,  1.00000000e+00,  8.40929426e-21,
        1.00000000e+00, -7.73486017e-07, -1.00000000e+00,  0.00000000e+00,
       -1.08719409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01641575, -0.10122734,  0.06188654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62747944e-03, 4.55383029e-03, 8.91571305e-04, 4.64278362e-06,
 -9.47463338e-06, 8.48894349e-05,-2.71499854e-05,-4.99323152e-05,
 -2.26112405e-06, 2.11245600e-05,-3.28724908e-05,-1.16202917e-04,
  3.27155518e-03, 3.28735201e-03, 8.93644060e-03, 4.40138770e-03,
  4.05624437e-06, 2.74301369e-06,-1.21644163e+00, 1.58440817e-03,
  5.46303928e-04, 3.52616965e-05]


--- Step 2163 ---
qpos:
[-0.01423441, 1.32859893,-0.01917651, 0.94612612, 0.00421873, 1.33227828,
 -0.03039229, 0.94352635, 0.01690051, 1.33775599,-0.02351734, 0.95538023,
  1.35888896,-0.005611  , 1.13496544, 0.05939526,-0.00172173,-0.09796661,
  0.08161417, 0.54989609,-0.01199651,-0.00497866, 0.83513208]

qacc:
[-1.43762032e-01, 1.17050791e+00,-6.11491652e+00, 2.18581310e+01,
  2.87249001e-02, 1.05632209e+00,-1.01603521e+00,-6.50346582e+00,
 -3.60224805e-02, 1.95589858e+00,-7.12073327e+00, 1.00182056e+01,
 -6.04448386e-01, 1.06661888e+00,-1.84177877e+00, 3.94540809e+00,
  9.43975085e-01, 1.32060072e+00, 2.26485835e-02, 6.29260911e+01,
  5.68870996e+01, 1.38872543e+00]

qfrc_actuator:
[ 6.58143380e-03, 3.90888141e-02, 1.17122014e-02, 1.79906263e-03,
  2.09879038e-05, 3.49248855e-02, 1.08468113e-02, 1.71101810e-03,
 -3.04002742e-03, 3.48192596e-02, 1.08259753e-02, 1.81379933e-03,
  0.00000000e+00, 1.47362202e-03, 0.00000000e+00, 2.56667477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14970252, -0.10737464,  0.10431458, -0.10737464,  0.4426776 ,
        0.30156947,  0.10431458,  0.30156947,  0.46011849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016109957295734612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25838097,  0.0878589 , -0.96203955, -0.0227892 ,  0.99613293,
        0.08485187,  0.96577426,  0.        ,  0.25938402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735134, -0.03889531,  0.22652272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -2.6563517 , -8.21769874, -2.6563517 ,  9.3863414 ,
       -0.24242854, -8.21769874, -0.24242854,  8.71472809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012809804437744349
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16674468e-14,  4.33348936e-14,  1.00000000e+00,  9.38956502e-28,
        1.00000000e+00, -4.33348936e-14, -1.00000000e+00,  0.00000000e+00,
       -2.16674468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02886189, -0.13028241,  0.06188619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70705674e-03, 4.49437020e-03, 8.46987805e-04, 7.84222706e-05,
  8.31290969e-06, 8.07057192e-05,-5.61625448e-06,-2.81494231e-05,
 -1.03666114e-05,-1.93469540e-05,-3.40241018e-05, 1.53447388e-05,
  3.28631423e-03, 3.32120825e-03, 8.90648346e-03, 4.43737394e-03,
  1.39515308e-06, 1.54178424e-06,-1.21644046e+00, 1.58397312e-03,
  5.45217907e-04, 3.54246044e-05]


--- Step 2164 ---
qpos:
[-0.01423797, 1.328598  ,-0.01917592, 0.94612781, 0.00421902, 1.33227953,
 -0.03039388, 0.94352543, 0.01690041, 1.33775783,-0.02351764, 0.95538374,
  1.35889719,-0.00561227, 1.13496711, 0.05939506,-0.00171894,-0.09796314,
  0.0816277 , 0.54994095,-0.01199917,-0.00485643, 0.83510322]

qacc:
[-4.85483554e-02, 1.28612046e+00,-5.52592299e+00, 1.51853171e+01,
 -1.62337558e-02, 5.28709791e-01,-1.94371796e+00, 5.68494283e+00,
 -3.97482359e-02, 1.20316729e+00,-8.46408885e+00, 2.96326241e+01,
 -3.58489984e-01, 5.47950539e-01, 4.45550876e-01,-7.21593597e-01,
  6.66168019e-01, 4.51666805e-02, 2.45238689e+00, 3.29064043e+01,
 -8.05353699e+00, 5.12528487e-01]

qfrc_actuator:
[ 6.59123679e-03, 3.90618263e-02, 1.17152897e-02, 1.84249275e-03,
  1.14069220e-05, 3.49306434e-02, 1.08549170e-02, 1.73014434e-03,
 -3.04539340e-03, 3.48056853e-02, 1.08612904e-02, 1.91275361e-03,
  0.00000000e+00, 1.49622474e-03, 0.00000000e+00, 2.54696587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14969983, -0.10808035,  0.10357933, -0.10808035,  0.67567475,
        0.54883108,  0.10357933,  0.54883108,  0.72238027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001610505013042475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58381864e-01,  8.78597807e-02, -9.62039225e-01, -2.27895043e-02,
        9.96132852e-01,  8.48526933e-02,  9.65774016e-01, -3.46944695e-18,
        2.59384944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735135, -0.03889598,  0.2265226 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   3.94930514,   7.68047953,   3.94930514,
        68.55307942, -30.80919527,   7.68047953, -30.80919527,
        24.47846214,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012712632144010166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27496013e-14,  3.80903583e-07,  1.00000000e+00,  1.24744405e-20,
        1.00000000e+00, -3.80903583e-07, -1.00000000e+00,  1.50463277e-36,
       -3.27496013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0164213 , -0.10122571,  0.06188702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73382889e-03, 4.44677063e-03, 8.15039369e-04, 4.92918875e-05,
 -4.67145295e-06, 4.84530504e-05, 2.24285634e-05, 2.07329455e-05,
 -1.14870086e-05,-3.04751862e-05, 2.81202721e-05, 9.77473695e-05,
  3.30317783e-03, 3.31558062e-03, 8.96723578e-03, 4.41606637e-03,
  6.04945779e-07, 1.29630882e-06,-1.21644105e+00, 1.58765675e-03,
  5.43235697e-04, 3.57342734e-05]


--- Step 2165 ---
qpos:
[-0.01424046, 1.32859491,-0.01917648, 0.94612927, 0.00421908, 1.33228068,
 -0.03039518, 0.94352548, 0.01690008, 1.33775945,-0.02351748, 0.95538667,
  1.35890545,-0.00561396, 1.1349749 , 0.05939516,-0.00171646,-0.09796501,
  0.08164524, 0.54998826,-0.01191592,-0.0048474 , 0.83507331]

qacc:
[ 4.49716372e-01,-8.20376384e-02,-2.67560610e+00, 1.03220920e+00,
 -9.14223984e-02, 7.07319140e-01,-4.45903477e+00, 1.50911909e+01,
 -9.58036669e-02,-2.52799692e+00, 9.07126379e+00,-1.44486582e+01,
  4.89785958e-02,-3.29321757e-01, 8.09543562e+00,-1.52162936e+01,
 -7.48066457e-02,-1.33648164e+00, 1.00400604e+00,-2.36292353e+01,
 -6.69821980e+01,-2.20519313e+00]

qfrc_actuator:
[ 6.59861038e-03, 3.90813119e-02, 1.17167383e-02, 1.81406822e-03,
 -1.21846089e-05, 3.48978915e-02, 1.08603001e-02, 1.77727399e-03,
 -3.06626819e-03, 3.47970698e-02, 1.08822625e-02, 1.88081302e-03,
  0.00000000e+00, 1.49240686e-03, 0.00000000e+00, 2.32216569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14969993,  0.10406483, -0.10761311,  0.10406483,  0.47766199,
        0.31714832, -0.10761311,  0.31714832,  0.45639107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016105244081521947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25838217,  0.08786069, -0.96203906, -0.02278977,  0.99613277,
        0.08485357,  0.96577393,  0.        ,  0.25938528])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735139, -0.03889665,  0.22652248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   5.30231562,   6.81705405,   5.30231562,
        29.17636496, -15.97604613,   6.81705405, -15.97604613,
        21.06255807,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012617231909853087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29238331e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.29238331e-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([ 0.00321062, -0.07267024,  0.06188789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74693121e-03, 4.44957212e-03, 8.02760374e-04,-2.48426391e-05,
 -2.63471377e-05,-9.45113019e-07, 1.80214063e-05, 4.97233616e-05,
 -2.76586518e-05,-1.70894972e-05, 2.10797087e-05,-2.97378514e-05,
  3.31490386e-03, 3.30063154e-03, 8.94916976e-03, 4.18935604e-03,
  1.94501356e-06, 2.23489063e-06,-1.21644100e+00, 1.58699311e-03,
  5.42161607e-04, 3.70854544e-05]


--- Step 2166 ---
qpos:
[-0.01424186, 1.32859072,-0.01917813, 0.94613132, 0.00421905, 1.33228143,
 -0.03039645, 0.94352475, 0.01689951, 1.33776109,-0.02351769, 0.95538852,
  1.3589137 ,-0.00561595, 1.13498794, 0.05939516,-0.00171763,-0.0979717 ,
  0.08165657, 0.55003793,-0.01181163,-0.00499874, 0.83504118]

qacc:
[ 4.66542052e-01, 2.52599402e+00,-1.11989408e+01, 1.73045656e+01,
 -4.10741722e-02,-1.92415585e+00, 7.26085715e+00,-1.50695187e+01,
 -9.91616018e-02,-8.32197908e-01, 4.91215794e+00,-1.66445933e+01,
 -7.54204859e-02,-1.02897731e-01, 8.11690251e+00,-1.70992373e+01,
 -9.14661398e-01,-1.20445985e+00,-1.55260189e+00,-6.11676836e+01,
 -5.28656449e+01,-2.59591647e+00]

qfrc_actuator:
[ 6.62114888e-03, 3.90777741e-02, 1.17007765e-02, 1.84982379e-03,
 -8.48427547e-06, 3.48423421e-02, 1.08461206e-02, 1.73394612e-03,
 -3.07852557e-03, 3.47913829e-02, 1.08590018e-02, 1.82532314e-03,
  0.00000000e+00, 1.49104872e-03, 0.00000000e+00, 2.18705961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14971037, -0.08991609,  0.11970084, -0.08991609,  1.06401469,
        0.68680109,  0.11970084,  0.68680109,  0.66561708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016124258717921044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25838569,  0.0878613 , -0.96203806, -0.02279024,  0.99613272,
        0.08485407,  0.96577298,  0.        ,  0.25938882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735197, -0.0388974 ,  0.22652222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 8.18967206, 2.74154126, 8.18967206, 8.43816196,
       0.59207817, 2.74154126, 0.59207817, 6.8676775 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012455354765037105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91362025e-14, -4.45681013e-14,  1.00000000e+00, -3.97263130e-27,
        1.00000000e+00,  4.45681013e-14, -1.00000000e+00,  0.00000000e+00,
       -8.91362025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03150681, -0.06044094,  0.06188933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71640464e-03, 4.55357366e-03, 8.44875074e-04, 2.23376802e-05,
 -1.18507804e-05,-5.10588225e-05,-1.08551097e-05,-4.16751603e-05,
 -2.85895975e-05,-1.19094127e-05,-2.50701779e-05,-5.60646720e-05,
  3.31282567e-03, 3.32059554e-03, 8.64343877e-03, 4.03893560e-03,
  6.56680941e-07,-3.25996386e-08,-1.21643958e+00, 1.58260868e-03,
  5.43003850e-04, 3.34851250e-05]


--- Step 2167 ---
qpos:
[-0.01424346, 1.32858729,-0.01917932, 0.94613319, 0.00421898, 1.33228201,
 -0.03039795, 0.94352384, 0.01689905, 1.33776224,-0.02351739, 0.95538935,
  1.35892181,-0.00561792, 1.13499884, 0.05939501,-0.00171497,-0.09797328,
  0.08166694, 0.55008703,-0.01173285,-0.00498654, 0.83501002]

qacc:
[-8.71473756e-02,-5.73131127e-01, 3.44275285e+00,-5.60522478e+00,
 -1.63454291e-02, 1.24226771e-01,-3.33838247e-01,-1.58938821e+00,
  4.04946557e-02,-3.78049169e+00, 1.35956355e+01,-2.32687430e+01,
 -2.35208698e-02, 8.20884150e-03,-2.74589102e+00, 5.02454054e+00,
  9.57670784e-01, 1.27776558e+00,-2.41601361e-01, 6.12705506e+01,
  5.56160521e+01, 1.53335052e+00]

qfrc_actuator:
[ 6.61681658e-03, 3.90602380e-02, 1.16925151e-02, 1.85234816e-03,
 -6.19391900e-06, 3.48444483e-02, 1.08381006e-02, 1.72646085e-03,
 -3.05000898e-03, 3.47517928e-02, 1.08808519e-02, 1.77417991e-03,
  0.00000000e+00, 1.49121154e-03, 0.00000000e+00, 2.31910003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14973208, -0.09357142,  0.11689348, -0.09357142,  0.82375365,
        0.53954382,  0.11689348,  0.53954382,  0.58162855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016163744647029743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58391324e-01,  8.78616114e-02, -9.62036517e-01, -2.27908172e-02,
        9.96132691e-01,  8.48542363e-02,  9.65771455e-01,  3.46944695e-18,
        2.59394483e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.067353  , -0.03889821,  0.22652187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001228710401676908
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.64729809e-15,  1.35535154e-13,  1.00000000e+00,  7.65407417e-28,
        1.00000000e+00, -1.35535154e-13, -1.00000000e+00,  0.00000000e+00,
       -5.64729809e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02894653, -0.13035223,  0.0618908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65701136e-03, 4.59136388e-03, 8.91158263e-04,-4.72288980e-06,
 -4.70600031e-06,-2.95214168e-05,-2.04662836e-05,-1.03067893e-05,
  1.16351279e-05,-5.27413210e-05, 1.50361839e-05,-5.35296336e-05,
  3.31404018e-03, 3.33583460e-03, 8.38023694e-03, 4.17667166e-03,
 -1.63841221e-07, 4.18032730e-06,-1.21644026e+00, 1.57898167e-03,
  5.44965837e-04, 3.78898513e-05]


--- Step 2168 ---
qpos:
[-0.01424599, 1.32858485,-0.01917944, 0.94613364, 0.00421891, 1.33228271,
 -0.03039944, 0.94352316, 0.01689878, 1.33776338,-0.02351722, 0.95538748,
  1.35892998,-0.00561969, 1.13500326, 0.05939502,-0.00170881,-0.09796992,
  0.08167431, 0.55013595,-0.01167776,-0.0048195 , 0.83497954]

qacc:
[-3.94633522e-01,-4.07482222e+00, 1.77642296e+01,-3.25777637e+01,
 -4.71382966e-03, 4.65088461e-01,-1.79113341e+00, 4.05275310e+00,
  8.36445660e-02,-4.32614199e+00, 1.95366189e+01,-4.80752071e+01,
  2.43878244e-01,-1.87355657e-01,-1.00618275e+01, 2.12301547e+01,
  8.76597689e-01, 1.23284835e+00,-7.49721185e-01, 5.81261656e+01,
  5.24752350e+01, 1.22532644e+00]

qfrc_actuator:
[ 6.59722829e-03, 3.90861414e-02, 1.17055112e-02, 1.78221505e-03,
 -4.76925402e-06, 3.48810920e-02, 1.08517894e-02, 1.74018649e-03,
 -3.03276911e-03, 3.47633846e-02, 1.08757875e-02, 1.63726068e-03,
  0.00000000e+00, 1.47432366e-03, 0.00000000e+00, 2.54048311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14975033, -0.10737492,  0.10438289, -0.10737492,  0.75405138,
        0.62162277,  0.10438289,  0.62162277,  0.78919133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001619684301148415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58395786e-01,  8.78619827e-02, -9.62035285e-01, -2.27913079e-02,
        9.96132658e-01,  8.48544889e-02,  9.65770249e-01,  3.46944695e-18,
        2.59398971e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735383, -0.03889897,  0.22652157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.53534887,  6.62922995,  5.53534887, 16.30923564,
       -6.40678083,  6.62922995, -6.40678083, 13.98596944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012164901406284262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71120842e-14, -4.56322245e-14,  1.00000000e+00, -7.80862468e-28,
        1.00000000e+00,  4.56322245e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71120842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02896657, -0.13036828,  0.06189188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64771093e-03, 4.57949916e-03, 8.81125081e-04,-6.56517014e-05,
 -1.35394715e-06, 1.59952316e-05, 5.28206933e-06, 1.19962665e-05,
  2.41092907e-05,-1.62288289e-05,-1.52214713e-05,-1.39283907e-04,
  3.32044157e-03, 3.31747620e-03, 8.48673519e-03, 4.40472239e-03,
  7.12864860e-07, 7.75651699e-09,-1.21643957e+00, 1.58273245e-03,
  5.43194868e-04, 3.28661365e-05]


--- Step 2169 ---
qpos:
[-0.01424893, 1.32858216,-0.01917921, 0.94613408, 0.00421897, 1.33228359,
 -0.03040048, 0.94352158, 0.01689827, 1.33776473,-0.02351812, 0.95538435,
  1.35893891,-0.00562049, 1.13499859, 0.05939516,-0.00170686,-0.09797185,
  0.08167889, 0.55018706,-0.01159897,-0.00482965, 0.83494691]

qacc:
[-1.74582425e-01,-1.29487244e+00, 3.83447005e+00,-3.23578128e+00,
  6.20076351e-02,-2.47740629e+00, 1.02314830e+01,-1.93936704e+01,
 -9.96151158e-02, 1.03986696e+00,-5.46804708e-01,-1.40526089e+01,
  3.62827029e-01, 4.08831785e-01,-1.38035912e+01, 2.87593320e+01,
 -1.05466398e+00,-1.32040709e+00,-6.95365054e-01,-6.74493134e+01,
 -5.86137614e+01,-2.59344069e+00]

qfrc_actuator:
[ 6.60479988e-03, 3.91375692e-02, 1.16949594e-02, 1.77631577e-03,
  1.38766058e-05, 3.49027315e-02, 1.08783346e-02, 1.69530353e-03,
 -3.07569341e-03, 3.47698843e-02, 1.08194965e-02, 1.57523263e-03,
  0.00000000e+00, 1.42928421e-03, 0.00000000e+00, 2.79748564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14975297, -0.10212185,  0.10953118, -0.10212185,  0.29646535,
        0.1367879 ,  0.10953118,  0.1367879 ,  0.27728774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016201630847990922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25839825,  0.08786261, -0.96203457, -0.02279169,  0.9961326 ,
        0.08485504,  0.96576958,  0.        ,  0.25940146])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735414, -0.03889964,  0.22652138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012227673706358272
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07959315e-14,  4.53979658e-14,  1.00000000e+00,  4.12195059e-27,
        1.00000000e+00, -4.53979658e-14, -1.00000000e+00,  0.00000000e+00,
       -9.07959315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03155406, -0.06041333,  0.06189138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70186641e-03, 4.58130268e-03, 8.16888202e-04,-4.02174552e-07,
  1.78472419e-05, 3.18779476e-05, 3.06272184e-05,-4.39709681e-05,
 -2.86870088e-05,-9.58124361e-06,-6.52691015e-05,-6.61969626e-05,
  3.31770945e-03, 3.26313597e-03, 8.81107817e-03, 4.65405704e-03,
  4.86603076e-06, 3.25675194e-06,-1.21644133e+00, 1.58616662e-03,
  5.41177923e-04, 3.62895876e-05]


--- Step 2170 ---
qpos:
[-0.01425199, 1.32857962,-0.01917976, 0.94613586, 0.00421922, 1.33228393,
 -0.03040069, 0.94352194, 0.01689742, 1.33776582,-0.02351903, 0.95538084,
  1.35894863,-0.0056204 , 1.13498965, 0.05939516,-0.00170878,-0.09797887,
  0.08167862, 0.55024063,-0.0114983 ,-0.00500674, 0.83491196]

qacc:
[-4.52880349e-02, 4.64976145e+00,-1.76448401e+01, 3.07212290e+01,
  7.51505600e-02, 3.46303314e-01,-5.98803279e+00, 2.80230385e+01,
 -1.46808037e-01,-1.00731936e+00, 3.65038395e+00,-7.48226383e+00,
  1.83548684e-01, 5.95006647e-01,-5.91028697e+00, 1.15102587e+01,
 -9.66107623e-01,-1.27288331e+00,-1.21561091e+00,-6.36655704e+01,
 -5.50402846e+01,-2.68700994e+00]

qfrc_actuator:
[ 6.59301535e-03, 3.91519017e-02, 1.16528168e-02, 1.84361213e-03,
  2.49496466e-05, 3.48442354e-02, 1.09121642e-02, 1.79381089e-03,
 -3.10110490e-03, 3.47553659e-02, 1.08222386e-02, 1.55776716e-03,
  0.00000000e+00, 1.41974458e-03, 0.00000000e+00, 2.86279603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14972562, -0.10108451,  0.11045217, -0.10108451,  0.34071683,
        0.17479289,  0.11045217,  0.17479289,  0.309694  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016151994288225377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58400611e-01,  8.78633483e-02, -9.62033864e-01, -2.27920905e-02,
        9.96132537e-01,  8.48556927e-02,  9.65768940e-01,  3.46944695e-18,
        2.59403846e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735371, -0.03890031,  0.22652126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.23740591, -5.97340308, -6.23740591, 13.68392624,
       -5.27064663, -5.97340308, -5.27064663, 14.1399538 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012182300319719397
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.2783526e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.2783526e-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([ 0.03156502, -0.06040937,  0.06189179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71069351e-03, 4.60827070e-03, 7.57069999e-04, 6.70861877e-05,
  2.16082713e-05,-3.61985395e-05, 4.22597227e-05, 9.93423677e-05,
 -4.23499008e-05,-3.45364492e-05,-8.48766098e-06,-2.12033041e-05,
  3.27943502e-03, 3.20464694e-03, 9.26547941e-03, 4.71318570e-03,
  4.02124740e-07, 1.61144133e-07,-1.21643949e+00, 1.58202473e-03,
  5.43496394e-04, 3.27756790e-05]


--- Step 2171 ---
qpos:
[-0.01425504, 1.32857717,-0.01918075, 0.94613841, 0.00421962, 1.3322836 ,
 -0.03040033, 0.94352351, 0.01689653, 1.33776613,-0.0235194 , 0.95537682,
  1.35895894,-0.00561999, 1.13497988, 0.05939535,-0.00170666,-0.0979806 ,
  0.08167929, 0.55029346,-0.01142452,-0.00501178, 0.83487811]

qacc:
[-3.11098262e-03, 2.65846720e+00,-1.01106309e+01, 1.77745482e+01,
  6.67538947e-02,-3.53475239e-01,-2.37602120e+00, 1.64269538e+01,
 -1.43886141e-02,-3.37517497e+00, 1.08057180e+01,-1.47785428e+01,
  2.95723240e-01, 1.27609933e-02,-1.81036195e+00, 4.53707108e+00,
  1.01006681e+00, 1.32181511e+00, 2.36472699e-01, 6.44280182e+01,
  5.85490281e+01, 1.66651684e+00]

qfrc_actuator:
[ 6.58722893e-03, 3.91259218e-02, 1.16282255e-02, 1.88247994e-03,
  3.13896176e-05, 3.47915794e-02, 1.09320457e-02, 1.85160853e-03,
 -3.08029758e-03, 3.46931193e-02, 1.08420026e-02, 1.53117320e-03,
  0.00000000e+00, 1.41345227e-03, 0.00000000e+00, 2.86655480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14968397, -0.10154751,  0.10996997, -0.10154751,  0.46338196,
        0.28967228,  0.10996997,  0.28967228,  0.41717064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001607610821324386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25840359,  0.08786411, -0.962033  , -0.02279255,  0.99613247,
        0.08485635,  0.96576813,  0.        ,  0.25940685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735294, -0.03890106,  0.22652118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012043296537926212
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88081170e-14,  1.38278961e-13,  1.00000000e+00,  3.98355649e-27,
        1.00000000e+00, -1.38278961e-13, -1.00000000e+00,  0.00000000e+00,
       -2.88081170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02899551, -0.13037714,  0.06189296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71023273e-03, 4.57475415e-03, 7.71897861e-04, 3.92982843e-05,
  1.91921144e-05,-6.14272360e-05, 2.05229214e-05, 6.02519476e-05,
 -4.20020823e-06,-8.36432378e-05, 1.14297344e-05,-2.83629744e-05,
  3.24038775e-03, 3.15397448e-03, 9.47929764e-03, 4.72354995e-03,
  2.24405644e-07, 5.59783540e-06,-1.21644049e+00, 1.57795121e-03,
  5.45687585e-04, 3.84767653e-05]


--- Step 2172 ---
qpos:
[-0.01425787, 1.328574  ,-0.01918169, 0.94614008, 0.00422   , 1.3322834 ,
 -0.03040029, 0.94352607, 0.01689588, 1.33776524,-0.02351932, 0.95537324,
  1.3589695 ,-0.0056201 , 1.13497319, 0.05939631,-0.00170086,-0.09797725,
  0.08167856, 0.55034602,-0.01137555,-0.0048549 , 0.83484507]

qacc:
[ 1.00088768e-01,-2.62297263e+00, 9.21852528e+00,-1.78578935e+01,
 -9.86096455e-03, 2.76918775e+00,-1.08914980e+01, 2.09942407e+01,
  9.77258175e-02,-2.00510300e+00, 3.73529320e+00, 2.65593791e+00,
  4.51809337e-01,-8.59276167e-01, 2.20961067e+00,-1.21058046e+00,
  9.19512152e-01, 1.27043694e+00,-3.47949351e-01, 6.07603344e+01,
  5.49075351e+01, 1.32424918e+00]

qfrc_actuator:
[ 6.58498461e-03, 3.91467618e-02, 1.16673860e-02, 1.83330088e-03,
  1.72460525e-05, 3.48315269e-02, 1.09257365e-02, 1.90269364e-03,
 -3.04968537e-03, 3.46028536e-02, 1.08536792e-02, 1.55263798e-03,
  0.00000000e+00, 1.40932222e-03, 0.00000000e+00, 2.77985322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14963992, -0.10717783,  0.1044271 , -0.10717783,  0.46041193,
        0.3189581 ,  0.1044271 ,  0.3189581 ,  0.47699974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015995400827167536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58406898e-01,  8.78648634e-02, -9.62032037e-01, -2.27930411e-02,
        9.96132404e-01,  8.48570062e-02,  9.65767235e-01, -3.46944695e-18,
        2.59410192e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735209, -0.03890187,  0.22652109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.76911876,  6.42682236,  5.76911876, 15.44912202,
       -6.11555914,  6.42682236, -6.11555914, 14.12607301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012033934739624705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15322113e-14,  4.61288452e-14,  1.00000000e+00,  5.31967589e-28,
        1.00000000e+00, -4.61288452e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15322113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02900097, -0.13037511,  0.06189304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70834604e-03, 4.59091805e-03, 8.32874064e-04,-4.88350099e-05,
 -2.81823339e-06, 1.17975721e-05,-1.42215251e-05, 5.12386141e-05,
  2.81298330e-05,-1.35134775e-04,-4.19371276e-06, 1.86565188e-05,
  3.21036879e-03, 3.13390201e-03, 9.52062403e-03, 4.62725453e-03,
  4.86317211e-07, 1.71913084e-07,-1.21643948e+00, 1.58224939e-03,
  5.43692727e-04, 3.21069098e-05]


--- Step 2173 ---
qpos:
[-0.01426033, 1.32856972,-0.01918293, 0.94614051, 0.00422014, 1.33228333,
 -0.03039978, 0.94352884, 0.01689522, 1.33776414,-0.02351976, 0.95536991,
  1.35897985,-0.00562076, 1.13497003, 0.05939799,-0.00169944,-0.09797934,
  0.08167602, 0.55040073,-0.01130219,-0.0048799 , 0.83480985]

qacc:
[ 1.50163610e-01,-2.80628013e+00, 9.92806801e+00,-2.23064150e+01,
 -9.72831482e-02,-7.93616626e-01, 2.35969591e+00, 2.51442003e-01,
 -1.46835986e-03, 1.53936009e+00,-5.85091022e+00, 8.05107741e+00,
  1.03725337e-01,-5.74508310e-01, 2.99889494e+00,-2.95266141e+00,
 -1.09449549e+00,-1.35858406e+00,-4.54631648e-01,-6.91940638e+01,
 -6.02128227e+01,-2.58953437e+00]

qfrc_actuator:
[ 6.60237792e-03, 3.91787203e-02, 1.16912302e-02, 1.76815390e-03,
 -9.13013089e-06, 3.48554964e-02, 1.09576403e-02, 1.91396491e-03,
 -3.06669920e-03, 3.46385351e-02, 1.08426359e-02, 1.56667909e-03,
  0.00000000e+00, 1.42494724e-03, 0.00000000e+00, 2.70924150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14960412,  0.07655285, -0.12853424,  0.07655285,  0.77867104,
        0.37466178, -0.12853424,  0.37466178,  0.37274643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015929479017917983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25841086,  0.08786555, -0.96203091, -0.02279357,  0.99613234,
        0.08485758,  0.96576616,  0.        ,  0.25941418])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735153, -0.03890272,  0.22652094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012190514392266746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55363485e-14,  2.27681743e-14,  1.00000000e+00, -1.03677952e-27,
        1.00000000e+00, -2.27681743e-14, -1.00000000e+00,  0.00000000e+00,
        4.55363485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03157707, -0.06042283,  0.06189171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71394186e-03, 4.65904551e-03, 8.54336420e-04,-6.96108582e-05,
 -2.80393211e-05, 2.92593753e-05, 3.40995639e-05, 1.24000983e-05,
 -4.08119357e-07,-3.93106597e-05,-3.73673287e-05, 1.03448505e-05,
  3.19812496e-03, 3.17522506e-03, 9.36692646e-03, 4.51866174e-03,
  4.37316360e-06, 2.96532499e-06,-1.21644117e+00, 1.58615834e-03,
  5.41456142e-04, 3.50787583e-05]


--- Step 2174 ---
qpos:
[-0.01426175, 1.32856472,-0.01918516, 0.94614154, 0.00422017, 1.33228304,
 -0.03039866, 0.94353037, 0.01689447, 1.33776356,-0.02352011, 0.95536599,
  1.35899007,-0.00562191, 1.13497373, 0.05939985,-0.00170201,-0.09798664,
  0.08166942, 0.55045787,-0.01120637,-0.00507571, 0.8347723 ]

qacc:
[ 4.44319421e-01, 2.78039213e+00,-1.14465955e+01, 1.73931085e+01,
 -5.03532933e-02,-4.04084453e+00, 1.54055777e+01,-2.76633122e+01,
 -3.53506080e-02,-5.54142957e-01, 3.82688590e+00,-1.04832118e+01,
 -8.80508268e-02,-2.43402352e-01, 9.58530415e+00,-1.88032461e+01,
 -9.98345990e-01,-1.30414903e+00,-1.01436832e+00,-6.51141735e+01,
 -5.63680021e+01,-2.68219827e+00]

qfrc_actuator:
[ 6.61358856e-03, 3.91825144e-02, 1.16884562e-02, 1.80064867e-03,
 -7.12467062e-06, 3.48165788e-02, 1.09762869e-02, 1.84848668e-03,
 -3.07664178e-03, 3.47315221e-02, 1.08719989e-02, 1.54078165e-03,
  0.00000000e+00, 1.41717095e-03, 0.00000000e+00, 2.50599180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14957612, -0.08399359,  0.12376628, -0.08399359,  0.97866937,
        0.56266149,  0.12376628,  0.56266149,  0.53142455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001587772556329442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58416173e-01,  8.78661405e-02, -9.62029429e-01, -2.27941931e-02,
        9.96132291e-01,  8.48580191e-02,  9.65764726e-01, -3.46944695e-18,
        2.59419533e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735131, -0.03890357,  0.22652073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.01906404, -6.1933549 , -6.01906404, 14.04658531,
       -5.25796943, -6.1933549 , -5.25796943, 13.74636545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012200004438060602
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27504635e-14, -2.27504635e-14,  1.00000000e+00, -5.17583591e-28,
        1.00000000e+00,  2.27504635e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27504635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03157989, -0.06042853,  0.06189162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70744521e-03, 4.71804895e-03, 8.66347663e-04, 2.48377278e-05,
 -1.45432643e-05,-1.56850069e-05, 2.86181247e-05,-6.33064155e-05,
 -1.01851636e-05, 6.42610233e-05, 1.77395845e-05,-2.79207565e-05,
  3.20861542e-03, 3.19542884e-03, 9.19056552e-03, 4.27907174e-03,
  2.82998300e-07, 4.00693704e-07,-1.21643943e+00, 1.58159635e-03,
  5.43999374e-04, 3.21000296e-05]


--- Step 2175 ---
qpos:
[-0.01426174, 1.328558  ,-0.01918848, 0.94614269, 0.00422   , 1.33228249,
 -0.03039779, 0.94353045, 0.01689378, 1.3377635 ,-0.02351971, 0.95536382,
  1.35900035,-0.00562382, 1.13498615, 0.05940197,-0.00170039,-0.09798854,
  0.0816651 , 0.55051416,-0.01113834,-0.00509381, 0.83473597]

qacc:
[ 6.09020018e-01, 9.02325332e-01,-5.93426718e+00, 7.74761561e+00,
 -8.70166894e-02,-2.11797405e+00, 9.45600744e+00,-2.47075075e+01,
  2.12350327e-02, 1.64408048e+00,-8.06527632e+00, 2.68894427e+01,
  1.66931973e-01,-7.02879854e-01, 1.20993234e+01,-2.36505903e+01,
  1.04959864e+00, 1.35047245e+00, 5.68454742e-01, 6.65259397e+01,
  6.05087538e+01, 1.76372218e+00]

qfrc_actuator:
[ 6.60250063e-03, 3.91694739e-02, 1.16882809e-02, 1.80162080e-03,
 -2.36141952e-05, 3.47757206e-02, 1.09511579e-02, 1.77383093e-03,
 -3.06450751e-03, 3.47872332e-02, 1.09252169e-02, 1.63368435e-03,
  0.00000000e+00, 1.39550494e-03, 0.00000000e+00, 2.25891982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14956631,  0.07646025, -0.12854537,  0.07646025,  0.41820326,
        0.15978832, -0.12854537,  0.15978832,  0.24461023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015859542171257207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25842315,  0.08786644, -0.96202753, -0.02279489,  0.99613226,
        0.08485814,  0.96576284,  0.        ,  0.25942655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735167, -0.03890448,  0.22652041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012168338712250787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.12386687e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.12386687e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02899704, -0.1303429 ,  0.06189186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64391740e-03, 4.74135351e-03, 9.15892026e-04,-4.24905272e-06,
 -2.50737967e-05,-4.58380908e-05,-2.67960178e-05,-7.57524793e-05,
  6.12243272e-06, 9.38816461e-05, 6.69613018e-05, 9.46680325e-05,
  3.21520239e-03, 3.19812766e-03, 8.84748061e-03, 4.02292706e-03,
  6.65710479e-07, 6.75167862e-06,-1.21644067e+00, 1.57714836e-03,
  5.46385085e-04, 3.87593984e-05]


--- Step 2176 ---
qpos:
[-0.0142619 , 1.32855199,-0.0191913 , 0.94614321, 0.00421947, 1.3322819 ,
 -0.03039732, 0.94352929, 0.01689318, 1.33776376,-0.02351945, 0.95536458,
  1.35901034,-0.00562599, 1.13499803, 0.05940412,-0.00169495,-0.09798526,
  0.08166049, 0.55057008,-0.01109587,-0.00494532, 0.83470055]

qacc:
[-7.80684298e-02,-1.51984034e+00, 7.38657372e+00,-1.43192206e+01,
 -1.46700408e-01,-1.10860080e+00, 6.13491204e+00,-1.98255701e+01,
  3.85230051e-02, 5.86519081e+00,-2.45121971e+01, 5.47374340e+01,
 -1.24529084e-02,-2.44172594e-01,-9.21371477e-01, 2.05425994e+00,
  9.51466626e-01, 1.29426592e+00,-7.12600651e-02, 6.24903347e+01,
  5.65133048e+01, 1.39591973e+00]

qfrc_actuator:
[ 6.59497813e-03, 3.91653699e-02, 1.16901544e-02, 1.78391055e-03,
 -5.10667556e-05, 3.47870866e-02, 1.09358834e-02, 1.71211148e-03,
 -3.05697993e-03, 3.47671121e-02, 1.09032677e-02, 1.77800366e-03,
  0.00000000e+00, 1.40148133e-03, 0.00000000e+00, 2.37596954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14957661, -0.08355711,  0.12406196, -0.08355711,  0.99011513,
        0.56611205,  0.12406196,  0.56611205,  0.53085938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015878622227218434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58432849e-01,  8.78663492e-02, -9.62024931e-01, -2.27957185e-02,
        9.96132273e-01,  8.48578254e-02,  9.65760228e-01, -3.46944695e-18,
        2.59436277e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735277, -0.03890549,  0.22651995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.83505596,  6.36701647,  5.83505596, 15.04224237,
       -5.8706713 ,  6.36701647, -5.8706713 , 14.01654377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012221136396581705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  4.542225e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -4.542225e-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([-0.02899461, -0.13033089,  0.06189139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56453086e-03, 4.82331579e-03, 9.72089399e-04,-2.84416243e-05,
 -4.22532142e-05,-2.15093735e-05,-2.95128317e-05,-6.56391384e-05,
  1.11459922e-05, 4.76700038e-05, 6.75966510e-06, 1.51259675e-04,
  3.21240876e-03, 3.24230736e-03, 8.41120306e-03, 4.12733983e-03,
  3.81518570e-07, 3.70290988e-07,-1.21643943e+00, 1.58192085e-03,
  5.44189454e-04, 3.13843378e-05]


--- Step 2177 ---
qpos:
[-0.01426257, 1.3285476 ,-0.0191925 , 0.94614405, 0.00421891, 1.33228175,
 -0.03039734, 0.94352805, 0.01689267, 1.33776434,-0.02351986, 0.95536466,
  1.35901962,-0.00562824, 1.1350088 , 0.05940631,-0.001694  ,-0.09798747,
  0.08165458, 0.55062804,-0.01102855,-0.00498117, 0.834663  ]

qacc:
[-2.12717528e-01,-1.69234734e+00, 7.42629182e+00,-3.70574576e+00,
 -1.91700924e-02, 1.75416606e+00,-4.86575319e+00, 3.02871201e+00,
  3.90174548e-02, 1.07476780e+00,-1.63713053e+00,-6.47979633e+00,
 -4.38550469e-01, 2.94728595e-01,-1.71375847e+00, 3.68363145e+00,
 -1.11948897e+00,-1.37105563e+00,-3.25360296e-01,-7.00842642e+01,
 -6.11027236e+01,-2.52403514e+00]

qfrc_actuator:
[ 6.62614691e-03, 3.91471361e-02, 1.17453714e-02, 1.80896916e-03,
 -3.16162481e-05, 3.48474217e-02, 1.09267713e-02, 1.71180182e-03,
 -3.05227757e-03, 3.47547525e-02, 1.08545846e-02, 1.73827149e-03,
  0.00000000e+00, 1.44159127e-03, 0.00000000e+00, 2.42756125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015900918342764275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25844139,  0.08786631, -0.96202264, -0.02279646,  0.99613228,
        0.08485759,  0.96575793,  0.        ,  0.25944485])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735381, -0.03890644,  0.22651952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012315478874740243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63428672e-14,  2.25371469e-14,  1.00000000e+00, -1.26980747e-27,
        1.00000000e+00, -2.25371469e-14, -1.00000000e+00,  0.00000000e+00,
        5.63428672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03157618, -0.06046123,  0.06189058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60492016e-03, 4.76978468e-03, 1.00271632e-03, 2.87436789e-05,
 -5.48911605e-06, 4.06891912e-05,-1.86048130e-05,-3.34522578e-06,
  1.12852652e-05, 1.97994200e-05,-3.41799550e-05,-3.46000464e-05,
  3.22662506e-03, 3.29513380e-03, 8.43790626e-03, 4.17687793e-03,
  3.97341322e-06, 2.76929890e-06,-1.21644107e+00, 1.58624290e-03,
  5.41760859e-04, 3.39786816e-05]


--- Step 2178 ---
qpos:
[-0.01426338, 1.3285456 ,-0.01919219, 0.94614685, 0.00421856, 1.33228169,
 -0.03039712, 0.94352715, 0.01689239, 1.33776623,-0.02352191, 0.95536528,
  1.35902843,-0.00563039, 1.1350189 , 0.05940814,-0.00169972,-0.09798537,
  0.08164223, 0.55067619,-0.01116088,-0.00503163, 0.83462917]

qacc:
[-5.93052731e-02, 2.44973489e+00,-8.17479274e+00, 2.82371265e+01,
  9.17919268e-02, 6.01928780e-02,-7.61267652e-01, 4.58594725e+00,
  9.45766671e-02, 7.05286529e+00,-2.19830636e+01, 2.43003413e+01,
 -4.26576466e-01, 4.84669445e-01, 1.30369986e-01,-1.85121544e+00,
 -1.66865506e+00, 1.07691670e+00,-1.60992746e+00,-6.11105436e+01,
  7.92589027e+01, 5.53883210e+00]

qfrc_actuator:
[ 6.66316950e-03, 3.91192281e-02, 1.17780082e-02, 1.91223381e-03,
 -1.93927910e-06, 3.48479141e-02, 1.09393559e-02, 1.72991305e-03,
 -3.03155537e-03, 3.48711733e-02, 1.07904313e-02, 1.76805591e-03,
  0.00000000e+00, 1.44885567e-03, 0.00000000e+00, 2.43986571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015931920474710967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58446787e-01,  8.78664369e-02, -9.62021178e-01, -2.27969710e-02,
        9.96132265e-01,  8.48575798e-02,  9.65756468e-01,  6.93889390e-18,
        2.59450272e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735473, -0.0389073 ,  0.22651917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.98336449, -8.4055364 ,  1.98336449, 63.24979199,
       12.88654635, -8.4055364 , 12.88654635, 11.6770641 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012403783440681632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47534025e-14, -2.23767012e-14,  1.00000000e+00, -1.00143352e-27,
        1.00000000e+00,  2.23767012e-14, -1.00000000e+00,  0.00000000e+00,
       -4.47534025e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05299666, -0.11017598,  0.06188981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66705954e-03, 4.66088578e-03, 9.54183940e-04, 1.15625296e-04,
  2.64386361e-05, 1.92605468e-05, 1.83277470e-05, 1.87097555e-05,
  2.73873136e-05, 1.19667021e-04,-6.51835654e-05, 2.85656928e-05,
  3.26215599e-03, 3.30666105e-03, 8.49284413e-03, 4.18730701e-03,
  2.56430426e-07, 6.32896583e-07,-1.21643941e+00, 1.58132765e-03,
  5.44491661e-04, 3.14251437e-05]


--- Step 2179 ---
qpos:
[-0.01426391, 1.32854495,-0.01919155, 0.94615102, 0.00421848, 1.33228167,
 -0.03039729, 0.94352686, 0.01689263, 1.33776864,-0.02352346, 0.95536792,
  1.35903738,-0.00563251, 1.1350284 , 0.05940952,-0.00170608,-0.09798426,
  0.08164424, 0.55072458,-0.0112925 ,-0.0051094 , 0.834595  ]

qacc:
[  0.11477586,  3.25096936,-11.25421428, 24.82446067,  0.11594683,
   2.15443154, -8.21021126, 14.13497022,  0.22221038,  2.82807887,
 -12.50215093, 33.97878476,  0.08953261, -0.05710236,  0.4557901 ,
  -2.88171336, -0.15868285, -0.24647407,  3.59159279,-11.19813599,
  -7.81541592, -0.35042359]

qfrc_actuator:
[ 6.66803768e-03, 3.91196012e-02, 1.17610529e-02, 1.97190140e-03,
  1.58772625e-05, 3.48304276e-02, 1.09111701e-02, 1.75868627e-03,
 -2.98363740e-03, 3.49039798e-02, 1.08247534e-02, 1.87412969e-03,
  0.00000000e+00, 1.41850509e-03, 0.00000000e+00, 2.42898581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00015978283195305573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25844842,  0.08786663, -0.96202072, -0.02279717,  0.99613225,
        0.08485773,  0.96575603,  0.        ,  0.25945191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735552, -0.03890813,  0.22651892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012397497467489995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.62328851e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.62328851e-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([ 0.00315603, -0.09324114,  0.0618898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67892560e-03, 4.54168140e-03, 8.61588871e-04, 7.75928669e-05,
  3.34220223e-05,-2.68375614e-06,-2.17850286e-05, 3.03225195e-05,
  6.40951647e-05, 8.70881904e-05, 5.11198749e-05, 1.08375810e-04,
  3.28535987e-03, 3.27113609e-03, 8.52664604e-03, 4.19468074e-03,
  2.47213693e-06, 3.60473902e-07,-1.21644211e+00, 1.58746355e-03,
  5.46488589e-04, 2.90843920e-05]


--- Step 2180 ---
qpos:
[-0.01426429, 1.32854351,-0.01919112, 0.94615402, 0.0042185 , 1.33228194,
 -0.03039822, 0.9435276 , 0.01689341, 1.33777055,-0.02352283, 0.95536871,
  1.35904636,-0.00563492, 1.13503709, 0.05941104,-0.00170868,-0.09797798,
  0.08164627, 0.55077265,-0.01144979,-0.0050193 , 0.83456168]

qacc:
[ 6.96471178e-02,-2.46046579e+00, 9.14824002e+00,-2.09593236e+01,
  4.33398783e-02, 4.19059369e+00,-1.53413481e+01, 2.51327791e+01,
  2.29915465e-01,-9.72845583e+00, 3.46841096e+01,-5.11641819e+01,
  2.75690712e-01,-5.48262786e-01,-1.63205407e+00, 3.92087126e+00,
  9.38551838e-01, 1.29044763e+00, 3.05016857e-03, 6.29808670e+01,
  5.69276702e+01, 1.38031369e+00]

qfrc_actuator:
[ 6.67101078e-03, 3.91370276e-02, 1.17504199e-02, 1.89869719e-03,
  8.68100387e-06, 3.48554221e-02, 1.08768111e-02, 1.81120846e-03,
 -2.95529759e-03, 3.48336296e-02, 1.09166744e-02, 1.77571984e-03,
  0.00000000e+00, 1.41887955e-03, 0.00000000e+00, 2.43992385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016030421398725153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25844842,  0.08786677, -0.96202071, -0.0227972 ,  0.99613224,
        0.08485786,  0.96575603,  0.        ,  0.25945192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735621, -0.03890896,  0.22651873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.56165454, -6.60717607, -5.56165454, 18.01415308,
       -7.89384523, -6.60717607, -7.89384523, 15.28108443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012462284717248973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45433181e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.45433181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02897942, -0.13027808,  0.06188927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66834460e-03, 4.49159318e-03, 8.34194194e-04,-6.41152789e-05,
  1.25302707e-05, 2.01610462e-05,-3.64741895e-05, 5.25047849e-05,
  6.61912753e-05,-9.00850052e-06, 1.17910341e-04,-9.18079132e-05,
  3.27855025e-03, 3.27023275e-03, 8.55612593e-03, 4.22771790e-03,
  3.29863992e-06, 6.97868826e-07,-1.21644219e+00, 1.58703657e-03,
  5.46791372e-04, 2.95549121e-05]


--- Step 2181 ---
qpos:
[-0.01426486, 1.32854109,-0.01919184, 0.9461555 , 0.00421841, 1.33228229,
 -0.03039896, 0.94352962, 0.01689435, 1.33777245,-0.0235219 , 0.95536631,
  1.35905511,-0.0056374 , 1.1350447 , 0.05941258,-0.00170783,-0.09796673,
  0.08164611, 0.55082071,-0.01163093,-0.00477083, 0.83452891]

qacc:
[-8.27681721e-02,-8.44969408e-01, 4.29146310e+00,-2.07127412e+01,
 -5.11935043e-02, 1.79701235e+00,-8.38721671e+00, 2.21243683e+01,
  6.92842921e-02,-6.35208657e+00, 2.71038920e+01,-6.03311152e+01,
 -7.28064860e-02,-2.65932078e-02,-1.67241188e+00, 3.51588535e+00,
  8.61908838e-01, 1.24337638e+00,-5.47716714e-01, 5.95196042e+01,
  5.35655595e+01, 1.12599220e+00]

qfrc_actuator:
[ 6.65509265e-03, 3.91662840e-02, 1.17084983e-02, 1.81876714e-03,
 -1.34612674e-05, 3.48701344e-02, 1.08925262e-02, 1.87730907e-03,
 -2.97443713e-03, 3.48086966e-02, 1.09170088e-02, 1.61095612e-03,
  0.00000000e+00, 1.43799240e-03, 0.00000000e+00, 2.46354937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001607224508950629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2584494 ,  0.08786686, -0.96202044, -0.02279731,  0.99613223,
        0.08485792,  0.96575576,  0.        ,  0.2594529 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735687, -0.03890975,  0.22651851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.3894581 ,  5.81047348,  6.3894581 , 15.95187928,
       -8.04447018,  5.81047348, -8.04447018, 17.48242502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012379002282379148
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60537412e-15,  4.48429930e-14,  1.00000000e+00,  2.51361752e-28,
        1.00000000e+00, -4.48429930e-14, -1.00000000e+00,  0.00000000e+00,
       -5.60537412e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0289933 , -0.13028734,  0.06188998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64421667e-03, 4.56024829e-03, 8.03375345e-04,-8.58129785e-05,
 -1.47459202e-05, 2.03095386e-05, 1.70498405e-05, 6.68545060e-05,
  1.99469749e-05,-9.61743124e-06, 9.28677266e-06,-1.63713357e-04,
  3.27715967e-03, 3.30377263e-03, 8.59630290e-03, 4.24442037e-03,
  2.58181538e-07, 1.95377510e-06,-1.21644334e+00, 1.59117092e-03,
  5.44483750e-04, 3.23343110e-05]


--- Step 2182 ---
qpos:
[-0.01426549, 1.32853736,-0.01919326, 0.94615464, 0.00421813, 1.3322825 ,
 -0.0303988 , 0.94353172, 0.01689515, 1.33777446,-0.02352112, 0.95536403,
  1.35906372,-0.00564015, 1.13505138, 0.05941447,-0.00171154,-0.09796107,
  0.08164517, 0.55087089,-0.01178712,-0.0047089 , 0.83449395]

qacc:
[-2.75764344e-02,-3.88587127e+00, 1.53775649e+01,-3.97083147e+01,
 -7.58037642e-02,-2.52107500e+00, 7.86068187e+00,-5.95384703e+00,
 -6.22176114e-02, 7.97407906e-01,-2.66480550e+00, 3.70872908e+00,
  1.55793119e-01,-4.37011096e-01,-2.45349616e+00, 6.56717751e+00,
 -1.13956925e+00,-1.39873469e+00,-1.92309958e-01,-7.09559071e+01,
 -6.17705511e+01,-2.63438706e+00]

qfrc_actuator:
[ 6.66363878e-03, 3.92031471e-02, 1.17020703e-02, 1.70011804e-03,
 -2.66360495e-05, 3.48610249e-02, 1.09376485e-02, 1.87988334e-03,
 -3.00414973e-03, 3.48285000e-02, 1.09166585e-02, 1.62149522e-03,
  0.00000000e+00, 1.43274250e-03, 0.00000000e+00, 2.49484829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016098708413009657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58452425e-01,  8.78669742e-02, -9.62019615e-01, -2.27976088e-02,
        9.96132218e-01,  8.48579648e-02,  9.65754945e-01,  3.46944695e-18,
        2.59455944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735748, -0.03891049,  0.22651828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012558337643574224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.21013134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.21013134e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0315643 , -0.06052128,  0.06188847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66252483e-03, 4.64620326e-03, 8.54056155e-04,-1.28440631e-04,
 -2.18778103e-05, 7.47226924e-06, 5.29995566e-05, 5.23712250e-06,
 -1.79323678e-05, 1.14347169e-05,-5.96919600e-06, 6.71559759e-06,
  3.28865762e-03, 3.30217552e-03, 8.65062572e-03, 4.27459670e-03,
  9.03561844e-07, 1.06730578e-05,-1.21644696e+00, 1.59505074e-03,
  5.41926530e-04, 4.35844893e-05]


--- Step 2183 ---
qpos:
[-0.01426596, 1.32853357,-0.01919467, 0.94615325, 0.00421769, 1.33228286,
 -0.03039848, 0.94353453, 0.01689572, 1.33777635,-0.0235195 , 0.95536359,
  1.3590725 ,-0.0056431 , 1.1350588 , 0.0594165 ,-0.00171939,-0.09796076,
  0.08164106, 0.55092354,-0.01192046,-0.00482158, 0.83445666]

qacc:
[  0.06964127, -1.04387176,  4.36478639, -9.86718154, -0.07151749,
   0.99174587, -4.46943167, 12.11110945, -0.09924011,  0.71797268,
  -6.23619279, 26.66995201,  0.23998457, -0.38797475,  0.67289216,
  -0.81327301, -1.03459454, -1.33633386, -0.7966149 ,-66.55575573,
 -57.60834242, -2.75738744]

qfrc_actuator:
[ 6.65130631e-03, 3.91920319e-02, 1.17169574e-02, 1.68393748e-03,
 -3.43235525e-05, 3.48733162e-02, 1.09463604e-02, 1.91605593e-03,
 -3.02220865e-03, 3.48395031e-02, 1.09694886e-02, 1.71741678e-03,
  0.00000000e+00, 1.39535598e-03, 0.00000000e+00, 2.47715007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016110171934345316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58457393e-01,  8.78670919e-02, -9.62018269e-01, -2.27980778e-02,
        9.96132207e-01,  8.48579607e-02,  9.65753604e-01, -3.46944695e-18,
        2.59460934e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735809, -0.03891118,  0.22651801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.75639831, -6.43821834, -5.75639831, 14.08730087,
       -4.87367223, -6.43821834, -4.87367223, 12.99390435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012608304720406471
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80549011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.80549011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03156184, -0.0605334 ,  0.06188804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65345617e-03, 4.70032914e-03, 9.04157616e-04,-2.74382639e-05,
 -2.06002976e-05, 2.69510081e-05, 1.63610995e-05, 3.80763861e-05,
 -2.86460415e-05, 1.63417631e-05, 5.45751716e-05, 9.62425347e-05,
  3.29568369e-03, 3.27869088e-03, 8.69654427e-03, 4.23904518e-03,
  5.69071113e-07, 1.20896181e-06,-1.21644311e+00, 1.59073697e-03,
  5.44469079e-04, 3.25531835e-05]


--- Step 2184 ---
qpos:
[-0.0142664 , 1.32853084,-0.01919586, 0.9461526 , 0.00421726, 1.33228355,
 -0.03039864, 0.94353708, 0.01689605, 1.33777825,-0.02351747, 0.95536293,
  1.35908187,-0.00564601, 1.13506629, 0.05941831,-0.00173104,-0.09796559,
  0.08163172, 0.55097886,-0.01203267,-0.00509899, 0.83441687]

qacc:
[ 1.23114331e-02, 2.07663289e+00,-6.57326960e+00, 1.35715947e+01,
  4.27535199e-03, 1.31087256e+00,-3.21672276e+00,-4.38348325e-01,
 -9.64521912e-02,-1.46964340e+00, 5.23531693e+00,-7.04633125e+00,
  4.21440079e-01,-3.46020438e-01, 7.48369304e-01,-2.52839340e+00,
 -9.48881290e-01,-1.28284086e+00,-1.30540756e+00,-6.28979716e+01,
 -5.41666036e+01,-2.83341149e+00]

qfrc_actuator:
[ 6.60849061e-03, 3.91691720e-02, 1.17086943e-02, 1.72835955e-03,
 -2.09047928e-05, 3.48804551e-02, 1.09158554e-02, 1.90069896e-03,
 -3.03312887e-03, 3.48276704e-02, 1.09822764e-02, 1.70303246e-03,
  0.00000000e+00, 1.33871052e-03, 0.00000000e+00, 2.48339365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016125773956151765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58462421e-01,  8.78671669e-02, -9.62016912e-01, -2.27985408e-02,
        9.96132201e-01,  8.48579139e-02,  9.65752248e-01,  3.46944695e-18,
        2.59465983e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735875, -0.03891188,  0.22651773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.73518148, -6.45712554, -5.73518148, 15.61603438,
       -6.19930311, -6.45712554, -6.19930311, 14.14254874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012510426515621592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43719094e-14,  4.43719094e-14,  1.00000000e+00,  1.96886635e-27,
        1.00000000e+00, -4.43719094e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43719094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03157933, -0.06052097,  0.06188885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60242777e-03, 4.68110879e-03, 8.95327782e-04, 4.33652008e-05,
  1.26064079e-06, 2.63940057e-05,-2.22510866e-05,-1.31791715e-05,
 -2.78341861e-05, 1.06957097e-05, 2.49925906e-05,-1.00590438e-05,
  3.28712397e-03, 3.23156748e-03, 8.65950470e-03, 4.23866508e-03,
  4.69401967e-06, 1.51229785e-06,-1.21644254e+00, 1.58661138e-03,
  5.46836722e-04, 3.21551297e-05]


--- Step 2185 ---
qpos:
[-0.014267  , 1.32852961,-0.01919535, 0.94615271, 0.00421704, 1.33228437,
 -0.03039935, 0.94353841, 0.0168962 , 1.33778007,-0.02351639, 0.95536287,
  1.35909191,-0.00564891, 1.13507116, 0.05942013,-0.00173825,-0.0979648 ,
  0.08162686, 0.55103309,-0.01217434,-0.00518939, 0.83437844]

qacc:
[ -0.06994682, -1.28068609,  4.99508968,  3.54866993,  0.092671  ,
  -0.45299723,  4.19551457,-17.85915068, -0.07983252,  3.49808737,
 -12.7403208 , 18.04096872,  0.64696431, -0.62641123, -3.96114086,
   8.13199007,  1.10731391,  1.40092793,  1.1204005 , 69.89978075,
  63.79491829,  2.02656138]

qfrc_actuator:
[ 6.61846485e-03, 3.91026450e-02, 1.17395801e-02, 1.77258597e-03,
  5.06610755e-06, 3.48665114e-02, 1.08801601e-02, 1.83736276e-03,
 -3.03967867e-03, 3.47843052e-02, 1.09178821e-02, 1.73030091e-03,
  0.00000000e+00, 1.28811644e-03, 0.00000000e+00, 2.59306694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14972403, -0.1058965 ,  0.10584525, -0.1058965 ,  0.6812017 ,
        0.53173506,  0.10584525,  0.53173506,  0.6817166 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016149116106278089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58466195e-01,  8.78672457e-02, -9.62015890e-01, -2.27988944e-02,
        9.96132194e-01,  8.48579006e-02,  9.65751229e-01,  3.46944695e-18,
        2.59469774e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735938, -0.03891264,  0.22651748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001265957006611751
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83680149e-14,  8.76983198e-14,  1.00000000e+00, -3.36481044e-27,
        1.00000000e+00, -8.76983198e-14, -1.00000000e+00,  0.00000000e+00,
        3.83680149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02897479, -0.13022843,  0.06188755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.61094240e-03, 4.56101691e-03, 9.14927540e-04, 5.08212514e-05,
  2.67160055e-05,-4.09292843e-06,-3.34477416e-05,-6.34963433e-05,
 -2.29840871e-05,-3.28846156e-05,-5.97646991e-05, 2.80868994e-05,
  3.25759174e-03, 3.17941936e-03, 8.65587060e-03, 4.35942054e-03,
  1.25473159e-05, 9.91229920e-06,-1.21644468e+00, 1.58255034e-03,
  5.49125732e-04, 4.05386974e-05]


--- Step 2186 ---
qpos:
[-0.01426639, 1.32852724,-0.01919529, 0.94615369, 0.00421709, 1.33228528,
 -0.03040053, 0.94353967, 0.0168962 , 1.33778134,-0.02351616, 0.95536284,
  1.35910235,-0.00565232, 1.13508158, 0.05942197,-0.00174148,-0.09795868,
  0.08162355, 0.55108678,-0.01234297,-0.00510562, 0.83434103]

qacc:
[ 5.15904481e-01, 1.23951772e+00,-7.63269558e+00, 1.75130129e+01,
  1.08595370e-01, 1.26790085e+00,-3.82699771e+00, 2.35379756e+00,
 -6.05578536e-02, 1.63698763e+00,-6.23995612e+00, 5.97607820e+00,
  4.02406650e-01,-7.47339881e-01, 8.10183456e+00,-1.64876644e+01,
  9.98541376e-01, 1.33581990e+00, 3.87123207e-01, 6.52360942e+01,
  5.92278758e+01, 1.64057992e+00]

qfrc_actuator:
[ 6.66029594e-03, 3.90445713e-02, 1.17391416e-02, 1.79861887e-03,
  2.06029015e-05, 3.48754896e-02, 1.08593488e-02, 1.83506440e-03,
 -3.04355478e-03, 3.47221001e-02, 1.08616283e-02, 1.72856955e-03,
  0.00000000e+00, 1.27665624e-03, 0.00000000e+00, 2.35633860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14973602, -0.12545484,  0.08174324, -0.12545484,  0.52895297,
        0.58200047,  0.08174324,  0.58200047,  1.04295704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016170886784341865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58466892e-01,  8.78673952e-02, -9.62015690e-01, -2.27989949e-02,
        9.96132180e-01,  8.48580283e-02,  9.65751040e-01,  3.46944695e-18,
        2.59470477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06735974, -0.03891343,  0.22651731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.00545096,  6.20655585,  6.00545096, 14.93544037,
       -6.09497398,  6.20655585, -6.09497398, 14.53384821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012804259701137202
  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([-0.02896114, -0.13020241,  0.06188632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66104182e-03, 4.42822128e-03, 8.29927874e-04, 3.86195459e-05,
  3.13055292e-05,-1.74093409e-06,-2.72787134e-05,-4.87240172e-06,
 -1.74481135e-05,-9.12430049e-05,-6.86484525e-05,-3.79590072e-06,
  3.22369431e-03, 3.16693712e-03, 8.78682265e-03, 4.12188719e-03,
  4.11435332e-06, 9.86530470e-07,-1.21644262e+00, 1.58785396e-03,
  5.46676109e-04, 3.19476401e-05]


--- Step 2187 ---
qpos:
[-0.01426483, 1.32852331,-0.01919658, 0.94615508, 0.00421707, 1.33228613,
 -0.03040132, 0.94354016, 0.01689596, 1.33778248,-0.02351673, 0.95536067,
  1.35911262,-0.00565614, 1.13509731, 0.05942363,-0.00173995,-0.0979519 ,
  0.08162684, 0.5511393 ,-0.01243219,-0.00492905, 0.83430607]

qacc:
[ 4.02906751e-01, 2.27389306e+00,-1.07013718e+01, 1.48878121e+01,
 -2.72672832e-02,-2.42971484e+00, 9.38054062e+00,-1.69024685e+01,
 -1.05107642e-01,-1.70954016e+00, 9.65075337e+00,-3.28486737e+01,
 -1.21836450e-01,-1.61782486e-01, 8.38840495e+00,-1.79605573e+01,
  1.18788052e+00, 1.62362474e-01, 1.65182352e+00, 6.05954554e+01,
 -7.57525044e+00, 1.53152398e+00]

qfrc_actuator:
[ 6.66666649e-03, 3.90823685e-02, 1.17213709e-02, 1.81331727e-03,
 -5.75122582e-06, 3.48804535e-02, 1.08831234e-02, 1.79772532e-03,
 -3.06354940e-03, 3.47378532e-02, 1.08283012e-02, 1.62101695e-03,
  0.00000000e+00, 1.30696255e-03, 0.00000000e+00, 2.19579708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14976095,  0.08644177, -0.1222954 ,  0.08644177,  0.45378274,
        0.214891  , -0.1222954 ,  0.214891  ,  0.30165185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016216077205069915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25846912,  0.08786722, -0.96201511, -0.02279915,  0.9961322 ,
        0.0848578 ,  0.96575044,  0.        ,  0.25947271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736056, -0.03891431,  0.22651704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  1.22950169,  8.54839765,  1.22950169, 62.50411393,
       -7.74770812,  8.54839765, -7.74770812,  9.75070349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012779779418368939
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08591763e-14, -3.18350089e-07,  1.00000000e+00, -3.45701975e-21,
        1.00000000e+00,  3.18350089e-07, -1.00000000e+00, -7.52316385e-37,
       -1.08591763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03098903, -0.10714309,  0.06188651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60653686e-03, 4.52298393e-03, 8.34543240e-04, 9.45702956e-06,
 -7.87665213e-06,-1.48427131e-06, 2.01887564e-05,-3.83030981e-05,
 -3.02999604e-05,-4.82301636e-05,-5.90587639e-05,-1.12349294e-04,
  3.20402276e-03, 3.22335318e-03, 8.50879729e-03, 3.96010975e-03,
  4.72043222e-07, 1.87486860e-06,-1.21644377e+00, 1.59263942e-03,
  5.44032637e-04, 3.44487487e-05]


--- Step 2188 ---
qpos:
[-0.01426453, 1.32852077,-0.01919761, 0.94615628, 0.00421688, 1.33228725,
 -0.03040164, 0.94353913, 0.01689562, 1.3377831 ,-0.02351793, 0.9553576 ,
  1.35912216,-0.00565958, 1.13510811, 0.05942488,-0.00173347,-0.09794868,
  0.08163303, 0.55118998,-0.01236589,-0.00474559, 0.83427464]

qacc:
[-5.35621578e-01, 8.24949523e-01,-1.29747668e-01,-2.85412998e+00,
 -7.08015357e-02,-3.51458553e+00, 1.50392162e+01,-3.08925048e+01,
 -4.12377431e-02,-5.11177661e-01, 2.66313478e+00,-1.23723844e+01,
 -6.16747217e-01, 8.32872659e-01,-5.97352023e+00, 1.04231207e+01,
  1.23645330e+00,-8.87290223e-01, 7.23343714e-01, 4.57240608e+01,
 -6.30070319e+01, 1.40083575e+00]

qfrc_actuator:
[ 6.63378754e-03, 3.91075568e-02, 1.16942777e-02, 1.82134573e-03,
 -2.15161524e-05, 3.49186399e-02, 1.09152265e-02, 1.72232154e-03,
 -3.05754743e-03, 3.46936722e-02, 1.07912554e-02, 1.57638362e-03,
  0.00000000e+00, 1.36242525e-03, 0.00000000e+00, 2.41846681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14979531, -0.09023662,  0.11956584, -0.09023662,  0.89983638,
        0.56605773,  0.11956584,  0.56605773,  0.57700039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001627812569767982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25847417,  0.08786677, -0.96201379, -0.02279947,  0.99613224,
        0.08485725,  0.96574908,  0.        ,  0.25947777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736185, -0.03891522,  0.22651666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  2.06229496,  8.38651992,  2.06229496,  9.37346035,
       -0.18125645,  8.38651992, -0.18125645,  8.68093567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012770876809944376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34669851e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.34669851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03264758, -0.08821353,  0.0618866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52610658e-03, 4.62632393e-03, 8.74728391e-04,-2.29721611e-06,
 -2.04139198e-05, 4.01583298e-05, 3.29875489e-05,-7.57435389e-05,
 -1.18903828e-05,-8.57226217e-05,-5.64662916e-05,-5.04067796e-05,
  3.21274614e-03, 3.29935034e-03, 8.24350701e-03, 4.19194803e-03,
  1.72941253e-06, 5.36700743e-06,-1.21644329e+00, 1.59164576e-03,
  5.41514927e-04, 4.15458864e-05]


--- Step 2189 ---
qpos:
[-0.01426603, 1.32851919,-0.0191982 , 0.9461569 , 0.00421666, 1.33228833,
 -0.03040118, 0.94353757, 0.0168954 , 1.33778246,-0.02351883, 0.95535646,
  1.35913103,-0.00566226, 1.13511166, 0.05942598,-0.00172588,-0.09795054,
  0.08164542, 0.55124237,-0.01218953,-0.00464926, 0.83424316]

qacc:
[-7.63549138e-01,-9.41495666e-01, 5.79936264e+00,-1.24056105e+01,
 -1.22954202e-02,-3.09456016e+00, 1.11286682e+01,-1.58656393e+01,
  5.05044855e-02, 8.33883329e-01,-8.58562786e+00, 3.03825946e+01,
 -7.13263721e-01, 1.23025980e+00,-1.02245623e+01, 2.03458432e+01,
  2.79183428e-01,-1.27042776e+00, 1.55013759e+00,-6.00326291e+00,
 -6.99134002e+01,-1.52812764e+00]

qfrc_actuator:
[ 6.59694607e-03, 3.91406114e-02, 1.16782861e-02, 1.79028648e-03,
 -1.30463257e-05, 3.49054323e-02, 1.09520863e-02, 1.69615718e-03,
 -3.03599906e-03, 3.46139664e-02, 1.08053973e-02, 1.67563957e-03,
  0.00000000e+00, 1.41460321e-03, 0.00000000e+00, 2.62283114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14981916, -0.1069637 ,  0.10490257, -0.1069637 ,  0.54915662,
        0.40718365,  0.10490257,  0.40718365,  0.56500318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001632103582322915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25847763,  0.08786666, -0.96201287, -0.02279975,  0.99613225,
        0.08485706,  0.96574815,  0.        ,  0.25948124])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736271, -0.03891601,  0.22651638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.4885495 ,   1.59100732,   8.4885495 ,
        11.24301117, -13.90732541,   1.59100732, -13.90732541,
        82.83653761,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012712569134034069
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.45829394e-14,  4.36663515e-14,  1.00000000e+00,  2.38343782e-27,
        1.00000000e+00, -4.36663515e-14, -1.00000000e+00,  0.00000000e+00,
       -5.45829394e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00580685, -0.0765828 ,  0.06188711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55246212e-03, 4.59022178e-03, 8.46233915e-04,-2.42503478e-05,
 -3.57743458e-06, 1.31737820e-05, 4.62463244e-05,-2.57455266e-05,
  1.45250553e-05,-1.39636103e-04,-1.04933260e-05, 9.38870095e-05,
  3.24888806e-03, 3.33256947e-03, 8.48950653e-03, 4.41704048e-03,
  5.98589194e-06, 3.80499936e-06,-1.21644159e+00, 1.58648253e-03,
  5.40145030e-04, 3.88198004e-05]


--- Step 2190 ---
qpos:
[-0.01426742, 1.3285162 ,-0.01919939, 0.94615706, 0.00421646, 1.33228925,
 -0.0304005 , 0.94353643, 0.01689536, 1.33778108,-0.02351972, 0.95535614,
  1.35913962,-0.0056651 , 1.13511876, 0.05942737,-0.00172224,-0.09795737,
  0.08165385, 0.55129698,-0.01199065,-0.00472445, 0.83420953]

qacc:
[ 4.98379101e-02,-1.02159691e+00, 2.00448314e+00,-6.08738243e+00,
  1.07170758e-02,-5.69147766e-02,-9.32349738e-01, 5.86965913e+00,
  7.46778912e-02, 3.93150860e-01,-4.10581971e+00, 1.34758706e+01,
 -2.63332716e-01, 1.47914543e-01, 4.39655316e+00,-7.74527411e+00,
 -9.88088545e-01,-1.24448169e+00,-9.89923005e-01,-6.53237174e+01,
 -5.66493228e+01,-2.61549408e+00]

qfrc_actuator:
[ 6.61202859e-03, 3.91604900e-02, 1.17041647e-02, 1.75400067e-03,
 -7.85935047e-06, 3.48793539e-02, 1.09557948e-02, 1.71691316e-03,
 -3.02305294e-03, 3.46026623e-02, 1.08140600e-02, 1.71674465e-03,
  0.00000000e+00, 1.42877033e-03, 0.00000000e+00, 2.42554249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14982371, -0.13612758,  0.06258137, -0.13612758,  0.39365235,
        0.53037834,  0.06258137,  0.53037834,  1.30350765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016329201658897216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25847972,  0.08786703, -0.96201228, -0.02280003,  0.99613221,
        0.08485737,  0.96574758,  0.        ,  0.25948335])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736298, -0.03891667,  0.22651622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([8.63636364, 8.2539034 , 2.54162458, 8.2539034 , 8.58149093,
       0.17819862, 2.54162458, 0.17819862, 8.05766519, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012602046876780057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.40493134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.40493134e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03159418, -0.06056233,  0.0618881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65764366e-03, 4.56144979e-03, 8.49800732e-04,-3.14013555e-05,
  3.07594842e-06,-1.05282192e-05, 1.07896030e-05, 2.19114570e-05,
  2.15176371e-05,-8.77853222e-05,-1.70508829e-05, 3.88446761e-05,
  3.28228489e-03, 3.30863274e-03, 8.85155057e-03, 4.22660614e-03,
  5.10335791e-06,-5.62942577e-07,-1.21644037e+00, 1.58138720e-03,
  5.40645276e-04, 3.01982018e-05]


--- Step 2191 ---
qpos:
[-0.01426806, 1.3285122 ,-0.0192016 , 0.94615747, 0.0042166 , 1.33229029,
 -0.03040042, 0.94353557, 0.01689562, 1.33777911,-0.02352104, 0.95535425,
  1.35914798,-0.00566814, 1.13512995, 0.05942868,-0.00172225,-0.09796904,
  0.08165642, 0.55135405,-0.01177088,-0.00496179, 0.83417357]

qacc:
[  0.31249125,  1.85728252, -8.14958678, 10.55630467,  0.14046694,
   2.25084752, -7.73570842,  9.86095223,  0.13227114, -2.28005231,
   9.65952453,-26.06457647, -0.24644761,  0.12577497,  6.30273588,
 -13.21619045, -0.91251616, -1.21004448, -1.46534002,-61.86936832,
 -53.39259011, -2.68987421]

qfrc_actuator:
[ 6.65706681e-03, 3.91567123e-02, 1.16850242e-02, 1.76793872e-03,
  3.08203626e-05, 3.48811792e-02, 1.09221103e-02, 1.72956520e-03,
 -2.99762039e-03, 3.45613721e-02, 1.07840948e-02, 1.63452898e-03,
  0.00000000e+00, 1.43850938e-03, 0.00000000e+00, 2.30644653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14983389, -0.09017741,  0.1196588 , -0.09017741,  0.95317629,
        0.60541589,  0.1196588 ,  0.60541589,  0.60608816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016347465271841777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58483755e-01,  8.78673476e-02, -9.62011163e-01, -2.28004700e-02,
        9.96132185e-01,  8.48575827e-02,  9.65746492e-01, -3.46944695e-18,
        2.59487405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736358, -0.03891735,  0.22651597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -7.00056417, -5.05755654, -7.00056417, 12.28632974,
       -5.05220687, -5.05755654, -5.05220687, 15.6295229 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001246835587012149
  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([ 0.03161746, -0.060544  ,  0.06188926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69680705e-03, 4.62859788e-03, 8.60748393e-04, 5.10868250e-06,
  4.04947562e-05,-1.23802172e-06,-3.38771178e-05, 1.31604387e-05,
  3.81346550e-05,-9.20028325e-05,-4.79071539e-05,-8.44136305e-05,
  3.29655681e-03, 3.32683377e-03, 8.67442109e-03, 4.09345153e-03,
 -5.19757840e-07, 7.74520919e-07,-1.21643990e+00, 1.57708956e-03,
  5.42960054e-04, 3.17125179e-05]


--- Step 2192 ---
qpos:
[-0.01426899, 1.3285103 ,-0.01920257, 0.94615903, 0.00421712, 1.3322917 ,
 -0.03040086, 0.94353415, 0.0168962 , 1.33777665,-0.02352198, 0.95535237,
  1.35915624,-0.00567098, 1.13513856, 0.05942966,-0.00171804,-0.09797539,
  0.0816603 , 0.5514101 ,-0.01157828,-0.00502578, 0.83413883]

qacc:
[-0.1193181 , 1.37627156,-3.49987793,14.99919253, 0.16254103, 0.92040852,
 -1.26391761,-5.63155428, 0.13006648,-1.64893422, 4.56434747,-3.4793673 ,
 -0.12128371, 0.25985142,-2.81212472, 4.31447731, 1.05543413, 1.33229994,
  0.32555114,64.80804089,59.106714  , 1.84574882]

qfrc_actuator:
[ 6.66615338e-03, 3.91566478e-02, 1.17105402e-02, 1.84700184e-03,
  5.37737148e-05, 3.49172960e-02, 1.09022304e-02, 1.70182873e-03,
 -2.98265523e-03, 3.45732415e-02, 1.08201673e-02, 1.64015347e-03,
  0.00000000e+00, 1.42793573e-03, 0.00000000e+00, 2.44754376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14985229, -0.09471948,  0.11612032, -0.09471948,  0.88591969,
        0.60041102,  0.11612032,  0.60041102,  0.63960825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001638043183318852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58489749e-01,  8.78674596e-02, -9.62009542e-01, -2.28010280e-02,
        9.96132175e-01,  8.48575488e-02,  9.65744875e-01, -3.46944695e-18,
        2.59493424e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736453, -0.03891807,  0.22651565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012267136363611347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26259616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.26259616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02905761, -0.13026604,  0.06189097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66901260e-03, 4.67881800e-03, 9.37187111e-04, 7.19844376e-05,
  4.68545640e-05, 2.91933405e-05,-2.35940409e-05,-2.84618600e-05,
  3.74797247e-05,-5.08480280e-05, 1.01929944e-05,-4.74011719e-07,
  3.30788168e-03, 3.32620892e-03, 8.46926065e-03, 4.23837915e-03,
 -2.01714433e-06, 9.89178167e-06,-1.21644201e+00, 1.57280996e-03,
  5.45177086e-04, 4.16048394e-05]


--- Step 2193 ---
qpos:
[-0.01426985, 1.32850948,-0.0192025 , 0.94616127, 0.00421784, 1.33229359,
 -0.03040166, 0.94353273, 0.01689688, 1.33777416,-0.02352213, 0.95535017,
  1.35916486,-0.00567384, 1.1351459 , 0.05943054,-0.00171   ,-0.09797662,
  0.08166307, 0.55146568,-0.01141067,-0.00492684, 0.83410498]

qacc:
[ 2.89366349e-02,-1.87141322e-01, 9.39822034e-01, 6.42305089e+00,
  8.05550143e-02, 1.59991206e+00,-4.47750146e+00, 3.65192425e+00,
  4.49934488e-02,-2.75546195e+00, 9.61173273e+00,-1.21121544e+01,
  3.65345536e-01,-3.76758434e-01,-1.61228092e+00, 2.85312977e+00,
  9.56094993e-01, 1.27826407e+00,-2.74795764e-01, 6.10653614e+01,
  5.53439062e+01, 1.45378412e+00]

qfrc_actuator:
[ 6.65439315e-03, 3.91738657e-02, 1.17432404e-02, 1.87537701e-03,
  4.93537740e-05, 3.49559330e-02, 1.08907868e-02, 1.70384344e-03,
 -2.99184270e-03, 3.46171496e-02, 1.08774658e-02, 1.62651677e-03,
  0.00000000e+00, 1.38709892e-03, 0.00000000e+00, 2.46099682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001641495316069795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58492514e-01,  8.78676736e-02, -9.62008780e-01, -2.28013278e-02,
        9.96132156e-01,  8.48576898e-02,  9.65744127e-01, -3.46944695e-18,
        2.59496205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736521, -0.03891874,  0.22651543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  5.35515448,  6.77562524,  5.35515448, 15.14486655,
       -5.14403281,  6.77562524, -5.14403281, 12.70197963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012265577677026337
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52576737e-14,  9.05153474e-14,  1.00000000e+00,  4.09651406e-27,
        1.00000000e+00, -9.05153474e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52576737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02906298, -0.1302631 ,  0.061891  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67133230e-03, 4.59129778e-03, 9.07593427e-04, 4.30586295e-05,
  2.32362442e-05, 4.93055193e-05,-9.25539879e-06, 1.54010166e-06,
  1.29411327e-05, 1.77829981e-05, 4.85143111e-05,-1.48628904e-05,
  3.31325464e-03, 3.27521546e-03, 8.59823686e-03, 4.26822051e-03,
 -2.71069297e-07, 4.84462978e-07,-1.21643973e+00, 1.57732084e-03,
  5.43344002e-04, 2.99337217e-05]


--- Step 2194 ---
qpos:
[-0.01427022, 1.32850751,-0.01920323, 0.94616275, 0.00421864, 1.33229542,
 -0.03040277, 0.94353347, 0.01689757, 1.33777183,-0.02352288, 0.95534994,
  1.35917392,-0.00567695, 1.1351542 , 0.05943148,-0.00170621,-0.09798306,
  0.08166299, 0.55152329,-0.01121951,-0.00500491, 0.83406902]

qacc:
[ 2.09292773e-01,-6.56890839e-01, 1.84800508e+00,-9.64898938e+00,
  3.69459035e-02, 4.45777453e+00,-1.90627295e+01, 4.15428312e+01,
  6.06940278e-03, 5.25146142e+00,-2.08790960e+01, 4.08651919e+01,
  4.66434369e-01,-6.47414104e-01, 1.21645612e+00,-2.28288670e+00,
 -1.05958621e+00,-1.30247139e+00,-7.12831827e-01,-6.73276312e+01,
 -5.86125116e+01,-2.50181076e+00]

qfrc_actuator:
[ 6.64764037e-03, 3.91661189e-02, 1.17089511e-02, 1.82008405e-03,
  4.63024753e-05, 3.49248178e-02, 1.08667010e-02, 1.81213031e-03,
 -2.99769089e-03, 3.46089955e-02, 1.08404126e-02, 1.72592996e-03,
  0.00000000e+00, 1.36375154e-03, 0.00000000e+00, 2.39776259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001645146205429618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25849323,  0.08786789, -0.96200857, -0.02280145,  0.99613214,
        0.08485788,  0.96574393,  0.        ,  0.25949693])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736574, -0.03891944,  0.22651526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012249693039210474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.5316361e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.5316361e-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([ 0.03166164, -0.06052038,  0.06189114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66117211e-03, 4.52926903e-03, 8.21448734e-04,-4.64850504e-05,
  1.06652202e-05,-5.61715189e-06,-1.54517807e-05, 1.09533302e-04,
  1.79287057e-06, 1.07279398e-05,-2.85024922e-05, 1.01006367e-04,
  3.29446510e-03, 3.25290291e-03, 8.66168153e-03, 4.20976714e-03,
  5.05922178e-06,-3.63438967e-07,-1.21644025e+00, 1.58133801e-03,
  5.41281049e-04, 2.80096458e-05]


--- Step 2195 ---
qpos:
[-0.01427055, 1.32850456,-0.01920401, 0.94616351, 0.00421933, 1.33229711,
 -0.0304044 , 0.94353621, 0.01689824, 1.33776982,-0.02352417, 0.95535159,
  1.35918283,-0.00568027, 1.13516364, 0.05943263,-0.00170629,-0.09799454,
  0.08165799, 0.55158321,-0.01100661,-0.00524979, 0.83403073]

qacc:
[ 1.47931804e-02,-2.41386047e+00, 7.80301194e+00,-1.45873158e+01,
 -4.75151091e-02, 4.65717717e+00,-1.95312777e+01, 4.02463169e+01,
 -9.65160087e-03, 5.11488121e+00,-1.99017160e+01, 3.85269675e+01,
 -1.46495101e-03,-1.87456896e-01, 1.02461861e+00,-1.13106665e+00,
 -9.70369455e-01,-1.25777128e+00,-1.23153115e+00,-6.35584112e+01,
 -5.50483031e+01,-2.59228166e+00]

qfrc_actuator:
[ 6.64343899e-03, 3.91452026e-02, 1.17246601e-02, 1.78676923e-03,
  2.63465498e-05, 3.49054505e-02, 1.08351311e-02, 1.91102113e-03,
 -3.00148661e-03, 3.46404542e-02, 1.08188448e-02, 1.81998159e-03,
  0.00000000e+00, 1.38664276e-03, 0.00000000e+00, 2.37716846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14991024, -0.10979442,  0.1020699 , -0.10979442,  0.8254516 ,
        0.72666551,  0.1020699 ,  0.72666551,  0.93156891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016483760473433307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25849584,  0.08786796, -0.96200786, -0.0228017 ,  0.99613213,
        0.08485789,  0.96574323,  0.        ,  0.25949955])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736639, -0.03892016,  0.22651503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -6.32516918, -5.88039214, -6.32516918, 13.34708223,
       -5.06702467, -5.88039214, -5.06702467, 14.08664442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00121968153671638
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55128241e-14,  2.27564120e-14,  1.00000000e+00,  1.03570858e-27,
        1.00000000e+00, -2.27564120e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55128241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03167339, -0.06051587,  0.06189159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63227455e-03, 4.56625766e-03, 8.77497695e-04,-4.19289311e-05,
 -1.36615278e-05,-2.22138068e-05,-3.12149116e-05, 1.00809951e-04,
 -2.73837623e-06, 3.48328646e-05,-1.97536887e-05, 9.58817912e-05,
  3.27326076e-03, 3.28843144e-03, 8.61374847e-03, 4.18648673e-03,
 -5.45198671e-07, 9.65517514e-07,-1.21643972e+00, 1.57665959e-03,
  5.43821195e-04, 2.94864614e-05]


--- Step 2196 ---
qpos:
[-0.01427146, 1.3285024 ,-0.01920398, 0.94616435, 0.00421985, 1.33229851,
 -0.0304057 , 0.9435387 , 0.01689888, 1.33776858,-0.02352559, 0.95535325,
  1.35919125,-0.00568346, 1.13517109, 0.05943376,-0.00170206,-0.09800057,
  0.08165569, 0.55164217,-0.0108216 ,-0.00531533, 0.83399374]

qacc:
[-2.42715699e-01,-1.02126547e+00, 4.42876322e+00,-3.43964110e+00,
 -7.01956130e-02,-1.71742357e+00, 5.65952232e+00,-7.61639937e+00,
 -1.44959068e-02, 1.37307288e+00,-3.31067437e+00, 2.60995459e+00,
 -3.77291056e-01, 4.34334619e-01,-2.81924878e+00, 5.66124137e+00,
  1.07723737e+00, 1.35955280e+00, 6.77560672e-01, 6.70937937e+01,
  6.10762972e+01, 1.81776201e+00]

qfrc_actuator:
[ 6.65878276e-03, 3.91521726e-02, 1.17521804e-02, 1.80241727e-03,
  1.41648695e-05, 3.48932354e-02, 1.08526645e-02, 1.89704880e-03,
 -3.00401959e-03, 3.47131899e-02, 1.08244994e-02, 1.82137924e-03,
  0.00000000e+00, 1.41959019e-03, 0.00000000e+00, 2.47073307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016516273286808908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58499449e-01,  8.78680119e-02, -9.62006885e-01, -2.28020280e-02,
        9.96132126e-01,  8.48578519e-02,  9.65742255e-01,  3.46944695e-18,
        2.59503174e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736716, -0.03892088,  0.22651477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012429031334594345
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46624920e-14,  4.46624920e-14,  1.00000000e+00,  1.99473819e-27,
        1.00000000e+00, -4.46624920e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46624920e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02905724, -0.13022716,  0.06188962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64588560e-03, 4.62211560e-03, 9.07462382e-04, 9.97498681e-06,
 -2.02462217e-05,-2.75852953e-05, 1.25955223e-05,-1.32148501e-05,
 -4.15057468e-06, 9.09969619e-05, 1.30230546e-05, 4.08067192e-06,
  3.28042262e-03, 3.33227803e-03, 8.55621787e-03, 4.26899140e-03,
 -1.78681251e-06, 1.05449104e-05,-1.21644192e+00, 1.57206817e-03,
  5.46215711e-04, 3.98599823e-05]


--- Step 2197 ---
qpos:
[-0.01427238, 1.32849989,-0.01920393, 0.94616551, 0.00422021, 1.33229965,
 -0.03040647, 0.94354065, 0.01689963, 1.33776837,-0.02352679, 0.95535452,
  1.35919933,-0.00568664, 1.13518025, 0.0594349 ,-0.00170473,-0.09800214,
  0.08164797, 0.55169103,-0.01084226,-0.00539575, 0.83396064]

qacc:
[-7.95395939e-03, 5.68946987e-02,-1.38803137e+00, 5.14784278e+00,
 -6.71229815e-02,-2.70052066e+00, 9.50985774e+00,-1.43900721e+01,
  4.69037213e-02, 9.08621842e-02, 2.10498862e+00,-6.88630025e+00,
 -3.61967822e-01, 3.72673682e-01, 2.49024620e+00,-5.01693739e+00,
 -1.72247564e+00, 1.11552505e+00,-1.35565532e+00,-6.29803131e+01,
  8.16179725e+01, 5.75140802e+00]

qfrc_actuator:
[ 6.65094214e-03, 3.91567419e-02, 1.17681912e-02, 1.81142303e-03,
  6.74647868e-06, 3.48855173e-02, 1.08812530e-02, 1.87006613e-03,
 -2.98802172e-03, 3.47923779e-02, 1.08462890e-02, 1.80378993e-03,
  0.00000000e+00, 1.44055111e-03, 0.00000000e+00, 2.38441630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001654453379349441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.2585015 ,  0.08786823, -0.96200631, -0.02280226,  0.99613211,
        0.08485801,  0.9657417 ,  0.        ,  0.25950524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736775, -0.03892152,  0.22651456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.21996223,   2.64933914,   8.21996223,
        14.0559962 , -16.81520284,   2.64933914, -16.81520284,
        60.80799027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012482984327890079
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44694552e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.44694552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05294089, -0.11030073,  0.06188915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66669384e-03, 4.58703504e-03, 8.82767158e-04, 1.49971685e-05,
 -1.93693094e-05,-2.09171707e-05, 2.42412937e-05,-2.77455564e-05,
  1.35490154e-05, 1.32184213e-04, 4.11639506e-05,-1.44200506e-05,
  3.30447694e-03, 3.34642181e-03, 8.65524021e-03, 4.18403830e-03,
 -2.79033929e-07, 6.26528343e-07,-1.21643956e+00, 1.57697282e-03,
  5.44175390e-04, 2.76679677e-05]


--- Step 2198 ---
qpos:
[-0.01427324, 1.3284958 ,-0.01920431, 0.94616622, 0.0042203 , 1.33230087,
 -0.03040729, 0.94354191, 0.01690052, 1.3377687 ,-0.02352654, 0.95535245,
  1.35920685,-0.00568996, 1.13519313, 0.05943627,-0.00170353,-0.0979983 ,
  0.0816418 , 0.5517398 ,-0.01088905,-0.00530206, 0.83392836]

qacc:
[ 2.78477567e-02,-1.70616139e+00, 3.97468004e+00,-7.73093019e+00,
 -1.16939132e-01,-9.36467201e-01, 4.58747161e+00,-1.19683614e+01,
  5.99875010e-02,-8.98457031e+00, 3.68952627e+01,-7.09297379e+01,
 -5.15066850e-01, 4.16657016e-01, 4.87220102e+00,-8.96046319e+00,
  9.66171696e-01, 1.35268744e+00, 3.86149248e-01, 6.53987973e+01,
  5.89157543e+01, 1.27602889e+00]

qfrc_actuator:
[ 6.62886592e-03, 3.91961982e-02, 1.17955199e-02, 1.78066407e-03,
 -1.55073892e-05, 3.48983424e-02, 1.08806450e-02, 1.83567155e-03,
 -2.97878926e-03, 3.48038535e-02, 1.09129668e-02, 1.63318237e-03,
  0.00000000e+00, 1.48990145e-03, 0.00000000e+00, 2.26115188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14996477,  0.09728108, -0.11413072,  0.09728108,  0.43584789,
        0.24367689, -0.11413072,  0.24367689,  0.35766652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016580339402904806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25850387,  0.08786844, -0.96200566, -0.02280253,  0.99613209,
        0.08485816,  0.96574106,  0.        ,  0.25950762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736848, -0.03892217,  0.22651432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012642616700187514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39079603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.39079603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02903842, -0.13018716,  0.06188778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64556044e-03, 4.64381699e-03, 9.09213877e-04,-3.18561632e-05,
 -3.36869388e-05, 5.15659048e-06,-2.75270982e-06,-3.49526669e-05,
  1.72372584e-05, 9.21880239e-05, 9.67499404e-05,-1.65824777e-04,
  3.32192738e-03, 3.39551598e-03, 8.57029500e-03, 4.06010042e-03,
  1.15646892e-06, 1.36265685e-06,-1.21644032e+00, 1.58370490e-03,
  5.46257986e-04, 3.13782529e-05]


--- Step 2199 ---
qpos:
[-0.01427474, 1.32849123,-0.01920523, 0.94616542, 0.00421997, 1.33230186,
 -0.030408  , 0.94354277, 0.01690125, 1.33776908,-0.02352548, 0.95534808,
  1.35921367,-0.00569307, 1.13520401, 0.05943764,-0.00169879,-0.09798929,
  0.08163471, 0.55178877,-0.01096001,-0.00504485, 0.83389663]

qacc:
[ -0.27513653, -1.79781279,  8.15332008,-24.17502548, -0.17648878,
  -1.29117425,  4.68064022, -8.59054811, -0.0699669 , -6.0542999 ,
  24.44085408,-47.66791328, -0.58737752,  0.68255979, -2.94558131,
   6.10705174,  0.88483075,  1.29345738, -0.22905967, 61.51285766,
  55.18624561,  1.02436024]

qfrc_actuator:
[ 6.63367677e-03, 3.92579670e-02, 1.17768247e-02, 1.70894086e-03,
 -4.64816949e-05, 3.48699985e-02, 1.08806368e-02, 1.81494058e-03,
 -3.00919590e-03, 3.47570221e-02, 1.09342480e-02, 1.51590499e-03,
  0.00000000e+00, 1.53866980e-03, 0.00000000e+00, 2.36404123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.14999089, -0.09043526,  0.1196609 , -0.09043526,  0.99298951,
        0.63710701,  0.1196609 ,  0.63710701,  0.63149267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001662638315133129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25850819,  0.08786862, -0.96200448, -0.02280296,  0.99613207,
        0.08485824,  0.96573989,  0.        ,  0.25951196])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06736956, -0.03892281,  0.226514  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.26726296,  5.94206966,  6.26726296, 17.48668085,
       -9.334671  ,  5.94206966, -9.334671  , 18.48189578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012626512524720607
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39639616e-14,  4.39639616e-14,  1.00000000e+00,  1.93282992e-27,
        1.00000000e+00, -4.39639616e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39639616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02904311, -0.13018594,  0.06188788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64709669e-03, 4.78501492e-03, 9.12164338e-04,-8.08801995e-05,
 -5.08570849e-05,-2.70878369e-05,-3.36418192e-07,-2.14645131e-05,
 -2.02241029e-05, 1.81254612e-05, 4.54231599e-05,-1.15578901e-04,
  3.34984802e-03, 3.45101560e-03, 8.38349878e-03, 4.15182466e-03,
  9.13486875e-07, 1.75636288e-06,-1.21644121e+00, 1.58781788e-03,
  5.44017546e-04, 3.23836935e-05]


--- Step 2200 ---
qpos:
[-0.01427643, 1.32848623,-0.01920715, 0.94616448, 0.00421925, 1.33230273,
 -0.03040875, 0.94354371, 0.01690158, 1.33776961,-0.02352512, 0.95534483,
  1.35922019,-0.00569594, 1.13521635, 0.05943881,-0.00170112,-0.09797584,
  0.08162123, 0.55182783,-0.01122964,-0.00480196, 0.83386862]

qacc:
[-7.36734165e-02, 1.89783537e+00,-6.56841971e+00, 4.32109824e+00,
 -1.67382137e-01, 1.20153310e-01,-7.57873627e-01, 1.75780985e+00,
 -1.67019078e-01, 3.99235979e+00,-1.50217231e+01, 2.57881415e+01,
 -4.99301336e-01, 7.31305265e-01, 2.80172486e+00,-6.60860706e+00,
 -1.76772208e+00, 1.11087784e+00,-1.59873043e+00,-6.08266052e+01,
  7.88387206e+01, 5.57899747e+00]

qfrc_actuator:
[ 6.60205062e-03, 3.92616426e-02, 1.17485435e-02, 1.70263127e-03,
 -6.46845069e-05, 3.48704858e-02, 1.08808467e-02, 1.82015266e-03,
 -3.04538305e-03, 3.47464907e-02, 1.08928552e-02, 1.57293155e-03,
  0.00000000e+00, 1.55130573e-03, 0.00000000e+00, 2.28319676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016656543041595334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58513487e-01,  8.78689640e-02, -9.62003026e-01, -2.28035154e-02,
        9.96132042e-01,  8.48584382e-02,  9.65738462e-01,  3.46944695e-18,
        2.59517289e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06737051, -0.03892336,  0.22651369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,   8.31285008,   2.34164481,   8.31285008,
        13.49178856, -17.2367813 ,   2.34164481, -17.2367813 ,
        69.82701819,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012652978364708772
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.38720036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.38720036e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05289493, -0.11031017,  0.06188762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64793919e-03, 4.81285480e-03, 9.10650053e-04,-1.21246376e-05,
 -4.82211613e-05,-1.52156507e-05,-5.75596002e-06, 3.89180144e-06,
 -4.81276751e-05, 4.92915799e-06,-3.60805048e-05, 5.61978134e-05,
  3.38476947e-03, 3.45381388e-03, 8.48314094e-03, 4.07032737e-03,
  4.47379976e-06, 1.01584852e-05,-1.21644475e+00, 1.59167691e-03,
  5.41492145e-04, 4.24935735e-05]


--- Step 2201 ---
qpos:
[-0.01427655, 1.32847941,-0.01921015, 0.94616498, 0.00421849, 1.33230321,
 -0.03040938, 0.94354473, 0.01690179, 1.3377703 ,-0.02352528, 0.95534262,
  1.35922717,-0.00569918, 1.13523892, 0.05943983,-0.00170807,-0.09796843,
  0.08160883, 0.55186975,-0.01147403,-0.0047541 , 0.83383783]

qacc:
[ 6.60079383e-01, 3.02782390e+00,-1.57031338e+01, 3.15191865e+01,
 -1.15745730e-02,-7.15854248e-01, 1.56967993e+00,-2.91115220e-01,
 -5.04654718e-02, 3.41592240e+00,-1.30094851e+01, 2.32349896e+01,
  1.03046395e-01,-2.29412027e-01, 1.55466165e+01,-3.24178061e+01,
 -1.15357552e+00,-1.51107353e+00, 2.71453776e-01,-7.43423151e+01,
 -6.43116697e+01,-3.11133966e+00]

qfrc_actuator:
[ 6.58385153e-03, 3.92305947e-02, 1.17684472e-02, 1.77031921e-03,
 -3.95740447e-05, 3.48349929e-02, 1.08812999e-02, 1.82284768e-03,
 -3.03148583e-03, 3.47576195e-02, 1.08682889e-02, 1.62553164e-03,
  0.00000000e+00, 1.50662644e-03, 0.00000000e+00, 1.91480030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016689685406280977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58520161e-01,  8.78693361e-02, -9.62001199e-01, -2.28042013e-02,
        9.96132009e-01,  8.48586391e-02,  9.65736659e-01,  3.46944695e-18,
        2.59523997e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06737159, -0.03892393,  0.22651334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001282167421146209
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.1647388e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.1647388e-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([ 0.03160857, -0.06064513,  0.06188614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63842292e-03, 4.80294123e-03, 9.80548451e-04, 6.28005031e-05,
 -3.35174098e-06,-4.49247926e-05,-3.06304520e-06, 2.16052179e-06,
 -1.45212349e-05, 8.46281848e-06,-2.60651195e-05, 5.29953686e-05,
  3.39983665e-03, 3.39673318e-03, 8.41055503e-03, 3.71224250e-03,
 -1.38447236e-06, 1.05396869e-05,-1.21644908e+00, 1.59556509e-03,
  5.43435070e-04, 3.85087294e-05]


--- Step 2202 ---
qpos:
[-0.01427548, 1.32847211,-0.0192133 , 0.94616543, 0.00421814, 1.33230312,
 -0.03040994, 0.94354683, 0.016902  , 1.33777104,-0.02352485, 0.95534067,
  1.35923503,-0.00570285, 1.13526405, 0.05944058,-0.0017192 ,-0.09796672,
  0.08159479, 0.55191471,-0.01169535,-0.00488784, 0.83380422]

qacc:
[ 5.06782526e-01,-3.01188962e-01, 3.29357980e-01,-5.87783829e-01,
  1.69830586e-01, 9.08758899e-01,-6.09756034e+00, 1.81803852e+01,
 -7.94954478e-04,-1.06816525e+00, 3.07861043e+00, 1.84264876e-01,
  8.51144131e-01,-1.12271248e+00, 4.56478998e+00,-1.06186585e+01,
 -1.04668349e+00,-1.42624825e+00,-4.11125763e-01,-6.93379461e+01,
 -5.97034078e+01,-3.14601051e+00]

qfrc_actuator:
[ 6.60755185e-03, 3.92335413e-02, 1.17644821e-02, 1.77436046e-03,
  1.13147111e-05, 3.47959858e-02, 1.08817520e-02, 1.87727246e-03,
 -3.02316082e-03, 3.47816892e-02, 1.09071874e-02, 1.63959472e-03,
  0.00000000e+00, 1.42808263e-03, 0.00000000e+00, 1.90646974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.15007106, -0.09124954,  0.11914213, -0.09124954,  1.09106475,
        0.72069586,  0.11914213,  0.72069586,  0.70204344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001676683086517146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25852964,  0.08786928, -0.96199866, -0.02280502,  0.99613201,
        0.08485836,  0.9657341 ,  0.        ,  0.25953351])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673735 , -0.03892468,  0.22651281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.43958886, -6.70802876, -5.43958886, 17.68155599,
       -7.33481166, -6.70802876, -7.33481166, 14.58421526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001295810640159295
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.28389377e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.28389377e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.031592  , -0.06067142,  0.06188493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58423185e-03, 4.89713145e-03, 1.03049904e-03,-5.29277574e-06,
  4.89088299e-05,-6.43948977e-05,-8.62005136e-06, 5.30353002e-05,
 -2.48924781e-07, 2.52210119e-05, 3.91360328e-05, 1.47823039e-05,
  3.37700869e-03, 3.33702635e-03, 7.89813289e-03, 3.71093426e-03,
  1.27987436e-06, 3.17699066e-07,-1.21644521e+00, 1.59199127e-03,
  5.45717894e-04, 2.63369100e-05]


--- Step 2203 ---
qpos:
[-0.01427461, 1.32846559,-0.01921617, 0.94616441, 0.00421813, 1.33230315,
 -0.0304108 , 0.94355021, 0.01690196, 1.33777155,-0.02352359, 0.95534029,
  1.3592434 ,-0.00570656, 1.13528416, 0.05944099,-0.00173417,-0.09797043,
  0.0815768 , 0.5519628 ,-0.01189539,-0.00519204, 0.83376772]

qacc:
[ -0.08814278, -2.28569099, 11.68850042,-27.73166477,  0.14413858,
   3.13070959,-12.67280025, 25.80838754, -0.10647665,  0.13033539,
  -3.98002406, 21.7863313 ,  0.6607261 , -0.7474979 , -6.45475942,
  11.70478218, -0.95896665, -1.35433906, -0.98636988,-65.17618539,
 -55.88589791, -3.15070645]

qfrc_actuator:
[ 6.60287273e-03, 3.92740216e-02, 1.17457035e-02, 1.70562565e-03,
  2.39952104e-05, 3.48439726e-02, 1.08822075e-02, 1.94394518e-03,
 -3.05375372e-03, 3.47602895e-02, 1.09477573e-02, 1.71967509e-03,
  0.00000000e+00, 1.40043202e-03, 0.00000000e+00, 2.09662203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.15012136, -0.11895022,  0.09158203, -0.11895022,  0.68924768,
        0.7002378 ,  0.09158203,  0.7002378 ,  1.05961689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016854269774667363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25853974,  0.08786891, -0.96199598, -0.02280582,  0.99613205,
        0.08485777,  0.96573138,  0.        ,  0.25954364])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06737561, -0.03892552,  0.22651224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -5.37780546, -6.75766123, -5.37780546, 19.76809284,
       -8.85872673, -6.75766123, -8.85872673, 15.68621527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012923982686487007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.2952047e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.2952047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03159892, -0.06066963,  0.06188515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51975968e-03, 4.96160475e-03, 1.01946222e-03,-7.14532160e-05,
  4.15455509e-05, 1.22782218e-05,-1.15640213e-05, 6.57147790e-05,
 -3.07384199e-05, 6.19156258e-07, 5.03710142e-05, 8.23152580e-05,
  3.33272379e-03, 3.33079083e-03, 7.76979667e-03, 3.91504406e-03,
  8.61589004e-06, 7.16909160e-07,-1.21644488e+00, 1.58847675e-03,
  5.47875635e-04, 2.57748715e-05]


--- Step 2204 ---
qpos:
[-0.01427394, 1.32845962,-0.01921914, 0.94616295, 0.00421824, 1.33230333,
 -0.03041109, 0.94355363, 0.01690205, 1.33777186,-0.02352182, 0.95534192,
  1.35925173,-0.00571022, 1.13530229, 0.05944103,-0.00174463,-0.09796818,
  0.08156565, 0.55201018,-0.01212565,-0.00529973, 0.83373236]

qacc:
[-8.36489550e-02, 2.23580024e-01, 1.03184411e+00,-6.25423256e+00,
  4.92707515e-02,-1.23752572e+00, 4.22243121e+00,-3.38462989e+00,
  5.87094740e-02, 1.87127562e+00,-1.04455201e+01, 3.23551084e+01,
  6.37857872e-03, 1.46501989e-02,-1.80500198e+00, 2.07278360e+00,
  1.12734797e+00, 1.49011832e+00, 1.71041877e+00, 7.35775884e+01,
  6.68199494e+01, 1.86079045e+00]

qfrc_actuator:
[ 6.61759685e-03, 3.92826987e-02, 1.17354214e-02, 1.68343160e-03,
  1.36508044e-05, 3.48726856e-02, 1.09185027e-02, 1.94632084e-03,
 -3.01868368e-03, 3.47473915e-02, 1.09710869e-02, 1.82018563e-03,
  0.00000000e+00, 1.42086185e-03, 0.00000000e+00, 2.10423166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016917674520547724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25854882,  0.08786861, -0.96199356, -0.02280654,  0.99613207,
        0.08485726,  0.96572893,  0.        ,  0.25955275])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673773 , -0.03892632,  0.22651174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001328888507131809
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56647315e-14,  4.17726174e-14,  1.00000000e+00,  6.54356838e-28,
        1.00000000e+00, -4.17726174e-14, -1.00000000e+00,  0.00000000e+00,
       -1.56647315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02897287, -0.1300651 ,  0.06188201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54489114e-03, 4.93141797e-03, 9.95429126e-04,-1.99470060e-05,
  1.41773306e-05, 3.52261056e-05, 3.93137613e-05, 3.93253385e-06,
  1.69191885e-05,-2.87836053e-07, 3.15808392e-05, 1.03920762e-04,
  3.30736104e-03, 3.35369412e-03, 8.02019944e-03, 3.93912223e-03,
  1.97883939e-05, 9.78582280e-06,-1.21644742e+00, 1.58493646e-03,
  5.49990140e-04, 3.46569089e-05]


--- Step 2205 ---
qpos:
[-0.01427341, 1.32845503,-0.01922192, 0.94616219, 0.00421851, 1.33230365,
 -0.03041088, 0.94355601, 0.01690255, 1.33777194,-0.0235202 , 0.9553434 ,
  1.35925986,-0.00571369, 1.13531837, 0.05944051,-0.00175103,-0.0979603 ,
  0.08155801, 0.55205729,-0.0123835 ,-0.00522549, 0.83369784]

qacc:
[-5.62302058e-02, 2.51023628e+00,-7.42870119e+00, 1.36473519e+01,
  6.88144878e-02,-2.95711428e+00, 1.19888602e+01,-2.24372338e+01,
  1.68747557e-01,-1.83966511e-01, 5.26659400e-01,-2.04575036e+00,
 -2.18512396e-01, 3.53218326e-01,-1.31563265e+00, 2.24791925e-01,
  1.01556730e+00, 1.40706521e+00, 8.75378525e-01, 6.82252662e+01,
  6.17058463e+01, 1.51952383e+00]

qfrc_actuator:
[ 6.66178800e-03, 3.92544520e-02, 1.17127406e-02, 1.72421582e-03,
  2.50848401e-05, 3.48719923e-02, 1.09400648e-02, 1.89310300e-03,
 -2.98001076e-03, 3.47041329e-02, 1.09485725e-02, 1.80762100e-03,
  0.00000000e+00, 1.43455070e-03, 0.00000000e+00, 2.14450625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016972516822483588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.25855745,  0.08786836, -0.96199127, -0.02280723,  0.9961321 ,
        0.08485681,  0.9657266 ,  0.        ,  0.25956141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0673788 , -0.03892708,  0.22651129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364,  6.14302981,  6.07041692,  6.14302981, 16.87917125,
       -8.34140612,  6.07041692, -8.34140612, 17.07754767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013521332632523975
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07908729e-14,  1.23163492e-13,  1.00000000e+00,  3.79231141e-27,
        1.00000000e+00, -1.23163492e-13, -1.00000000e+00,  0.00000000e+00,
       -3.07908729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02894721, -0.13002605,  0.06188001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.59895093e-03, 4.87539718e-03, 9.77296514e-04, 4.24796958e-05,
  1.98031278e-05, 2.66070023e-05, 3.30473158e-05,-5.09100360e-05,
  4.86633678e-05,-3.41742145e-05,-1.59411532e-05,-9.22502966e-06,
  3.30925141e-03, 3.36470160e-03, 8.11858028e-03, 3.99772594e-03,
  7.54010728e-06, 7.90340952e-08,-1.21644501e+00, 1.59000092e-03,
  5.47681838e-04, 2.59053444e-05]


